CN110979314A - Autonomous passenger-riding parking method, vehicle-mounted equipment and storage medium - Google Patents
Autonomous passenger-riding parking method, vehicle-mounted equipment and storage medium Download PDFInfo
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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Abstract
The embodiment of the disclosure relates to an autonomous passenger-riding parking method for a vehicle, a vehicle-mounted device and a storage medium. The working modes of the vehicle comprise a manual driving mode, an intelligent driving mode, a degradation mode and a fault mode, and the autonomous passenger-riding parking method comprises the following steps: receiving an autonomous valet parking instruction, wherein the vehicle is switched from a manual driving mode to an intelligent driving mode based on the autonomous valet parking instruction; monitoring vehicle state information and a vehicle running state in real time; determining an operating mode of the vehicle based on the vehicle state information and the vehicle driving state; and controlling the vehicle to park autonomously based on the working mode being the intelligent driving mode. The vehicle-mounted equipment can switch different working modes according to the working state and the running state of the vehicle in the process of autonomous passenger-replacing parking through the provided autonomous passenger-replacing parking method, so that the vehicle can be more effectively controlled to park.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of autonomous passenger-assistant parking, in particular to an autonomous passenger-assistant parking method for a vehicle, vehicle-mounted equipment and a storage medium.
Background
Autonomous Valet Parking (AVP) function definition: a driver issues an instruction from a designated passenger point through a key or a mobile phone APP, and a vehicle can automatically drive to a parking space of a parking lot without monitoring by the driver; the vehicle can automatically drive to the designated pick-up point from the parking space after receiving the instruction; and a plurality of vehicles receive the parking instruction at the same time, and the dynamic automatic waiting for entering the parking space is realized. The embodiment of the disclosure provides an autonomous passenger-riding parking method for a vehicle.
Disclosure of Invention
At least one embodiment of the disclosure provides a vehicle autonomous valet parking method, a vehicle-mounted device and a storage medium.
In a first aspect, an embodiment of the present disclosure provides a method for autonomous vehicle parking in a passenger car, where working modes of a vehicle include a manual driving mode, an intelligent driving mode, a degradation mode, and a failure mode, and the method includes: receiving an autonomous valet parking instruction, wherein the vehicle is switched from a manual driving mode to an intelligent driving mode based on the autonomous valet parking instruction; monitoring vehicle state information and a vehicle running state in real time; determining an operating mode of the vehicle based on the vehicle state information and the vehicle driving state; and controlling the vehicle to park autonomously based on the working mode being the intelligent driving mode.
In a second aspect, an embodiment of the present disclosure further provides an on-board device, including: a processor and a memory; the processor is adapted to perform the steps of the method according to the first aspect by calling a program or instructions stored by the memory.
In a third aspect, the disclosed embodiments also propose a non-transitory computer-readable storage medium for storing a program or instructions for causing a computer to perform the steps of the method according to the first aspect.
Therefore, in at least one embodiment of the disclosure, different working modes can be switched according to the working state and the driving state of the vehicle in the process of autonomous valet parking by using the provided autonomous valet parking method, so that the vehicle can be more effectively controlled to park.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a diagram of an exemplary application scenario provided by an embodiment of the present disclosure;
figure 2 is an exemplary block diagram of an AVP system provided by embodiments of the present disclosure;
FIG. 3 is an exemplary flow chart of a method for autonomous valet parking provided by an embodiment of the present disclosure;
fig. 4 is an exemplary block diagram of an in-vehicle device provided in an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure can be more clearly understood, the present disclosure will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The specific embodiments described herein are merely illustrative of the disclosure and are not intended to be limiting. All other embodiments derived by one of ordinary skill in the art from the described embodiments of the disclosure are intended to be within the scope of the disclosure.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The embodiment of the disclosure provides an autonomous vehicle passenger-parking method, a vehicle-mounted device or a storage medium, so that the parking problem of a user can be solved. In some embodiments, the autonomous valet parking method, the onboard device, or the storage medium may be applied to different levels of intelligent driving systems, such as assisted driving vehicles, highly autonomous driving vehicles, fully intelligent driving vehicles, or other vehicles requiring autonomous positioning. Specifically, the vehicle may be an AVP system-mounted vehicle or an intelligent driving system-mounted vehicle.
Fig. 1 is a diagram of an exemplary application scenario provided in an embodiment of the present disclosure. As shown in fig. 1, the application scenario includes: user terminal, vehicle, high in the clouds server and parking area.
The User Equipment (User Equipment) may be any electronic device having a data communication function, such as a mobile terminal, e.g., a smart phone, a tablet computer, and the like. The user terminal can establish communication connection with the cloud server and interact data. The user terminal installs an Application (APP) about an Automatic Valet Parking (AVP) service, and a user can conveniently start the AVP function of the vehicle by operating the APP.
For example, a user opens an APP main interface or a Human machine interaction interface (HMI) by clicking an APP icon, and then presents at least two function controls to the user: one is an "auto park" control and the other is a "summoning" control. The user clicks the automatic parking control and sends an automatic parking request to the cloud server to realize the automatic parking function of the AVP; and clicking the 'car calling' control by the user, and sending a car calling request to the cloud server so as to realize the AVP car calling function.
The vehicle is a vehicle having the AVP system 100, and may be, for example, a general vehicle in which the AVP system 100 is installed, or an intelligent driving vehicle having the AVP system 100. The AVP system 100 implements the AVP function. The AVP function at least comprises an automatic parking function and a car calling function. Under the automatic parking function, the AVP system 100 controls the vehicle to travel from a starting point to a position near the parking space, and enter the parking space to park, wherein the starting point may be a fixed point or any point within a preset range of the parking space. Under the car calling function, the AVP system 100 controls the vehicle to exit from the parking space and travel to the destination, where the destination may be a fixed location, or a location where a user initiates a car calling request within a preset range of the parking lot, or a location specified by the user. In some embodiments, the vehicle may autonomously locate or autonomously find an empty parking space and plan a driving path to drive to the empty parking space.
In some embodiments, the vehicle may establish a communication connection with the cloud server. The vehicle may receive the electronic map and the instruction sent by the cloud server, where the instruction may include, but is not limited to, at least one of: automatic parking instructions, car calling instructions, remote control instructions and the like. In some embodiments, after receiving the automatic parking instruction or the car summoning instruction, the vehicle enters an AVP mode and executes an automatic parking function or a car summoning function. In some embodiments, the vehicle may send vehicle-related information to the cloud server in real-time. The vehicle-related information may include, but is not limited to, at least one of: vehicle ID, whether in AVP mode, planning information, vehicle status, vehicle pose, vehicle ambient information, AVP status, parking space, etc. Wherein the vehicle state may include, but is not limited to, at least one of: vehicle information, user in use, length of use, mileage in use, vehicle operating status, location of sensors on the vehicle, and status of sensors on the vehicle. The AVP state includes a parking state and a summoning state.
In some embodiments, the vehicle may establish a communication connection with a field-end server. The vehicle may receive the field end information sent by the field end server, wherein the field end information may include, but is not limited to, at least one of: the field server includes, for example, location information of the Vehicle, allocated parking space information, guidance information, Vehicle wireless communication (V2X) information, payment information (for example, parking fee to be paid by the user), a parking lot map, and the like. Wherein, the prompt message may include but is not limited to at least one of the following: the number of the idle parking spaces, the information of the idle parking spaces and the information of the designated parking spaces. The V2X information may include, but is not limited to, at least one of: real-time road conditions, road information, pedestrian information and other traffic information. In some embodiments, after receiving the field end information, the vehicle may plan a path based on the field end information and travel along the planned path. In some embodiments, the vehicle may send vehicle-related information to the field-side server in real-time.
The cloud server can be any electronic device with a data processing function, and can be a server or a server group. The cloud server group may be centralized or distributed. The distributed servers are beneficial to the distribution and optimization of tasks in a plurality of distributed servers, and the defects of resource shortage and response bottleneck of the traditional centralized server are overcome.
In some embodiments, the cloud server may establish communication connections with the user terminal, the vehicle, and the field server, respectively. In some embodiments, the cloud server receives request information sent by a user terminal, where the request information includes: an automatic parking request or a summoning request. In some embodiments, the cloud server receives vehicle-related information sent by the vehicle. In some embodiments, the cloud server receives the farm end information sent by the farm end server. In some embodiments, the cloud server may send the vehicle-related information to the user terminal for display. In some embodiments, the cloud server may send the electronic map and instructions to the vehicle. In some embodiments, the cloud server may assign a parking space or area to the vehicle. In some embodiments, the cloud server may send AVP information to the site server, where the AVP information may include, but is not limited to, at least one of: vehicle ID, vehicle location instructions, summoning information, payment information (e.g., parking fees paid by the user). Wherein, the information of calling the car can include but not limited to at least one of the following: the ID of the summoned vehicle, the parking space of the summoned vehicle, etc. In some embodiments, the cloud server may remotely control the vehicle. For example, when the vehicle cannot be located or fails to be located, the cloud server can remotely control the vehicle to travel to a safe area for parking.
The parking lot may be an original parking lot, a standard parking lot, a modified parking lot, etc. Wherein, standardize the parking area and refer to: the parking lot has the advantages that lane lines are clear, the ground is smooth, the size of the parking space meets the requirement, the bandwidth is larger than or equal to a preset bandwidth (such as 5Mps), the size standard of the parking space, the ground is not reflective, the illumination intensity is larger than or equal to a preset intensity (such as 50LX), and the network delay is smaller than or equal to a preset delay (such as 200 ms). An original parking lot refers to a parking lot that does not meet at least one requirement of a canonical parking lot.
The modified parking lot is a parking lot modified based on a standard parking lot and added with field end facilities. Wherein, the end-of-site facilities may include, but are not limited to, at least one of: special identification, field end sensor, field end network, field end server, V2X device, etc. In some embodiments, the dedicated identification is an identification with certain rules for assisting vehicle positioning, manually placed inside or outside the parking lot. The private identification is also used to help the user identify his location in the parking lot. The unique identification has a unique ID within the same parking lot. In some embodiments, the field-end sensors include, but are not limited to, vision sensors, lidar, and the like. In some embodiments, the V2X device is used to detect a series of traffic information such as real-time traffic conditions, road information, pedestrian information, etc. and to interact with the vehicle. The V2X devices may include, but are not limited to, light devices, vision sensors, lidar, and the like.
In some embodiments, the field server may establish a communication connection with the vehicle and the cloud server, respectively. In some embodiments, the field end server may obtain at least one of the following states in real time: vehicle status, field facility status, parking space usage status, user status, etc. Wherein, the end-of-site facility status may include, but is not limited to, at least one of: name, IP address, health, location, and whether enabled. In some embodiments, the field-end server may locate the vehicle based on the field-end sensor data. In some embodiments, the field-side server may receive vehicle-related information sent by the vehicle. In some embodiments, the field server may receive AVP information sent by the cloud server. In some embodiments, the field-side server may send the field-side information to the vehicle over a field-side network. In some embodiments, the site server may send the site information to the cloud server.
Fig. 2 is an exemplary block diagram of an AVP system 200 provided by an embodiment of the present disclosure. In some embodiments, the AVP system 200 may be implemented as the AVP system 100 of fig. 1 or as part of the AVP system 100 for controlling vehicle travel in AVP mode.
As shown in fig. 2, the AVP system 200 may include: the perception module 201, the planning module 202, the control module 203, and other modules may be used to control vehicle travel in the AVP mode.
The sensing module 201 is used for sensing and positioning the environment. In some embodiments, the sensing module 201 acquires data such as sensor data, V2X data, high-precision map, and the like, performs environmental sensing and positioning based on at least one of the data, and generates sensing information and positioning information. Wherein the perception information may include, but is not limited to, at least one of: obstacle information, road signs/markings, pedestrian/vehicle information, drivable zones. The positioning information comprises a vehicle pose, wherein the vehicle pose comprises vehicle coordinates and included angles between the vehicle heading and each coordinate axis.
The planning module 202 is used for path planning and decision-making. In some embodiments, planning module 202 generates planning and decision information based on the perception information and positioning information generated by perception module 201. In some embodiments, planning module 202 may also generate planning and decision information in conjunction with at least one of V2X data, high precision maps, and the like. Wherein, the decision information may include but is not limited to at least one of the following: behavior (e.g., including but not limited to following, overtaking, parking, circumventing, etc.), vehicle heading, vehicle speed, desired acceleration of the vehicle, desired steering wheel angle, etc.
In some embodiments, the planning module 202 is also used for path planning and decision making in the autonomous parking mode. In some embodiments, the planning module 202 plans a driving path of the vehicle into or out of the parking space and generates the decision information in the autonomous parking mode. In some embodiments, the planning module 202 plans a driving path of the vehicle from the starting point to the vicinity of the parking space and into the parking space and generates the decision information, or plans a driving path of the vehicle from the parking space and to the destination and generates the decision information in the AVP mode.
The control module 203 is configured to generate a control instruction of the vehicle bottom layer execution system based on the planning and decision information, and issue the control instruction, so that the vehicle bottom layer execution system controls the vehicle to travel according to the expected path. The control instructions may include, but are not limited to: steering wheel steering, lateral control commands, longitudinal control commands, and the like.
Fig. 3 is an exemplary flowchart of an autonomous valet parking method according to an embodiment of the disclosure. Wherein the execution subject of the method is an on-board device or a vehicle. In some embodiments, the execution subject of the method can also be an AVP system or an intelligent driving system supported by the vehicle-mounted device. For convenience of explanation and description, the embodiments of the present disclosure are explained below with the vehicle-mounted apparatus as the execution subject, but do not affect the disclosure scope of the embodiments of the present disclosure.
In some embodiments, the in-vehicle device is provided with a plurality of operating modes including, but not limited to, a manual driving mode, a smart driving mode, a degraded mode, a failed mode, and the like. The manual driving mode is a mode in which the driver controls the vehicle to travel. The intelligent driving mode refers to that the AVP system or the intelligent driving system autonomously controls the vehicle to run. The degradation mode refers to a working mode when the vehicle cannot normally control the vehicle to run under the normal condition of software and hardware. The failure mode refers to the working mode of the vehicle when the software and hardware of the vehicle have failures.
As shown in fig. 3, in step 301, the in-vehicle apparatus receives an autonomous valet parking instruction. The autonomous passenger-replacing parking instruction comprises a parking instruction and a calling instruction. The parking instruction is used for instructing a vehicle to run from a starting point to a parking space and park, and the car calling instruction is used for instructing the vehicle to run out of the parking space and run to a destination. In some embodiments, the autonomous valet parking instruction may be selectable by a user through a mobile terminal. The mobile terminal sends the autonomous passenger-riding parking instruction to the cloud server after the user sets the autonomous passenger-riding parking instruction, and the autonomous passenger-riding parking instruction is sent to the vehicle by the cloud server.
In step 302, the vehicle-mounted device is switched from a manual driving mode to an intelligent driving mode based on the autonomous valet parking instruction. In some embodiments, the vehicle-mounted device autonomously controls the vehicle to run after receiving the autonomous valet parking instruction; the current working mode of the vehicle-mounted equipment is an intelligent driving mode. The vehicle-mounted device can control the vehicle to travel from a starting point to a parking space and park or control the vehicle to exit from the parking space and travel to a destination in the intelligent driving mode. In some embodiments, the vehicle-mounted device monitors whether human intervention information exists in real time, and determines that the vehicle enters a manual driving mode based on the existence of the human intervention information.
In step 303, the in-vehicle device may monitor the vehicle state information and the vehicle driving state in real time. In some embodiments, the vehicle state information includes, but is not limited to, a sensor state, a software state, a hardware state, etc. of the vehicle. The vehicle driving state information includes, but is not limited to, a vehicle speed, a pose, a front wheel slip angle, a driving path, control information, and the like of the vehicle.
In step 304, the in-vehicle apparatus may determine an operation mode of the vehicle based on the vehicle state information and the vehicle running state. In some embodiments, the in-vehicle device may determine whether the vehicle enters a failure mode based on the vehicle state information. More specifically, the in-vehicle apparatus may determine that the vehicle enters the failure mode based on the vehicle state information abnormality. Wherein the vehicle state information abnormality includes, but is not limited to, any one of: abnormal sensor state, abnormal software state and abnormal hardware working state. The abnormal state of the sensor means that the vehicle sensor cannot work normally, for example, the vision sensor cannot accurately obtain image information, the laser radar cannot acquire laser point cloud information, the GPS signal is lost, and the like. The abnormal software state means that software in the vehicle-mounted device cannot run normally or work normally, for example, a sensing and positioning module in the AVP system cannot acquire vehicle positioning, a planning module cannot make a planning decision, or a control module cannot generate a control command, and the like. The abnormal state of the hardware means that the hardware of the vehicle cannot work normally, for example, the vehicle steering device cannot control the steering of the vehicle, the brake device cannot brake, the drive device cannot drive the vehicle, and the like.
In some embodiments, after entering the failure mode, the vehicle-mounted device may report the vehicle state information and the vehicle driving state to the server, and stop the vehicle in an emergency or stop the vehicle in a safe area as soon as possible. In some embodiments, the in-vehicle device may receive a remote control from a server. In some embodiments, the onboard device may attempt to recover from the failure. In some embodiments, the vehicle-mounted device jumps to a manual driving mode when the vehicle state information is abnormal and cannot be recovered.
In some embodiments, the in-vehicle device may determine whether the vehicle enters the degraded mode based on the vehicle state information and the vehicle driving state. More specifically, the vehicle-mounted device may determine that the vehicle enters the degraded mode based on that the vehicle state information is normal and that the vehicle running state is abnormal. Wherein the vehicle driving state abnormality includes, but is not limited to, any one of the following: the effective running path cannot be planned, the pose of the vehicle cannot be determined, the vehicle cannot be controlled normally, the surrounding environment of the vehicle cannot be sensed and the like. The fact that the effective running path cannot be planned means that the current vehicle cannot generate the expected running path based on the located position and the surrounding environment information, for example, when the periphery of the vehicle is all obstacles, the vehicle cannot plan the expected running path. The vehicle pose cannot be determined means that the current pose cannot be determined by the positioning features acquired by the vehicle-mounted equipment or the GPS signals cannot be received, for example, the image information acquired by the vision sensor has no positioning features, for example, the image information is a white wall, and the laser radar cannot acquire effective laser point cloud data for positioning. The vehicle which cannot be normally controlled refers to turning, driving and the like of the vehicle, for example, a certain wheel of the vehicle is trapped in a pit or an obstacle exists around the running of the vehicle, so that the vehicle cannot move. The fact that the vehicle cannot sense the surrounding environment of the vehicle means that the sensor acquired by the vehicle does not have effective environmental information or the vehicle sensor is shielded, and sensing information cannot be acquired.
In some embodiments, when the vehicle is in the degraded mode, if the vehicle state information is abnormal, the in-vehicle device determines that the vehicle jumps from the degraded mode to the failure mode; for example, in the degraded mode, if a problem occurs with the driving apparatus or the steering apparatus, the vehicle enters a failure mode. In some embodiments, when the driving state of the vehicle returns to normal, the vehicle-mounted device determines that the vehicle jumps from the degraded mode to the intelligent driving mode, and controls the vehicle to continue driving.
In some embodiments, when the vehicle is in the degraded mode, the vehicle-mounted device may upload the vehicle state information and the vehicle driving state to the server and request the server to take over. In some embodiments, the server takeover may be any one of: the server determines the pose of the vehicle, plans the expected driving path of the vehicle, acquires the surrounding environment information of the vehicle, generates control information, and performs remote control and the like.
In step 305, the vehicle-mounted device controls the vehicle to autonomously park while the vehicle is in the smart driving mode. Wherein the autonomous parking includes that the vehicle travels from a starting point to a parking space and parks the vehicle or controlling the vehicle to exit from the parking space and travel to a destination.
It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of action combinations, but those skilled in the art will understand that the disclosed embodiments are not limited by the described action sequences, because some steps may be performed in other sequences or simultaneously according to the disclosed embodiments, for example, step 302 and step 305 may be performed simultaneously, and the vehicle may be controlled to perform autonomous parking after entering the smart driving mode. In addition, those skilled in the art can appreciate that the embodiments described in the specification all belong to alternative embodiments.
Fig. 4 is a schematic structural diagram of an in-vehicle device provided in an embodiment of the present disclosure. The vehicle-mounted equipment can support the operation of the AVP system.
As shown in fig. 4, the vehicle-mounted apparatus includes: at least one processor 401, at least one memory 402, and at least one communication interface 403. The various components in the in-vehicle device are coupled together by a bus system 404. A communication interface 403 for information transmission with an external device. Understandably, the bus system 404 is operative to enable connective communication between these components. The bus system 404 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, the various buses are labeled as bus system 404 in fig. 4.
It will be appreciated that the memory 402 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
In some embodiments, memory 402 stores the following elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.
The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs, including various application programs such as a Media Player (Media Player), a Browser (Browser), etc., are used to implement various application services. The program for implementing the autonomous valet parking method provided by the embodiment of the disclosure may be included in the application program.
In the embodiment of the present disclosure, the processor 401 is configured to execute the steps of each embodiment of the autonomous valet parking method provided by the embodiment of the present disclosure by calling a program or an instruction stored in the memory 402, specifically, a program or an instruction stored in an application program.
The autonomous valet parking method provided by the embodiment of the disclosure may be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The processor 401 may be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the autonomous valet parking method provided by the embodiment of the disclosure can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software units in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 402, and the processor 401 reads information in the memory 402 and performs the steps of the method in combination with its hardware.
The embodiments of the present disclosure also provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores a program or instructions, and the program or instructions cause a computer to execute steps of each embodiment in a method for autonomous vehicle parking by passengers, which is not described herein again to avoid repeated descriptions.
It should be noted that, in this document, the term "comprises/comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the disclosure and form different embodiments.
Those skilled in the art will appreciate that the description of each embodiment has a respective emphasis, and reference may be made to the related description of other embodiments for those parts of an embodiment that are not described in detail.
Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.
Claims (11)
1. An autonomous passenger-riding parking method for vehicles is characterized in that: the operating modes of the vehicle include a manual driving mode, a smart driving mode, a degraded mode, and a failed mode, the method comprising:
receiving an autonomous valet parking instruction, wherein the vehicle is switched from a manual driving mode to an intelligent driving mode based on the autonomous valet parking instruction;
monitoring vehicle state information and a vehicle running state in real time;
determining an operating mode of the vehicle based on the vehicle state information and the vehicle driving state;
and controlling the vehicle to park autonomously based on the working mode being the intelligent driving mode.
2. The method of claim 1, wherein: the determining an operation mode of the vehicle based on the vehicle state information and the vehicle running state includes:
determining whether the vehicle enters a failure mode based on the vehicle state information;
determining whether the vehicle enters a degraded mode based on the vehicle state information and the vehicle driving state.
3. The method of claim 2, wherein the determining whether the vehicle enters the failure mode based on the vehicle state information comprises:
and determining that the vehicle enters a fault mode based on the abnormality of the vehicle state information.
4. The method of claim 3, further comprising:
reporting vehicle state information or a vehicle running state to a server based on the fact that the vehicle enters a fault mode;
and controlling the vehicle to jump to a manual driving mode.
5. The method of claim 2, wherein determining whether the vehicle enters the degraded mode based on the vehicle state information and the vehicle driving state comprises:
and determining that the vehicle enters a degradation mode based on the fact that the vehicle state information is normal and the vehicle running state is abnormal.
6. The method of claim 5, wherein while the vehicle is in a degraded mode, further comprising:
determining that the vehicle enters a failure mode based on the vehicle state information abnormality;
and determining that the vehicle enters the intelligent driving mode based on the fact that the driving state of the vehicle is recovered from the abnormal state.
7. The method of claim 5, further comprising:
and reporting the vehicle state information or the vehicle running state to a server and requesting the server to take over based on the fact that the vehicle enters the degradation mode.
8. The method according to claims 1-7, characterized in that:
the vehicle state information comprises a sensor state, a hardware state and a software state.
The vehicle running state comprises vehicle speed, pose, front wheel deflection angle, running path and control information.
The vehicle state information abnormality includes at least one of: sensor state exception, hardware state exception, software state exception.
The vehicle running state abnormality includes at least one of: an effective running path cannot be planned, the pose of the vehicle cannot be accurately positioned, the vehicle cannot be normally controlled, and the surrounding environment of the vehicle cannot be sensed.
9. The method of claim 1, further comprising:
monitoring whether human intervention information exists in real time based on the fact that the vehicle enters an intelligent driving mode;
based on the presence of human intervention information, it is determined that the vehicle enters a manual driving mode.
10. An in-vehicle apparatus, characterized by comprising: a processor and a memory;
the processor is adapted to perform the steps of the method of any one of claims 1 to 9 by calling a program or instructions stored in the memory.
11. A non-transitory computer-readable storage medium storing a program or instructions for causing a computer to perform the steps of the method according to any one of claims 1 to 9.
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