CN111619583A - Protection device and method for testing full-automatic parking of vehicle and vehicle - Google Patents
Protection device and method for testing full-automatic parking of vehicle and vehicle Download PDFInfo
- Publication number
- CN111619583A CN111619583A CN202010441508.0A CN202010441508A CN111619583A CN 111619583 A CN111619583 A CN 111619583A CN 202010441508 A CN202010441508 A CN 202010441508A CN 111619583 A CN111619583 A CN 111619583A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- signal
- full
- automatic parking
- fault
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000012360 testing method Methods 0.000 title claims abstract description 57
- 230000008569 process Effects 0.000 claims abstract description 33
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims description 38
- 230000003993 interaction Effects 0.000 claims description 21
- 230000001276 controlling effect Effects 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 230000000875 corresponding effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 description 14
- 238000011161 development Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000003860 storage Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000036632 reaction speed Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a protection device and a method for testing full-automatic parking of a vehicle and the vehicle, wherein the device comprises: the acquisition assembly is used for acquiring a vehicle signal of the vehicle in the process of full-automatic parking of the vehicle according to a parking path; the processing assembly is used for analyzing the whole vehicle signal and detecting whether a full-automatic parking system of the vehicle breaks down or not; and the control component is used for controlling the vehicle to exit the full-automatic parking mode and simultaneously sending a fault signal when detecting that the full-automatic parking system has a fault. Therefore, the problems that judgment and feedback cannot be timely made on sudden dangerous conditions in the real vehicle testing process, safety of vehicles, drivers and surrounding environments cannot be effectively guaranteed, reliability and safety are low and the like are solved.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a protection device and method for testing full-automatic parking of a vehicle and the vehicle.
Background
In the related technology, an intelligent driving automobile adopts a sensing mode of multi-sensor combination such as a laser radar, a millimeter wave radar, a camera and a high-precision positioning device, and an AI algorithm and a high-precision map are relied on, so that autonomous decision planning is carried out, transverse and longitudinal control operation of the automobile is automatically executed, and an autonomous parking function capable of replacing a driver to park is realized.
However, in the real vehicle testing and verification process, the vehicle needs to be operated and controlled simultaneously by automatic driving and manual monitoring driving, so as to ensure the safety of the vehicle, the driver and the surrounding environment. However, once a sudden danger occurs and the intelligent driving system cannot make judgment and feedback in time, the safety of the vehicle, the driver and the surrounding environment can be passively ensured only by relying on the experience and the reaction speed of the driver, and the safety of the vehicle, the driver and the surrounding environment is low in reliability and cannot be effectively ensured.
Disclosure of Invention
The invention provides a protection device and a method for testing full-automatic parking of a vehicle and the vehicle, and aims to solve the problems that in the actual vehicle testing process, the emergency dangerous situation cannot be judged and fed back in time, the safety of the vehicle, a driver and the surrounding environment cannot be effectively ensured, the reliability and the safety are low, and the like.
The embodiment of the first aspect of the invention provides a protection device for testing full-automatic parking of a vehicle, which comprises: the acquisition assembly is used for acquiring a vehicle signal of the vehicle in the process of full-automatic parking of the vehicle according to a parking path; the processing assembly is used for analyzing the whole vehicle signal and detecting whether a full-automatic parking system of the vehicle breaks down or not; and the control component is used for controlling the vehicle to exit the full-automatic parking mode and simultaneously sending a fault signal when detecting that the full-automatic parking system has a fault.
Optionally, in an embodiment of the present invention, the collecting assembly includes: the receiving module is used for receiving a torque signal of a steering wheel of the vehicle-finishing signal, a corner signal of the steering wheel, an angular speed signal of the steering wheel and a brake signal of the vehicle; a first communication module, configured to obtain a vehicle Controller Area Network (CAN) signal of the vehicle signal from a CAN bus; and the driving mode module is used for acquiring the state signal of the driving mode of the whole vehicle signal.
Further, in an embodiment of the present invention, the processing component is further configured to determine that the fully automatic parking system has a fault when the braking signal is received, the torque is greater than a first preset value, the rotation angle is greater than a second preset value, the angular velocity is greater than a third preset value, and/or the state is abnormal.
Further, in an embodiment of the present invention, the method further includes: and the manual interaction module is used for controlling the interaction equipment to send out a prompt according to the fault signal when the fault of the full-automatic parking system is detected.
Optionally, in an embodiment of the present invention, the interaction device includes: at least one acoustic reminder device, at least one optical reminder device and at least one tactile reminder device.
Further, in an embodiment of the present invention, the method further includes: a terminal; and the second communication module is used for sending the fault signal to the terminal and receiving an intervention instruction generated by the terminal according to the fault signal so as to enable the control component to control the vehicle to execute corresponding actions according to the intervention instruction.
Optionally, in an embodiment of the present invention, the terminal includes: the third communication module is used for receiving the fault signal; and the manual intervention module is used for generating the intervention instruction according to the fault signal.
In addition, in one embodiment of the present invention, the method further includes: and the manual intervention emergency stop module is used for receiving an emergency stop instruction of a driver so as to control the vehicle to stop moving.
In a second aspect, the embodiment of the invention provides a vehicle, which comprises the protection device for testing the full-automatic parking of the vehicle.
In a third aspect of the present invention, a protection method for testing full-automatic parking of a vehicle is provided, where the protection device for testing full-automatic parking of a vehicle is applied, where the method includes: acquiring a whole vehicle signal of a vehicle in the process of full-automatic parking of the vehicle according to a parking path; analyzing the whole vehicle signal, and detecting whether a full-automatic parking system of the vehicle has a fault; and when the fault of the full-automatic parking system is detected, controlling the vehicle to exit the full-automatic parking mode and simultaneously sending a fault signal.
In the real vehicle testing process, the control state of the autonomous parking system in the automatic driving mode is monitored in real time according to a whole vehicle signal, once the system or the vehicle breaks down, the autonomous parking system can exit the full-automatic parking mode, intervene in the system control in time, send a fault signal and inform a driver or personnel outside the vehicle, driving and personnel safety in the development testing process is guaranteed, and safety and reliability of the vehicle are improved. Therefore, the problems that in the actual vehicle testing process, judgment and feedback cannot be timely made on sudden dangerous conditions, safety of vehicles, drivers and surrounding environments cannot be effectively guaranteed, reliability and safety are low and the like are solved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of a protection device for testing full-automatic parking of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a protection device for testing full-automatic parking of a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a protection device for testing full-automatic parking of a vehicle according to an embodiment of the present invention; and
fig. 4 is a flowchart of a protection method for testing full-automatic parking of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a protection device, a method and a vehicle for testing full-automatic parking of the vehicle according to an embodiment of the invention with reference to the accompanying drawings. In case of sudden danger and failure of the intelligent driving system to make judgment and feedback in time, only depends on the experience and the reaction speed of the driver to passively ensure the safety of the vehicle, the driver and the surrounding environment, the invention provides a protection device for testing full-automatic parking of vehicles, which has low reliability and can not effectively ensure the safety of vehicles, drivers and surrounding environments, in the real vehicle test process, the control state of the autonomous parking system in the automatic driving mode is monitored in real time according to the whole vehicle signal, once the system or the vehicle has a fault, the autonomous parking system can exit the full automatic parking mode, and intervening system control in time, sending a fault signal, informing a driver or personnel outside the vehicle, ensuring the safety of driving and personnel in the development and test process, and improving the safety and reliability of the vehicle. Therefore, the problems that in the actual vehicle testing process, judgment and feedback cannot be timely made on sudden dangerous conditions, safety of vehicles, drivers and surrounding environments cannot be effectively guaranteed, reliability and safety are low and the like are solved.
Specifically, fig. 1 is a schematic structural diagram of a protection device for testing full-automatic parking of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, the protection device 10 for testing full-automatic parking of a vehicle includes: acquisition assembly 100, processing assembly 200, and control assembly 300.
Specifically, the acquisition component 100 is configured to acquire a vehicle signal of a vehicle during a process of fully-automatically parking the vehicle according to a parking path.
When an intelligent driving automobile adopts a sensing mode of multi-sensor combination such as a laser radar, a millimeter wave radar, a camera, a high-precision positioning device and the like, and relies on an AI algorithm and a high-precision map to perform autonomous decision planning and automatically execute the transverse and longitudinal control operation of the automobile, because the automatic parking system is a real automobile test and verification process, the defect of the automatic parking system is inevitable, and in order to avoid the problem that the safety of the automobile, the driver and the surrounding environment is passively ensured only depending on the experience and the reaction speed of the driver in the prior art, the embodiment of the invention can collect the whole automobile signal, accurately judge whether the defect of the automatic parking system occurs or whether the automobile fails through the whole automobile signal of the automobile, set the parameters of the whole automobile signal from the aspects of the safety of the tested automobile and the surrounding environment, and timely judge the emergent dangerous condition occurring in the real automobile test process, compared with the prior art that the safety of the vehicle, the driver and the surrounding environment can only be ensured passively, the embodiment of the invention can intervene in system control in time and inform the driver or personnel outside the vehicle when the system or the vehicle is in an unstable state, thereby ensuring the safety of driving and personnel in the development and test process.
Optionally, in an embodiment of the present invention, the collection assembly 100 comprises: a receiving module 101, a first communication module 102 and a driving mode module 103.
The receiving module 101 is configured to receive a torque signal of a steering wheel, a rotation angle signal of the steering wheel, an angular velocity signal of the steering wheel, and a braking signal of a vehicle of the vehicle signal.
The first communication module 102 is configured to obtain a complete vehicle CAN signal of a complete vehicle signal from a CAN bus.
And the driving mode module 103 is used for acquiring a state signal of a driving mode of the whole vehicle signal.
For example, as shown in fig. 2, the vehicle signal may include a torque signal of a steering wheel, a turn angle signal of the steering wheel, an angular velocity signal of the steering wheel, and a brake signal of the vehicle, that is, corresponding signals are obtained from a steering wheel torque signal receiving module 1011, a steering wheel turn angle signal receiving module 1012, a steering wheel angular velocity signal receiving module 1013, and a brake signal receiving module 1014 of the receiving module 101, so that when a problem of the vehicle is detected according to any one of the torque signal, the turn angle signal, the angular velocity signal, and the brake signal, a fault of the vehicle may be determined in time.
For another example, in the embodiment of the present invention, a vehicle CAN signal may be obtained from the first communication module 102, such as a CAN bus communication module, so that when a vehicle has a problem according to the vehicle CAN signal, a vehicle fault may be determined in time, where the first communication module 102 is connected to a vehicle CAN bus, the autonomous parking system domain controller 20, and a vehicle OBD (On board diagnostics).
For another example, the embodiment of the present invention may further obtain the state signal of the driving mode from the driving mode module 103, so that when a problem of the vehicle is detected according to the state signal, a vehicle fault may be determined in time.
And the processing component 200 is used for analyzing the whole vehicle signal and detecting whether the full-automatic parking system of the vehicle has a fault.
It can be understood that the processing component 200 analyzes the current working condition of the full-automatic parking system according to the vehicle-finished signal, determines that the full-automatic parking system has a fault once the current working condition of the full-automatic parking system is abnormal, determines the vehicle fault, indicates that an emergency dangerous condition occurs in the real vehicle test process, and needs to make a judgment and a feedback in time, i.e., intervenes in the system control in time and notifies a driver or a person outside the vehicle, so as to ensure the safety of the vehicle and the person.
Further, in an embodiment of the present invention, the processing component 200 is further configured to determine that the fully automatic parking system has a fault when the braking signal is received, the torque is greater than the first preset value, the rotation angle is greater than the second preset value, the angular velocity is greater than the third preset value, and/or the state is abnormal.
As an example of the determination, whether the full-automatic parking system has a fault is determined by monitoring an input state signal of a driving mode, a torque signal of a steering wheel, a turn angle signal of the steering wheel, an angular velocity signal of the steering wheel, a braking signal of a vehicle and a vehicle CAN signal, for example, when it is detected that the operation state of the autonomous parking system domain controller 20 is abnormal or a vehicle operation failure is detected according to the vehicle CAN signal, or when it is detected that a driver steps on a brake pedal according to the braking signal, or it is detected that manual intervention is performed to rotate the steering wheel according to the turn angle signal or the angular velocity signal or the torque signal, it is determined that the full-automatic parking system has a fault.
It should be noted that the specific preset value can be set by a person in the art according to actual conditions, so as to be used as a boundary between a fault and a normal condition to accurately determine whether the system has a fault.
And the control component 300 is used for controlling the vehicle to exit the full-automatic parking mode and simultaneously sending a fault signal when detecting that the full-automatic parking system has a fault.
That is to say, the processing component 200 and the control component 300 constitute a central processing unit, so that when the central processing unit determines that the system has a fault, a work termination instruction can be sent to the autonomous parking system domain controller 20 or the vehicle controller through the first communication module 102 or in other manners, a warning can be timely sent to relevant personnel while exiting the full-automatic parking mode, the problem that the safety of the vehicle, the driver and the surrounding environment needs to be passively ensured depending on the experience and the response speed of the driver is avoided, the driver can detect the safety risk to be faced in the real vehicle test before perceiving the safety risk, the safety protection and the real-time monitoring effect can be achieved for the vehicle, and meanwhile, the risk of drivers and passengers in the background or the vehicle can be informed through remote communication. The reliability of the vehicle and the safety of personnel are effectively improved, production accidents are effectively avoided, the test cost is reduced, and the safety in the intelligent driving real vehicle test is protected very importantly.
Further, in one embodiment of the present invention, the apparatus 10 of the embodiment of the present invention further comprises: a human interaction module 400.
The manual interaction module 400 is configured to, when a fault of the full-automatic parking system is detected, control the interaction device to send a prompt according to a fault signal.
It can be understood that, when the full-automatic parking system has a fault, in order to timely and effectively remind a driver and a passenger on a car, the interaction device can be controlled to send out a reminder to prompt the driver to take over manually, for example, a command can be sent to drive the driver to feel touch, acoustically and visually.
Optionally, in an embodiment of the present invention, the interaction device includes: at least one acoustic reminder device, at least one optical reminder device and at least one tactile reminder device.
That is, the human interaction module 400 may control an acoustic reminding device such as an in-vehicle audio device to send out an alarm voice or a warning sound, or control an optical reminding device such as an LED lamp or an in-vehicle display to send out a flashing indication, or control a tactile reminding device such as a seat to shake, and the like, so as to further improve the reliability of the vehicle and the safety of the personnel, rather than passively ensuring the safety of the vehicle, the driver, and the surrounding environment.
Further, in one embodiment of the present invention, the apparatus 10 of the embodiment of the present invention further comprises: a terminal 500 and a second communication module 600.
The second communication module 600 is configured to send a fault signal to the terminal 500, and receive an intervention instruction generated by the terminal 500 according to the fault signal, so that the control component 300 controls the vehicle to execute a corresponding action according to the intervention instruction.
It can be understood that, as shown in fig. 2, the device 10 according to the embodiment of the present invention may further include a fixed terminal disposed in the background or a mobile terminal that can be held by a background operator, and when the driving mode module is in an automatic driving state and a failure of the full-automatic parking system is detected, the device 10 according to the embodiment of the present invention may send an instruction to an external communication unit, i.e., the terminal 500, through the second communication module 600, e.g., the 5G wireless communication module, so as to achieve an object of prompting a monitoring person outside the vehicle, and remind a driver and a passenger in the vehicle and simultaneously remind the monitoring person outside the vehicle, thereby achieving an object of a dual protection mechanism, and further improving safety and reliability.
Optionally, in an embodiment of the present invention, the terminal 500 includes: a third communication module 501 and a manual intervention module 502.
The third communication module 501 is configured to receive a fault signal.
And a manual intervention module 502 for generating an intervention instruction according to the fault signal.
For example, after the second communication module 600 sends an alarm instruction to the terminal 500, the terminal 500 may receive the alarm instruction through the third communication module 501, such as the 5G wireless communication module, and after the monitoring personnel outside the vehicle receives the alarm instruction, the monitoring personnel outside the vehicle may send an intervention instruction, such as an emergency stop instruction, an instruction for controlling the vehicle to exit the full-automatic parking mode, to the vehicle through the manual intervention module 502, that is, the manual intervention module 502 may send an instruction to terminate the automatic driving state.
In addition, in an embodiment of the present invention, the apparatus of the embodiment of the present invention further includes: the manual intervention scram module 700.
The manual intervention emergency stop module 700 is configured to receive an emergency stop instruction of a driver to control the vehicle to stop moving.
It can be understood that, as shown in fig. 2, in the embodiment of the present invention, a manual intervention emergency stop module 700, such as an emergency stop switch, may be further provided, that is, a driver may not only depress a brake pedal or rotate a steering wheel to perform manual intervention, but also trigger the manual intervention emergency stop module 700, so as to send a work termination instruction to the autonomous parking system domain controller 20 through the first communication module 102, release the driving right of the vehicle to the driver, and send an instruction to the terminal 500 through the 5G second communication module 600, to prompt a monitoring person outside the vehicle, and simultaneously prompt the driver to take over manually through the human-computer interaction module 400, and send an instruction to the human-computer interaction module 400 to drive the driver to feel, acoustically, and visually prompt the driver.
Specifically, in the embodiment of the present invention, the steering wheel torque signal receiving module 1011, the steering wheel angle signal receiving module 1012, the steering wheel angular velocity signal receiving module 1013, the braking signal receiving module 1014, the driving mode module 103, the manual intervention emergency stop module 700, and the human-computer interaction module 400 are all connected to an input end of the processing module 200, and the processing module 200 is connected to the vehicle CAN bus and the autonomous parking system domain controller 20 through the first communication module 102, and performs command communication to the human-computer interaction module 400 and the second communication module 600 according to signals at the input end. A third communication module 501 and a manual intervention module 502 are arranged in the terminal 500; the second communication module 600 and the third communication module 501 are used for communication between the processing component 200 and background monitoring personnel, and the manual intervention module 502 is used for performing manual intervention on the vehicle in real time at the background. The embodiment of the invention can monitor the driving behavior of the autonomous parking system in the automatic driving mode, can give an alarm to a driver, is convenient for background manual intervention, ensures the driving safety of the vehicle in the development and test processes, and effectively ensures the safety of the personnel of the vehicle.
The working principle of the device according to an embodiment of the invention is described in detail below with reference to fig. 3.
As shown in fig. 3, the working steps of the embodiment of the present invention include:
step S301: and powering on and starting the vehicle and the system.
Step S302: and judging whether the driving mode module instruction is in an automatic driving state, wherein if so, executing step S316, otherwise, executing step S303.
Step S303: and setting the current driving mode as a manual driving state.
Step S304: and judging whether the braking signal receiving module outputs a braking signal, wherein if so, executing step S306, otherwise, executing step S305.
Step S305: and keeping the current driving module in an automatic driving state.
Step S306: and setting the current driving module to be in a manual driving state, triggering a human-computer interaction prompt and sending a warning signal to an external communication unit.
For example, when the driver is detected to step on the brake pedal, the automatic driving mode is exited, the manual driving state is changed, the manual driving state is adopted, and meanwhile, a signal is sent to the terminal to prompt monitoring personnel outside the vehicle.
Step S307: and judging whether the torque signal in the steering wheel torque signal receiving module exceeds a threshold value, wherein if so, executing step S309, otherwise, executing step S308.
Step S308: and keeping the current driving mode in an automatic driving state.
Step S309: and setting the current driving mode as a manual driving state, triggering a human-computer interaction prompt, and sending a warning signal to an external communication unit.
For example, when the steering wheel torque is detected to exceed a certain value, manual intervention is judged, the automatic driving mode is exited, the manual driving state is converted, manual taking over is carried out, and meanwhile, a signal is sent to a terminal to prompt monitoring personnel outside the vehicle.
Step S310: and judging whether the steering angle signal in the steering wheel angle signal receiving module exceeds a threshold value, wherein if so, executing step S312, otherwise, executing step S311.
Step S311: and keeping the current driving mode in an automatic driving state.
Step S312: and setting the current driving mode as a manual driving state, triggering a human-computer interaction prompt, and sending a warning signal to an external communication unit.
For example, when the steering wheel angle is detected to exceed a certain value, manual intervention is judged, the automatic driving mode is exited, the manual driving state is converted, manual taking over is carried out, and meanwhile, a signal is sent to a terminal to prompt monitoring personnel outside the vehicle.
Step S313: and judging whether the rotation angle signal in the steering wheel angular speed signal receiving module exceeds a threshold value, wherein if so, executing step S315, otherwise, executing step S314.
Step S314: and keeping the current driving mode in an automatic driving state.
Step S315: and setting the current driving mode as a manual driving state, triggering a human-computer interaction prompt, and sending a warning signal to an external communication unit.
For example, when the angular speed of the steering wheel exceeds a certain value, manual intervention is judged, the automatic driving mode is exited, the manual driving state is converted, manual taking over is carried out, and meanwhile, a signal is sent to a terminal to prompt monitoring personnel outside the vehicle.
Step S316: and judging whether the manual intervention emergency stop module outputs manual pressing of the emergency stop switch device, wherein if so, executing step S318, otherwise, executing step S317.
Step S317: and keeping the current driving mode in an automatic driving state.
Step S318: and setting the current driving mode as a manual driving state, triggering a human-computer interaction prompt, and sending a warning signal to an external communication unit.
For example, when the triggering of the manual intervention emergency stop module is detected, manual intervention is judged, the automatic driving mode is exited, the manual driving state is converted, manual taking over is carried out, and meanwhile, a signal is sent to the terminal to prompt monitoring personnel outside the vehicle.
According to the protection device for testing the full-automatic parking of the vehicle, which is provided by the embodiment of the invention, in the real-vehicle testing process, the control state of the autonomous parking system in the automatic driving mode is monitored in real time according to the whole vehicle signal, once the system or the vehicle breaks down, the autonomous parking system can be quitted, the system control is intervened in time, a fault signal is sent, a driver or personnel outside the vehicle is informed, the driving and personnel safety in the development testing process is ensured, and the safety and reliability of the vehicle are improved. Therefore, the problems that in the actual vehicle testing process, judgment and feedback cannot be timely made on sudden dangerous conditions, safety of vehicles, drivers and surrounding environments cannot be effectively guaranteed, reliability and safety are low and the like are solved.
Next, a protection method for testing full-automatic parking of a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 4 is a flowchart of a protection method for testing full-automatic parking of a vehicle according to an embodiment of the present invention.
As shown in fig. 4, the method is applied to the protection device for testing full-automatic parking of the vehicle according to the above embodiment, and includes the following steps:
step S401: and acquiring a vehicle signal of the vehicle in the process of fully automatically parking the vehicle according to the parking path.
Step S402: and analyzing the whole vehicle signal, and detecting whether the full-automatic parking system of the vehicle breaks down.
Step S403: when the fault of the full-automatic parking system is detected, the vehicle is controlled to exit the full-automatic parking mode, and meanwhile, a fault signal is sent.
It should be noted that the foregoing explanation of the embodiment of the protection device for testing full-automatic parking of the vehicle also applies to the protection method for testing full-automatic parking of the vehicle of the embodiment, and details are not repeated here.
According to the protection method for testing the full-automatic parking of the vehicle, provided by the embodiment of the invention, in the real vehicle testing process, the control state of the autonomous parking system in the automatic driving mode is monitored in real time according to the whole vehicle signal, once the system or the vehicle breaks down, the autonomous parking system can be quitted, the system control is intervened in time, a fault signal is sent, a driver or personnel outside the vehicle are informed, the driving and personnel safety in the development testing process is ensured, and the safety and the reliability of the vehicle are improved. Therefore, the problems that in the actual vehicle testing process, judgment and feedback cannot be timely made on sudden dangerous conditions, safety of vehicles, drivers and surrounding environments cannot be effectively guaranteed, reliability and safety are low and the like are solved.
In order to realize the embodiment, the invention further provides a vehicle which comprises the protection device for testing the full-automatic parking of the vehicle. The vehicle monitors the control state of the autonomous parking system in an automatic driving mode in real-time according to a whole vehicle signal in a real-vehicle testing process, can exit the full-automatic parking mode once the system or the vehicle breaks down, intervenes in system control in time, and sends a fault signal to inform a driver or external personnel of the vehicle, so that the driving and personnel safety in the development testing process is guaranteed, and the safety and reliability of the vehicle are improved. Therefore, the problems that in the actual vehicle testing process, judgment and feedback cannot be timely made on sudden dangerous conditions, safety of vehicles, drivers and surrounding environments cannot be effectively guaranteed, reliability and safety are low and the like are solved.
In order to implement the above embodiments, the present invention further provides an electronic device, including: at least one processor and a memory. Wherein the memory is in communication connection with the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform the protection method for testing full-automatic parking of a vehicle according to the above embodiment, such as to:
and acquiring a vehicle signal of the vehicle in the process of fully automatically parking the vehicle according to the parking path.
And analyzing the whole vehicle signal, and detecting whether the full-automatic parking system of the vehicle breaks down.
When the fault of the full-automatic parking system is detected, the vehicle is controlled to exit the full-automatic parking mode, and meanwhile, a fault signal is sent.
In order to implement the above embodiments, the present invention also proposes a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the protection method for testing full-automatic parking of a vehicle of the above embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A protection device for testing full-automatic parking of a vehicle, comprising:
the acquisition assembly is used for acquiring a vehicle signal of the vehicle in the process of full-automatic parking of the vehicle according to a parking path;
the processing assembly is used for analyzing the whole vehicle signal and detecting whether a full-automatic parking system of the vehicle breaks down or not; and
and the control component is used for controlling the vehicle to exit the full-automatic parking mode and simultaneously sending a fault signal when detecting that the full-automatic parking system has a fault.
2. The apparatus of claim 1, wherein the acquisition component comprises:
the receiving module is used for receiving a torque signal of a steering wheel of the vehicle-finishing signal, a corner signal of the steering wheel, an angular speed signal of the steering wheel and a brake signal of the vehicle;
the first communication module is used for acquiring a whole vehicle CAN signal of the whole vehicle signal from a controller area network CAN bus;
and the driving mode module is used for acquiring the state signal of the driving mode of the whole vehicle signal.
3. The apparatus of claim 2, wherein the processing component is further configured to determine that the fully automatic parking system is malfunctioning when the braking signal is received, the torque is greater than a first preset value, the turning angle is greater than a second preset value, the angular velocity is greater than a third preset value, and/or the status is abnormal.
4. The apparatus of claim 1, further comprising:
and the manual interaction module is used for controlling the interaction equipment to send out a prompt according to the fault signal when the fault of the full-automatic parking system is detected.
5. The apparatus of claim 4, wherein the interaction device comprises: at least one acoustic reminder device, at least one optical reminder device and at least one tactile reminder device.
6. The apparatus of claim 1, further comprising:
a terminal;
and the second communication module is used for sending the fault signal to the terminal and receiving an intervention instruction generated by the terminal according to the fault signal so as to enable the control component to control the vehicle to execute corresponding actions according to the intervention instruction.
7. The apparatus of claim 6, wherein the terminal comprises:
the third communication module is used for receiving the fault signal;
and the manual intervention module is used for generating the intervention instruction according to the fault signal.
8. The apparatus of claim 1, further comprising:
and the manual intervention emergency stop module is used for receiving an emergency stop instruction of a driver so as to control the vehicle to stop moving.
9. A vehicle, characterized by comprising: the protection device for testing full-automatic parking of a vehicle according to any one of claims 1 to 8.
10. A protection method for testing full-automatic parking of a vehicle, characterized in that the protection device for testing full-automatic parking of a vehicle according to any one of claims 1 to 8 is applied, wherein the method comprises:
acquiring a whole vehicle signal of a vehicle in the process of full-automatic parking of the vehicle according to a parking path;
analyzing the whole vehicle signal, and detecting whether a full-automatic parking system of the vehicle has a fault; and
and when the fault of the full-automatic parking system is detected, controlling the vehicle to exit the full-automatic parking mode and simultaneously sending a fault signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010441508.0A CN111619583A (en) | 2020-05-22 | 2020-05-22 | Protection device and method for testing full-automatic parking of vehicle and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010441508.0A CN111619583A (en) | 2020-05-22 | 2020-05-22 | Protection device and method for testing full-automatic parking of vehicle and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111619583A true CN111619583A (en) | 2020-09-04 |
Family
ID=72269381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010441508.0A Pending CN111619583A (en) | 2020-05-22 | 2020-05-22 | Protection device and method for testing full-automatic parking of vehicle and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111619583A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455432A (en) * | 2020-12-07 | 2021-03-09 | 安徽江淮汽车集团股份有限公司 | Automatic parking safety control method, device, equipment and storage medium |
| CN112622883A (en) * | 2020-12-25 | 2021-04-09 | 芜湖雄狮汽车科技有限公司 | Automatic parking fault processing method and device and vehicle |
| CN112896150A (en) * | 2021-02-07 | 2021-06-04 | 中国第一汽车股份有限公司 | Emergency parking method, device, storage medium and system in parking state |
| CN113076261A (en) * | 2021-04-29 | 2021-07-06 | 安徽江淮汽车集团股份有限公司 | Automatic parking test method, automatic parking test equipment, storage medium and automatic parking test device |
| CN114179787A (en) * | 2021-12-09 | 2022-03-15 | 广州小鹏自动驾驶科技有限公司 | Parking method, terminal device and computer storage medium |
| CN114179787B (en) * | 2021-12-09 | 2024-06-04 | 广州小鹏自动驾驶科技有限公司 | Parking method, terminal device and computer storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270364A (en) * | 2014-07-11 | 2016-01-27 | 福特全球技术公司 | Vehicle parking system failure management |
| CN107219797A (en) * | 2017-06-21 | 2017-09-29 | 广州汽车集团股份有限公司 | A kind of control system of autonomous driving vehicle, method and microcontroller |
| DE102017209570A1 (en) * | 2017-06-07 | 2018-12-13 | Robert Bosch Gmbh | Method for braking a vehicle |
| CN109367544A (en) * | 2018-09-07 | 2019-02-22 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle control method, device and storage medium |
| CN109910910A (en) * | 2019-03-13 | 2019-06-21 | 浙江吉利汽车研究院有限公司 | A kind of vehicle control system and method |
| CN209247366U (en) * | 2018-10-31 | 2019-08-13 | 清华大学苏州汽车研究院（相城） | Intelligent driving driving safety protector and intelligent driving vehicle |
| CN110386148A (en) * | 2019-06-26 | 2019-10-29 | 北京汽车集团有限公司 | Control method, device and the vehicle of automatic driving vehicle |
-
2020
- 2020-05-22 CN CN202010441508.0A patent/CN111619583A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270364A (en) * | 2014-07-11 | 2016-01-27 | 福特全球技术公司 | Vehicle parking system failure management |
| DE102017209570A1 (en) * | 2017-06-07 | 2018-12-13 | Robert Bosch Gmbh | Method for braking a vehicle |
| CN107219797A (en) * | 2017-06-21 | 2017-09-29 | 广州汽车集团股份有限公司 | A kind of control system of autonomous driving vehicle, method and microcontroller |
| CN109367544A (en) * | 2018-09-07 | 2019-02-22 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle control method, device and storage medium |
| CN209247366U (en) * | 2018-10-31 | 2019-08-13 | 清华大学苏州汽车研究院（相城） | Intelligent driving driving safety protector and intelligent driving vehicle |
| CN109910910A (en) * | 2019-03-13 | 2019-06-21 | 浙江吉利汽车研究院有限公司 | A kind of vehicle control system and method |
| CN110386148A (en) * | 2019-06-26 | 2019-10-29 | 北京汽车集团有限公司 | Control method, device and the vehicle of automatic driving vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455432A (en) * | 2020-12-07 | 2021-03-09 | 安徽江淮汽车集团股份有限公司 | Automatic parking safety control method, device, equipment and storage medium |
| CN112622883A (en) * | 2020-12-25 | 2021-04-09 | 芜湖雄狮汽车科技有限公司 | Automatic parking fault processing method and device and vehicle |
| CN112896150A (en) * | 2021-02-07 | 2021-06-04 | 中国第一汽车股份有限公司 | Emergency parking method, device, storage medium and system in parking state |
| CN113076261A (en) * | 2021-04-29 | 2021-07-06 | 安徽江淮汽车集团股份有限公司 | Automatic parking test method, automatic parking test equipment, storage medium and automatic parking test device |
| CN114179787A (en) * | 2021-12-09 | 2022-03-15 | 广州小鹏自动驾驶科技有限公司 | Parking method, terminal device and computer storage medium |
| CN114179787B (en) * | 2021-12-09 | 2024-06-04 | 广州小鹏自动驾驶科技有限公司 | Parking method, terminal device and computer storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111619583A (en) | Protection device and method for testing full-automatic parking of vehicle and vehicle | |
| CN107656519B (en) | Driving control method and device for electric vehicle | |
| US10766476B2 (en) | Emergency stop system and emergency stop method | |
| CN109353347B (en) | Vehicle and driving takeover reminding method and system thereof, electronic equipment and storage medium | |
| US9102335B2 (en) | Vehicle and method for controlling a vehicle | |
| US20160104050A1 (en) | Monitoring a degree of attention of a driver of a vehicle | |
| JP2011057134A (en) | Vehicle emergency stop device | |
| CN105620459A (en) | Electric vehicle brake pedal diagnosing method and device | |
| CN106965673A (en) | Shutoff control unit | |
| CN108859866B (en) | Emergency braking early warning control method and device and automobile | |
| CN105799586A (en) | Driving assisting method, device and system and automobile | |
| CN109532739A (en) | The exceptional state alarm method of vehicle-state abnormity prompt device, vehicle, vehicle | |
| CN113085885A (en) | Driving mode switching method, device and equipment and readable storage medium | |
| CN110549854A (en) | torque monitoring method and system | |
| CN115107758A (en) | Method and device for assisting driver to safely park, vehicle and storage medium | |
| CN112622883B (en) | Automatic parking fault processing method and device and vehicle | |
| CN111645701B (en) | Vehicle control method, device and system | |
| CN112659892A (en) | Emergency control method and device for abnormal power failure flameout of vehicle and vehicle | |
| CN111942287A (en) | Vehicle control method, control device, and storage medium | |
| CN209142147U (en) | A kind of safety return circuit | |
| CN113753067B (en) | Lane departure intervention control method and device | |
| CN111775951B (en) | Panoramic image control method, device, equipment and storage medium | |
| KR20130039082A (en) | Method for diagnosis of a trouble of accelerator pedal sensor | |
| CN113830096A (en) | Vehicle control method and device and vehicle | |
| US7075422B2 (en) | Method for intelligent crescendo system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200904 |