CN111845722B

CN111845722B - Automatic automobile driving method, automatic automobile parking method and electronic equipment

Info

Publication number: CN111845722B
Application number: CN202010725228.2A
Authority: CN
Inventors: 刘晓楠; 樊密丽; 郑赠光
Original assignee: Dongfeng Motor Co Ltd
Current assignee: Dongfeng Motor Co Ltd
Priority date: 2020-07-24
Filing date: 2020-07-24
Publication date: 2021-11-30
Anticipated expiration: 2040-07-24
Also published as: CN111845722A

Abstract

The invention discloses an automatic automobile driving method, an automatic automobile parking method and electronic equipment, wherein the automatic automobile driving method comprises the following steps: responding to the active driving starting request, acquiring the control right of the vehicle, and controlling the vehicle to execute active driving; responding to an automatic parking request, and sending an active driving release control right signal to an automatic parking controller, wherein the active driving release control right signal triggers the automatic parking controller to acquire the control right of the vehicle; when an automatic parking release control right signal sent by an automatic parking controller is received, the control right of the vehicle is obtained, the vehicle is controlled to carry out active driving, and the automatic parking release control right signal is sent out after the automatic parking controller finishes automatic parking. The invention provides a mode intelligent switching strategy between an active driving mode and an automatic parking mode of an unmanned vehicle, realizes the high-speed and low-speed switching logic of the vehicle, and provides important technical basis for the intelligent driving and stopping of the vehicle.

Description

Automatic automobile driving method, automatic automobile parking method and electronic equipment

Technical Field

The invention relates to the technical field of automobiles, in particular to an automatic automobile driving method, an automatic automobile parking method and electronic equipment.

Background

For unmanned vehicles, there are a manual driving mode and an automatic driving mode, wherein the automatic driving mode can be divided into an active driving mode and an automatic parking mode.

The active driving mode refers to controlling the vehicle to realize the automatic driving function, and comprises the following driving on the straight track and the curve track, automatic obstacle avoidance, automatic emergency braking, intelligent vehicle following driving, speed reduction and stop when meeting pedestrians/vehicles and the like.

The automatic parking mode is to control the vehicle to perform automatic parking, including automatic parking into a parking space or automatic parking from the parking space.

The existing automatic driving technology mainly focuses on how to realize an active driving mode and an automatic parking mode.

However, in practical implementation, the high-speed scene and the low-speed scene are independent and separated functional modules, and the prior art does not realize intelligent switching between the active driving mode and the automatic parking mode. The intelligent switching of the autonomous walking and parking functions of the unmanned vehicle has important significance for the automatic driving experience of the vehicle, and the unreasonable switching control logic can cause discontinuity in the output of a vehicle controller, so that discomfort of passengers and potential safety hazards of travel during the switching of the driving modes are caused.

Disclosure of Invention

Accordingly, it is necessary to provide an automatic driving method, an automatic parking method and an electronic device for an automobile, aiming at the technical problem that the prior art cannot realize intelligent switching between the active driving mode and the automatic parking mode well.

The invention provides an automatic driving method of an automobile, which comprises the following steps:

responding to the active driving starting request, acquiring the control right of the vehicle, controlling the vehicle to execute active driving, and enabling the vehicle to enter an active driving mode;

responding to an automatic parking request, sending an active driving release control right signal to an automatic parking controller, triggering the automatic parking controller to acquire the control right of the vehicle by the active driving release control right signal, and enabling the vehicle to enter an automatic parking mode;

when an automatic parking release control right signal sent by an automatic parking controller is received, the control right of the vehicle is obtained, the vehicle is controlled to carry out active driving, the vehicle enters an active driving mode, and the automatic parking release control right signal is sent out after the automatic parking controller finishes automatic parking.

Further, the automatic parking request is an automatic parking request, and the sending of an active driving release control right signal to the automatic parking controller in response to the automatic parking request specifically includes:

responding to an automatic parking request, controlling the vehicle to run, keeping the vehicle in an active running mode, and triggering an automatic parking controller to start to search for a parking space by the automatic parking request;

and when the parking space finding information sent by the automatic parking controller is received, controlling the vehicle to stop, stopping controlling the vehicle, and sending an active driving release control right signal to the automatic parking controller.

Further, the automatic parking request is triggered upon detection of an entry into a parking lot event.

Further, the automatic parking request is an automatic parking request, and when an automatic parking release control right signal sent by an automatic parking controller is received, the control right of the vehicle is obtained, the vehicle is controlled to execute active driving, the vehicle enters an active driving mode, and after the automatic parking release control right signal is sent after the automatic parking controller completes automatic parking, the method further includes:

and responding to the active driving quit request, and quitting the active driving mode.

and in response to the automatic parking request, stopping controlling the vehicle and sending an active driving release control right signal to the automatic parking controller.

Further, the obtaining of the control right of the vehicle when receiving the automatic parking release control right signal sent by the automatic parking controller, controlling the vehicle to perform active driving, the vehicle entering an active driving mode, where the automatic parking release control right signal is sent after the automatic parking controller completes automatic parking specifically includes:

when an automatic parking release control right signal sent by an automatic parking controller is received, the control right of the vehicle is obtained, the vehicle is controlled to carry out active driving, the vehicle enters an active driving mode, and the automatic parking release control right signal is sent by the automatic parking controller after the automatic parking is finished and the vehicle is parked.

Still further, the controlling the vehicle to perform active driving specifically includes:

controlling the vehicle to stop if the vehicle is detected to be in the parking space;

otherwise, controlling the vehicle to run along a preset mode.

The invention provides an electronic device for automatic driving of an automobile, which comprises:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,

the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the method for automatically driving a vehicle as described above.

The invention provides an automatic parking method for an automobile, which comprises the following steps:

responding to the automatic parking request, and waiting for an active driving release control right signal sent by an active driving controller;

when an active driving release control right signal sent by the active driving controller is received, the control right of the vehicle is obtained, the vehicle enters an automatic parking mode, the vehicle is controlled to perform automatic parking, after the automatic parking is completed, the automatic parking release control right signal is sent to the active driving controller, and the vehicle enters the active driving mode.

Further, the automatic parking request is an automatic parking request, and the waiting for an active driving release control right signal sent by an active driving controller in response to the automatic parking request specifically includes:

responding to the automatic parking request, and starting to find a parking space;

and after the parking space is found, the parking space finding information is sent to the active driving controller, and an active driving release control right signal sent by the active driving controller is waited.

Further, when receiving an active driving release control right signal sent by the active driving controller, obtaining a control right for the vehicle, and when the vehicle enters an automatic parking mode, controlling the vehicle to perform automatic parking, and after completing the automatic parking, sending an automatic parking release control right signal to the active driving controller, where the vehicle enters the active driving mode, specifically including:

when an active driving release control right signal sent by an active driving controller is received, the control right of the vehicle is obtained, the vehicle enters an automatic parking mode, and the vehicle is controlled to execute automatic parking;

and after controlling the vehicle to automatically park in the parking space, controlling the vehicle to stop, stopping controlling the vehicle, sending an automatic parking release control right signal to the active driving controller, and enabling the vehicle to enter an active driving mode.

Further, the automatic parking request is an automatic parking request, and when an active driving release control right signal sent by the active driving controller is received, the control right of the vehicle is acquired, the vehicle enters an automatic parking mode, the vehicle is controlled to perform automatic parking, and after the automatic parking is completed, the automatic parking release control right signal is sent to the active driving controller, and the vehicle enters the active driving mode, which specifically includes:

when an active driving release control right signal sent by an active driving controller is received, the control right of the vehicle is obtained, the vehicle enters an automatic parking mode, and the vehicle is controlled to automatically park out;

and after controlling the vehicle to automatically park out of the parking space, controlling the vehicle to stop, stopping controlling the vehicle, sending an automatic parking release control right signal to the active driving controller, and enabling the vehicle to enter an active driving mode.

The invention provides an automatic parking electronic device for an automobile, which comprises:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for automatically parking a vehicle as described above.

The invention provides a mode intelligent switching strategy between an active driving mode and an automatic parking mode of an unmanned vehicle, realizes the high-speed and low-speed switching logic of the vehicle, and provides important technical basis for the intelligent driving and stopping of the vehicle.

Drawings

FIG. 1 is a flow chart of a method for automatically driving a vehicle according to the present invention;

FIG. 2 is a flowchart illustrating a method for automatically driving a vehicle according to a second embodiment of the present invention;

FIG. 3 is a flowchart illustrating a method for automatically driving a vehicle according to a third embodiment of the present invention;

FIG. 4 is a schematic diagram of a hardware structure of an automotive autopilot electronic device according to a fourth embodiment of the present invention;

FIG. 5 is a flowchart illustrating a method for automatic parking of a vehicle according to the present invention;

fig. 6 is a flowchart illustrating an automatic parking method for an automobile according to an eighth embodiment of the present invention;

fig. 7 is a flowchart illustrating an automatic parking method for an automobile according to a ninth embodiment of the present invention;

fig. 8 is a schematic diagram of a hardware structure of an electronic device for automatic parking of an automobile according to a tenth embodiment of the present invention;

FIG. 9 is a system schematic of the preferred embodiment of the present invention;

FIG. 10 is a flowchart illustrating a switching between active driving and automatic parking according to a fourteenth embodiment of the present invention;

FIG. 11 is a signal flow diagram of an active driving and an automatic parking according to a fourteenth embodiment of the present invention;

FIG. 12 is a flow chart illustrating the switching between active driving and automatic parking according to the fifteenth embodiment of the present invention;

fig. 13 is a signal flow diagram of the fifteenth embodiment of the present invention for active driving and automatic parking.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples.

Example one

Fig. 1 shows a work flow chart of an automatic driving method for a vehicle according to the present invention, which includes:

step S101, responding to an active driving starting request, acquiring a control right of a vehicle, controlling the vehicle to execute active driving, and enabling the vehicle to enter an active driving mode;

step S102, responding to an automatic parking request, sending an active driving release control right signal to an automatic parking controller, wherein the active driving release control right signal triggers the automatic parking controller to acquire the control right of the vehicle, and the vehicle enters an automatic parking mode;

step S103, when an automatic parking release control right signal sent by an automatic parking controller is received, the control right of the vehicle is obtained, the vehicle is controlled to carry out active driving, the vehicle enters an active driving mode, and the automatic parking release control right signal is sent out after the automatic parking controller finishes automatic parking.

Specifically, the invention is mainly applied to an Automatic Driving (AD) controller, and the AD controller is used for switching between an active Driving mode and an automatic parking mode. The present invention may also be implemented using an additional Electronic Control Unit (ECU). When the driver presses the active driving key, step S101 is triggered. The AD controller acquires the control right of the vehicle, the AD controller controls the vehicle to carry out active driving, and the vehicle enters an active driving mode. Active driving includes, but is not limited to, following straight and curved tracks, automatic obstacle avoidance, automatic emergency braking, intelligent following, pedestrian/vehicle deceleration stop, etc. Then, when an Auto Parking Assist (APA) request is received, step S102 is triggered. The automatic parking request can be triggered by pressing an APA key by a user or meeting a preset automatic parking scene, an active driving release control right signal is sent to an APA controller, the APA controller acquires the control right of the vehicle, the automatic parking operation is carried out on the vehicle, and the vehicle enters an automatic parking mode. When the APA controller finishes the automatic parking operation, an automatic parking release control right signal is sent out, step S103 is triggered, the AD controller obtains the control right of the vehicle again, and the vehicle enters the active driving mode again.

Example two

Fig. 2 is a flowchart illustrating an automatic driving method for a vehicle according to a second embodiment of the present invention, which includes:

step S201, in response to the active driving start request, obtaining a control right for the vehicle, and controlling the vehicle to execute active driving.

Step S202, responding to an automatic parking request, controlling the vehicle to run, keeping the vehicle in an active running mode, and triggering the automatic parking controller to start to search for a parking space through the automatic parking request.

Specifically, when an auto park request is received, such as the driver pressing an APA button, the APA controller detects a hard-wired signal C indicating that the driver wishes to initiate the auto park mode. At this time, the AD controller still takes over the vehicle and controls the vehicle to run. The AD controller controls a Vehicle Control Module (VCM) through a signal D to Control the Vehicle to decelerate, and when the Vehicle decelerates to a target Vehicle speed, for example, 5km/h, the Vehicle runs at a constant speed. Meanwhile, the APA system starts to search for a proper parking space, but the vehicle still belongs to an active driving mode at the moment, the AD controller controls the vehicle, the signal E controls an Electronic Power Steering (EPS) to achieve a target corner angle and a target corner speed, and the signal F controls a gear Control Unit (SCU) to achieve a target gear.

Step S203, when the parking space found information sent by the automatic parking controller is received, the vehicle is controlled to stop, an active driving release control right signal is sent to the automatic parking controller, the active driving release control right signal triggers the automatic parking controller to obtain the control right of the vehicle, and the vehicle enters an automatic parking mode.

Specifically, after the APA controller finds the parking space through the signal a2 of the data acquisition module, the APA controller is informed of the parking space through the signal G, and at the moment, the AD controller sends a signal to the VCM, so that an Electronic Vacuum Braking (EVB) starts to be actuated, the vehicle is controlled to gradually stop, and signals for controlling the turning angle, the turning angle speed and the D gear are continuously output during the period. After the vehicle stops, the AD controller stops controlling the vehicle, outputs a gear shift to N gear signal to the SCU, sends a vehicle stop signal to the VCM, and sends a steering stop signal to the EPS. The AD controller outputs a signal G for releasing the control right to the APA controller, and the vehicle enters an automatic parking mode from an active driving mode at the moment.

Step S204, when an automatic parking release control right signal sent by an automatic parking controller is received, the control right of the vehicle is obtained, the vehicle enters an active driving mode, and the automatic parking release control right signal is sent out after the automatic parking controller finishes automatic parking and parking.

Specifically, the APA controller receives the signal G, starts to take over vehicle control, sends a signal F to the SCU to inform the gear to be switched to R/D, and sends a signal E to the EPS to control the vehicle to realize active steering. And the APA controller sends a signal D to the VCM to realize the autonomous stop and stop of the vehicle and start the parking process. After the vehicle is parked in the place and adjusted to the proper position, the EVB is controlled to stop the vehicle, the APA controls the SCU to switch the gear into the N gear, the steering and acceleration and deceleration actions are stopped, and the parking process is finished. Then, the APA controller outputs a signal G for releasing the control right to the AD controller. The AD controller takes over the control right of the vehicle and realizes the switching from the automatic parking mode to the AD active driving mode.

And step S205, responding to the active driving exit request, and exiting the active driving mode.

Specifically, when the driver presses the AD button again, the AD controller detects the hard-wired signal B, which indicates that the driver wishes to end the AD active driving mode, and the system exits the AD active driving mode.

Specifically, in the present embodiment, the AD mode is regarded as the main mode, and the control right flow sequence is AD-APA-AD from high-speed autonomous driving to parking. Through setting up main, from control, be favorable to promoting vehicle control's validity and security.

The embodiment realizes the switching to the whole process of automatic parking in the process of active driving. The embodiment can combine the vehicle state, the vehicle running environment and the intention of a driver to decide the running mode of the vehicle; the mode switching logic introduces a mechanism of taking over and releasing the control right automatically, and increases direct information interaction between the active driving control and the low-speed parking control, so that the vehicle is intelligently and smoothly switched between the active driving mode and the automatic parking mode without the intervention of a manual mode of a driver, and a technical basis is provided for realizing full-flow automatic driving from high-speed active driving to low-speed parking.

In one embodiment, the automatic parking request is triggered upon detection of an entry into a parking lot event.

Specifically, whether the vehicle enters the parking lot may be determined according to the geographic location information of the vehicle or the interaction information of the vehicle with the parking lot. For example, when the vehicle arrives at a parking lot, or when the vehicle receives entry information of the parking lot, it is confirmed that an entry event into the parking lot is detected.

The embodiment triggers automatic parking based on the parking lot entering event, and is more intelligent and efficient.

In one embodiment, the controlling the vehicle to perform active driving specifically includes:

otherwise, controlling the vehicle to run in a preset mode.

Specifically, before the vehicle is not parked in the parking space, the active driving system controls the vehicle to drive along a preset mode, for example, a preset track. When the vehicle is parked in the parking space, the sensor of the data acquisition module detects that the vehicle is in the parking space, the signal a1 is used for informing the AD controller, and the AD controller keeps the vehicle stopped by controlling the EVB.

According to the embodiment, the active driving mode of the vehicle is controlled according to the position of the vehicle, and interaction with automatic parking is realized.

EXAMPLE III

Fig. 3 is a flowchart illustrating an automatic driving method for a vehicle according to a third embodiment of the present invention, including:

step S301, responding to the active driving starting request, obtaining the control right of the vehicle, controlling the vehicle to execute active driving, and enabling the vehicle to enter an active driving mode.

Specifically, the driver starts the vehicle, the vehicle is in a stopped state, the shift position is maintained in the N range, and the AD controller detects whether a signal of the AD button is received. When the driver presses the AD button, the AD controller detects an AD button hard-wired signal B, and triggers step S301 to start entering an active driving mode.

Step S302, in response to the automatic parking request, stopping controlling the vehicle, sending an active driving release control right signal to the automatic parking controller, wherein the active driving release control right signal triggers the automatic parking controller to acquire the control right of the vehicle, and the vehicle enters an automatic parking mode.

Specifically, when the driver presses the APA button, the APA controller detects the APA button hard-wired signal C, indicating that the driver wishes to automatically park the vehicle out of the space.

The AD controller outputs a signal G for releasing the control right to the APA controller, and the vehicle enters an automatic parking mode from an active driving mode at the moment.

The APA receives the signal G, starts to take over vehicle control, sends a signal F to the SCU to inform the gear to be switched to R/D, and sends a signal E to the EPS to control the vehicle to realize active steering; and sending a signal D to the VCM to realize the automatic stop and stop of the vehicle and start the process of automatically parking out of the parking space. And after the vehicle parks out of the parking space and is adjusted to a proper position, controlling the EVB to stop the vehicle, controlling the SCU to switch the gear into the N gear by the APA, and stopping steering and acceleration and deceleration actions to finish the process of parking out of the garage. The APA controller outputs a signal G for releasing the control right to the AD controller.

Step S303, when an automatic parking release control right signal sent by an automatic parking controller is received, obtaining a control right of the vehicle, controlling the vehicle to execute active driving, and enabling the vehicle to enter an active driving mode, wherein the automatic parking release control right signal is sent by the automatic parking controller after the automatic parking is finished and the vehicle is parked.

Specifically, the AD controller takes over the control right of the vehicle and realizes the switching from the automatic parking mode to the AD active driving mode.

The embodiment realizes the switching to the whole process of automatic parking in the process of active driving. The embodiment can combine the vehicle state, the vehicle running environment and the intention of a driver to decide the running mode of the vehicle; the mode switching logic introduces a mechanism of taking over and releasing the control right automatically, and increases direct information interaction between the active driving control and the low-speed parking control, so that the vehicle is intelligently and smoothly switched between the active driving mode and the automatic parking mode without the intervention of a manual mode of a driver, and a technical basis is provided for realizing full-flow automatic driving from low-speed parking to high-speed active driving.

otherwise, controlling the vehicle to run along a preset mode.

Specifically, when the vehicle does not leave the parking space, the sensor of the data acquisition module detects that the vehicle is in the parking space, the signal a1 informs the AD controller, and the AD controller keeps the vehicle stopped by controlling the EVB and controls the SCU to keep the N-range signal. When the vehicle leaves the parking space, the sensors of the data acquisition module detect the surrounding conditions of the vehicle, the AD controller controls the gear of the vehicle to be switched into a D gear, an acceleration signal is output to the VCM, the EPS is controlled to realize a target corner and corner speed signal, the vehicle starts automatically and runs along a preset track

Example four

Fig. 4 is a schematic diagram of a hardware structure of an automotive autopilot electronic device according to a fourth embodiment of the invention, including:

at least one processor 401; and the number of the first and second groups,

a memory 402 communicatively coupled to at least one of the processors 401; wherein the content of the first and second substances,

the memory 402 stores instructions executable by at least one of the processors 401, the instructions being executable by at least one of the processors 401 to enable at least one of the processors 401 to:

when an automatic parking release control right signal sent by an automatic parking controller is received, the control right of the vehicle is obtained, the vehicle is controlled to carry out active driving, and the automatic parking release control right signal is sent out after the automatic parking controller finishes automatic parking.

The Electronic device is preferably an automotive Electronic Control Unit (ECU). In fig. 4, one processor 401 is taken as an example.

The electronic device is preferably an AD controller, and the electronic device may further include: an input device 403 and a display device 404.

The processor 401, the memory 402, the input device 403, and the display device 404 may be connected by a bus or other means, and are illustrated as being connected by a bus.

The memory 402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic driving method of an automobile in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 401 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 402, that is, implements the automatic driving method of the vehicle in the above-described embodiment.

The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the automobile automatic driving method, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 402 optionally includes memory located remotely from processor 401, and such remote memory may be connected over a network to a device that performs the method for automotive autopilot. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 403 may receive input of user clicks and generate signal inputs related to user settings and function control of the auto-driving method of the vehicle. The display device 404 may include a display screen or the like.

The method of automotive autopilot in any of the above method embodiments is performed when the one or more modules are stored in the memory 402 and when executed by the one or more processors 401.

EXAMPLE five

A fifth embodiment of the present invention is a schematic diagram of a hardware structure of an automotive autopilot electronic device, including:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to:

responding to the active driving starting request, acquiring the control right of the vehicle, and controlling the vehicle to execute active driving;

when parking space finding information sent by an automatic parking controller is received, controlling the vehicle to stop, stopping controlling the vehicle, and sending an active driving release control right signal to the automatic parking controller, wherein the active driving release control right signal triggers the automatic parking controller to obtain the control right of the vehicle, and the vehicle enters an automatic parking mode;

when an automatic parking release control right signal sent by an automatic parking controller is received, acquiring the control right of the vehicle, enabling the vehicle to enter an active driving mode, and sending the automatic parking release control right signal after the automatic parking controller finishes automatic parking and parking;

EXAMPLE six

A schematic diagram of a hardware structure of an automotive autopilot electronic device according to a sixth embodiment of the present invention includes:

at least one processor; and the number of the first and second groups,

in response to the automatic parking request, stopping controlling the vehicle, sending an active driving release control right signal to an automatic parking controller, triggering the automatic parking controller to acquire the control right of the vehicle by the active driving release control right signal, and enabling the vehicle to enter an automatic parking mode;

EXAMPLE seven

Fig. 5 is a flowchart illustrating an automatic parking method for an automobile according to the present invention, which includes:

step S501, responding to an automatic parking request, and waiting for an active driving release control right signal sent by an active driving controller;

step S502, when an active driving release control right signal sent by an active driving controller is received, the control right of the vehicle is obtained, the vehicle enters an automatic parking mode, the vehicle is controlled to execute automatic parking, after the automatic parking is finished, the automatic parking release control right signal is sent to the active driving controller, and the vehicle enters the active driving mode.

In particular, the present invention is primarily applicable to an Automatic Parking (APA) controller. When the driver presses the active driving key, the AD controller acquires the control right of the vehicle, the AD controller controls the vehicle to execute active driving, and the vehicle enters an active driving mode. Active driving includes, but is not limited to, following straight and curved tracks, automatic obstacle avoidance, automatic emergency braking, intelligent following, pedestrian/vehicle deceleration stop, etc. Then, when an Automatic Parking (APA) request is received, step S501 is triggered. The automatic parking request can be triggered by a user pressing an APA key or when a preset automatic parking scene is met, an AD controller sends an active driving release control right signal to an APA controller, and when the active driving release controller signal is received, step S502 is triggered, the APA controller obtains the control right of the vehicle, the vehicle is automatically parked, and the vehicle enters an automatic parking mode. And after the APA controller finishes the automatic parking operation, sending an automatic parking release control right signal to the AD controller, acquiring the control right of the vehicle again by the AP controller, and enabling the vehicle to enter the active driving mode again.

Example eight

Fig. 6 is a flowchart illustrating an automatic parking method for an automobile according to an eighth embodiment of the present invention, including:

step S601, responding to the automatic parking request, and starting to search for a parking space.

Specifically, when an auto park request is received, such as the driver pressing an APA button, the APA controller detects a hard-wired signal C indicating that the driver wishes to initiate the auto park mode. At this time, the AD controller still takes over the vehicle and controls the vehicle to run. The AD controller controls a Vehicle Control Module (VCM) through a signal D to Control the Vehicle to decelerate, and when the Vehicle decelerates to a target Vehicle speed, for example, 5km/h, the Vehicle runs at a constant speed. Meanwhile, the APA system starts to search for a proper parking space, but the vehicle still belongs to an active driving mode at the moment, the AD controller controls the vehicle, the Electronic Power Steering (EPS) is controlled through a signal E to achieve a target corner and a corner speed, and the SCU is controlled through a signal F to achieve a target gear.

Step S602, after the parking space is found, the parking space found information is sent to the active driving controller, and an active driving release control right signal sent by the active driving controller is waited.

Specifically, after the APA controller finds a parking space through the signal a2 of the data acquisition module, the APA controller is notified through the signal G, and at this time, the AD controller sends a signal to the VCM, so that the EVB starts to operate, the vehicle is controlled to gradually stop, and the signals for controlling the steering angle, the steering angular velocity and the D gear are continuously output during the period. After the vehicle stops, the AD controller stops controlling the vehicle, outputs a gear shift to N gear signal to the SCU, sends a vehicle stop signal to the VCM, and sends a steering stop signal to the EPS. The AD controller outputs a signal G for releasing the control right to the APA controller, and the vehicle enters an automatic parking mode from an active driving mode at the moment.

Step S603, when receiving an active driving release control right signal sent by the active driving controller, obtaining a control right for the vehicle, and the vehicle enters an automatic parking mode to control the vehicle to perform automatic parking.

Specifically, the APA controller receives the signal G, starts to take over vehicle control, sends a signal F to the SCU to inform the gear to be switched to R/D, and sends a signal E to the EPS to control the vehicle to realize active steering. And the APA controller sends a signal D to the VCM to realize the autonomous stop and stop of the vehicle and start the parking process.

And step S604, after the vehicle is controlled to automatically park in the parking space, the vehicle is controlled to stop, an automatic parking release control right signal is sent to the active driving controller, and the vehicle enters an active driving mode.

Specifically, after the vehicle is parked in the parking space and adjusted to the proper position, the EVB is controlled to stop the vehicle, the APA controls the SCU to switch the gear to the N gear, and the steering and acceleration and deceleration actions are stopped, so that the parking process is completed. Then, the APA controller outputs a signal G for releasing the control right to the AD controller. The AD controller takes over the control right of the vehicle and realizes the switching from the automatic parking mode to the AD active driving mode.

The embodiment realizes the switching to the whole process of automatic parking in the process of active driving.

Example nine

Fig. 7 is a flowchart illustrating an automatic parking method for a vehicle according to a ninth embodiment of the present invention, including:

and step S701, responding to the automatic parking request, and waiting for an active driving release control right signal sent by an active driving controller.

Specifically, the driver starts the vehicle, the vehicle is in a stopped state, the shift position is maintained in the N range, and the AD controller detects whether a signal of the AD button is received. When the driver presses the AD button, the AD controller detects an AD button hard wire signal B and starts to enter an active driving mode. When the driver presses the APA button, the APA controller detects an APA button hard-line signal C indicating that the driver wishes to automatically park the vehicle out of the parking space, and triggers step S701.

Step S702, when an active driving release control right signal sent by an active driving controller is received, the control right of the vehicle is obtained, the vehicle enters an automatic parking mode, and the vehicle is controlled to automatically park out.

Specifically, the AD controller outputs a signal G for releasing the control right to the APA controller, and the vehicle enters the automatic parking mode from the active driving mode. The APA receives the signal G, triggers the step S702, starts to take over the vehicle control, sends a signal F to the SCU to inform the gear to be switched to R/D, and sends a signal E to the EPS control vehicle to realize the active steering; and sending a signal D to the VCM to realize the automatic stop and stop of the vehicle and start the process of automatically parking out of the parking space.

And step S703, after controlling the vehicle to automatically park out of the parking space, controlling the vehicle to stop, stopping controlling the vehicle, sending an automatic parking release control right signal to the active driving controller, and enabling the vehicle to enter an active driving mode.

Specifically, after the vehicle parks out of the parking space and is adjusted to a proper position, the EVB is controlled to stop the vehicle, the APA controls the SCU to switch the gear to the N gear, and the steering and acceleration and deceleration actions are stopped, so that the process of parking out of the garage is completed. The APA controller outputs a signal G for releasing the control right to the AD controller. The AD controller takes over the control right of the vehicle and realizes the switching from the automatic parking mode to the AD active driving mode.

Example ten

Fig. 8 is a schematic diagram of a hardware structure of an automatic parking electronic device for an automobile according to a tenth embodiment of the present invention, including:

at least one processor 801; and the number of the first and second groups,

a memory 802 communicatively coupled to at least one of the processors 801; wherein the content of the first and second substances,

the memory 802 stores instructions executable by at least one of the processors 801 to enable at least one of the processors 801 to:

The electronic device is preferably an APA controller, and the electronic device may further include: an input device 803 and a display device 804.

The processor 801, the memory 802, the input device 803, and the display device 804 may be connected by a bus or other means, and are illustrated as being connected by a bus.

The memory 802 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic parking method of an automobile in the embodiment of the present application, for example, the method flow shown in fig. 5. The processor 801 executes various functional applications and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 802, that is, implements the automatic parking method of the automobile in the above-described embodiment.

The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the automatic parking method of the automobile, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 802 may optionally include memory located remotely from the processor 801, and these remote memories may be connected via a network to a device that performs the method for automatic parking of a car. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 803 may receive an input of a user click and generate signal inputs related to user settings and function control of the automatic parking method of the automobile. The display device 804 may include a display screen or the like.

When the one or more modules are stored in the memory 802, the one or more processors 801 execute the automatic parking method of the automobile in any of the above-described method embodiments.

EXAMPLE eleven

An eleventh embodiment of the present invention provides a schematic diagram of a hardware structure of an electronic device for automatic parking of an automobile, including:

at least one processor; and the number of the first and second groups,

after the parking space is found, sending parking space found information to the active driving controller, and waiting for an active driving release control right signal sent by the active driving controller;

Example twelve

A schematic diagram of a hardware structure of an electronic device for automatic parking of an automobile according to a twelfth embodiment of the present invention includes:

at least one processor; and the number of the first and second groups,

EXAMPLE thirteen

Fig. 9 shows a schematic diagram of a system according to a preferred embodiment of the present invention, which includes: data acquisition module, mode intelligence switch module, intelligent control module, action execution module, HMI and other physics button, wherein:

the data acquisition module comprises a monocular camera 91, a binocular camera 92, a mobileye camera 93, an IBEO radar 94, a Velodyne radar 95, an Ultrasonic (Ultrasonic) radar 96 and other sensors, and is mainly used for detecting the surrounding environment of the vehicle and providing judgment basis for the autonomous driving of the vehicle and the selection of automatic driving and automatic parking modes;

and the intelligent mode switching module comprises a mode switching judgment module, an autonomous driving mode and an automatic parking mode. The module receives signals from the data acquisition module, physical key signals and intelligent control module signals, judges the running state of the vehicle and the driving requirements of passengers according to the content of the signals, selects a driving mode, and then outputs signals to the intelligent control module so as to select a proper controller to control the vehicle;

and the intelligent control module receives a signal of the mode intelligent switching module, selects a proper controller according to a driving mode, and the controller comprises an AD active driving controller 911 and an APA automatic parking controller 912 which are respectively used for realizing AD active driving functions (including following driving on straight and curved tracks, automatic obstacle avoidance, automatic emergency braking, intelligent following driving, speed reduction and stop in case of pedestrians/vehicles and the like) and automatic parking functions. The two controllers can communicate signals and transfer control rights to realize intelligent switching between the autonomous driving function and the automatic parking function. In addition, the module also feeds back the state of the controller to the intelligent mode switching module while outputting related control signals to the action execution module;

the action execution module comprises a vehicle control unit VCM 913, an active steering EPS 914, a gear controller SCU 915 and a vacuum power-assisted brake EVB 916, and the action execution module receives control signals output by the intelligent control module so as to execute control actions; the VCM of the vehicle controller realizes longitudinal control, controls the motor to drive the vehicle to accelerate and decelerate and the motor to reversely drag and brake, and controls the EVB to realize vehicle braking; the EPS realizes the active steering function; the SCU realizes the function of switching the gears of the vehicle.

Relevant physical keys including an AD button 97, an APA button 98, an AD scram button 99, an APA scram button 910, wherein:

the AD button and the APA button are respectively an autonomous driving function starting switch and an automatic parking function starting switch, and are respectively connected with an AD autonomous driving controller and an APA automatic parking controller, the keys are resilience keys, the high level is effective, the keys are pressed to be connected, and the keys are disconnected when being loosened;

the AD emergency stop button and the APA emergency stop button are respectively an automatic driving function emergency stop button and an automatic parking function emergency stop button and are used for disconnecting the power supplies of the AD autonomous driving controller and the APA automatic parking controller and a control signal wire connected to a vehicle body in an emergency;

a Human Machine Interface (HMI) 917 receives the controller signal, and informs the passenger of the vehicle driving mode and state through an icon according to the operating state of the vehicle controller.

The system signal flow is illustrated as follows:

a is the fusion of the vehicle surrounding environment signals obtained by the data acquisition module sensing sensor, and the fusion is input to the mode switching judgment module;

the AD button signal is acquired by the AD active driving controller, and the high level is effective and used for starting and exiting the AD active driving mode;

the APA button signal is collected by the APA automatic parking controller, and the high level is effective and used for starting and exiting the APA automatic parking mode;

a1 is the signal output by the AD master vehicle controller to the action execution module, a2 is the signal output by the APA automatic parking controller to the action execution module;

d is an interaction signal of the AD and APA controllers, the VCM of the whole vehicle controller and the EVB, and comprises an acceleration and deceleration signal, a parking signal and the like, so that the acceleration and deceleration functions of the vehicle are realized;

e is an interaction signal of the AD and APA controllers and the active steering EPS, and comprises a steering angular speed signal and a target steering angle signal, so that the active steering function is realized;

f is an interaction signal of the AD and APA controllers and a gear controller SCU, and the P/R/N/D gear of the vehicle is controlled;

g is an interactive signal between the AD driving vehicle controller and the APA automatic parking controller, and comprises a release and take-over signal of the vehicle control right, so that the intelligent switching between the driving of the vehicle and the automatic parking is realized;

h is an AD emergency stop button, the AD emergency stop button is connected with a power supply of the AD driving running controller and a control signal wire connected to a vehicle body through hard wires and used for disconnecting the power supply of the AD driving running controller and the control signal wire connected to the vehicle body in emergency;

and I is an APA emergency stop button, is in hard wire connection with a power supply of the APA automatic parking controller and a control signal wire connected to the vehicle body, and is used for disconnecting the power supply of the APA automatic parking controller and the control signal wire connected to the vehicle body in an emergency.

J is a signal sent to the HMI by the active driving controller to inform passengers of entering/exiting the active driving mode of the vehicle;

k is a signal sent to the HMI by the automatic parking controller to inform passengers of the entering/exiting of the automatic parking state of the vehicle

M and N are mode selection signals sent by a mode switching judgment module, and when the vehicle is judged to need to enter an active driving mode, a signal M is output; and when the vehicle is judged to need to enter the automatic parking mode, outputting a signal N.

Example fourteen

Fig. 10 shows a flow chart of switching between active driving and automatic parking according to a fourteenth embodiment of the present invention, and fig. 11 shows a flow chart of signals when switching between active driving and automatic parking, where the switching flow includes:

step S1001, when the vehicle actively runs along a road and is in an AD active running mode, the AD controller controls the vehicle to output a vehicle control signal to the VCM;

step S1002, when a driver presses an APA button, a mode switching judging module detects a hard-wire signal C to indicate that the driver wants to start the automatic parking mode, and the mode switching judging module sends a signal AD Notice to inform an AD controller that the driver wants to start the parking mode; meanwhile, the mode switching judgment module sends a signal APA Notice to the APA controller to inform that the parking space can be searched;

step S1003, the AD controller transmits an information deceleration signal to the VCM to control the vehicle to decelerate, and when the vehicle decelerates to the target vehicle speed of 5km/h, the vehicle runs at a constant speed;

step S1004, at the same time, the APA system starts to search for a proper parking space (at this time, the vehicle still belongs to an active driving mode, the AD controller controls the vehicle, the EPS is controlled through a steering signal to realize a target corner and a corner speed, and the SCU is controlled through a gear signal to realize a target gear);

step S1005, after the APA controller judges that the parking space is found, the APA controller informs the mode switching judging module through a signal APA Notice, and simultaneously sends a signal Find park Flag to the AD controller, and the mode switching judging module sends a signal AD Notice to inform the AD controller that the vehicle can start to park;

step S1006, the AD controller sends a signal to the VCM to enable the EVB to start to actuate, controls the vehicle to gradually stop, and continuously outputs signals for controlling the turning angle, the turning angular speed and the D gear during the period, after the vehicle stops, the AD controller stops controlling the vehicle, outputs a gear shift signal to the SCU, sends a vehicle stop signal to the VCM, sends a signal for stopping steering to the EPS, sends AD Notice to the mode switching judgment module to inform the vehicle of stopping, and the mode switching judgment module sends AD Release to the AD to request the AD Release control right and sends APA EnablFlag to inform the APA to take over the vehicle;

step S1007, the AD controller outputs a signal AD Release Flag for releasing the control right to the APA controller, and sends a signal to the mode switching judgment module and the HMI to inform that the active driving mode is exited;

step S1008, the APA starts to take over vehicle control, sends a signal to the mode switching judgment module and the HMI and informs that an active parking mode is entered; sending a signal to the SCU to inform the gear to be switched to R/D, sending a signal EPS to control the vehicle to realize active steering, sending a signal to the VCM to realize the autonomous stop and go of the vehicle, and starting a parking process;

step S1009, after the vehicle is parked in the position and adjusted to the proper position, the vehicle is controlled to stop, the APA controls the SCU to switch the gear into the N gear, the steering and acceleration and deceleration actions are stopped, the parking process is completed, the mode switching judgment module is informed that the parking is completed through the APA Notice, and the mode switching judgment module sends a signal APA Release to inform that the APA can Release the control right; sending AD EnablFlag to an AD controller;

step S1010, the APA controller outputs a signal APA Release Flag for releasing the control right to the AD controller, and sends a signal to the mode switching judgment module and the HMI to inform the driver of exiting the automatic parking mode;

step S1011, the AD controller takes over the control right of the vehicle, realizes the switching from the automatic parking mode to the AD active driving mode, sends a signal to the mode switching judgment module and the HMI to inform that the active driving mode is about to be entered, a sensor of the data acquisition module detects that the vehicle is in a parking space, and the AD controller keeps the vehicle stopped by controlling the EVB;

step S1012, when the driver presses the AD button again, the AD controller detects the hard-wired signal B, which indicates that the driver wants to end the AD active driving mode, and the system exits the AD active driving mode.

Example fifteen

Fig. 12 shows a flow chart of switching between active driving and automatic parking according to a fifteenth embodiment of the present invention, and fig. 13 shows a flow chart of signals when switching between active driving and automatic parking, where the switching flow includes:

step S1201, a driver starts a vehicle, the vehicle is in a stop state, a gear keeps an N gear, and an AD controller detects whether a signal of an AD button is received;

step S1202, when a driver presses an AD button, a mode switching judgment module sends an AD Enableflag to an AD controller to inform that the driver is ready to enter an active driving mode, the AD takes over a vehicle, and sends an AD note to inform that a mode switching module enters the active driving mode, the driver is informed of entering the active driving mode through an HMI, a sensor detects that the vehicle is in a parking space, the AD controller keeps the vehicle stopped by controlling an EVB, and an SCU is controlled to keep an N-gear signal;

step S1203, when the driver presses the APA button, the mode switching judgment module detects a hard-line signal of the APA button, the mode switching judgment module sends a signal AD Notice to inform an AD controller that the driver wants to start a parking mode, and sends the APA Notice to the APA to inform that the vehicle is ready to take over;

step S1204, the AD controller waits for 5 seconds;

step S1205, after 5 seconds, the AD controller stops controlling the vehicle, keeps the gear of the vehicle as an N-gear signal, and does not have an acceleration and deceleration control signal and a steering control signal;

step S1206, the mode switching judging module sends a signal AD Release to the AD controller, outputs APA EnablFlag to the APA controller and informs taking over the vehicle, the AD controller outputs a signal AD Release Flag for releasing the control right to the APA controller, feeds back the signal AD Release to the mode judging module and sends a signal to the HMI to inform a driver that the vehicle exits the active driving mode;

step S1207, the APA starts to take over vehicle control, at the moment, the vehicle enters an automatic parking mode from an active driving mode, the HMI informs a driver of entering the automatic parking mode, sends a signal to the SCU to inform that the gear is switched to R/D, and sends a signal to the EPS control vehicle to realize active steering; sending a signal D to the VCM to realize the automatic stop and stop of the vehicle and start to automatically park out of the parking space;

step S1208, after the vehicle is parked out of the parking space and adjusted to a proper position, controlling the EVB to stop the vehicle, controlling the SCU to switch the gear into N gear by the APA, stopping steering and acceleration and deceleration actions, completing the process of parking and leaving the garage, and sending a signal APA Notice to the mode switching judgment module to inform that the vehicle is parked out of the parking space;

step S1209, the mode switching judging module sends a signal APA release to the APA controller to inform the APA to release the control right; sending a signal AD EnableFlag to inform the AD to take over the vehicle, sending APA releaseFlag to the AD controller by the APA controller, sending a signal to the mode switching judgment module and the HMI to inform the vehicle to exit the parking mode;

step S1210, the AD controller takes over the control right of the vehicle, realizes the switching from the automatic parking mode to the AD active driving mode, informs the driver to enter the active driving mode through a signal, and feeds back the state to the mode switching judgment module;

and S1211, detecting the peripheral condition of the vehicle by a sensor of the data acquisition module, controlling the gear of the vehicle to be switched into a D gear by the AD controller, outputting an acceleration signal to the VCM, controlling the EPS to realize a target corner and corner speed signal, and automatically starting the vehicle and running along a preset track.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An automatic driving method for a vehicle, comprising:

when an automatic parking release control right signal sent by an automatic parking controller is received, acquiring the control right of the vehicle, controlling the vehicle to carry out active driving, and enabling the vehicle to enter an active driving mode, wherein the automatic parking release control right signal is sent out after the automatic parking controller finishes automatic parking;

when the automatic parking request is an automatic parking request, the automatic parking request is responded, and an active driving release control right signal is sent to an automatic parking controller, specifically comprising the following steps:

2. The automatic driving method for an automobile according to claim 1, wherein when the automatic parking request is an automatic parking request, the sending an active driving release control right signal to an automatic parking controller in response to the automatic parking request specifically comprises:

3. The automotive autopilot method of claim 2 wherein the automated parking request is triggered upon detection of an entry into a parking lot event.

4. The automatic driving method for an automobile according to claim 1, wherein when the automatic parking request is an automatic parking request, and when the automatic parking release control right signal sent by the automatic parking controller is received, the control right for the automobile is obtained, the automobile is controlled to perform active driving, the automobile enters an active driving mode, and the automatic parking release control right signal is sent after the automatic parking controller completes automatic parking, the method further comprises:

5. The automatic driving method according to claim 1, wherein when the automatic parking request is an automatic parking-out request, and when an automatic parking release control right signal sent by an automatic parking controller is received, the automatic parking release control right signal is obtained, the control right for the vehicle is obtained, the vehicle is controlled to perform active driving, the vehicle enters an active driving mode, and the automatic parking release control right signal is sent after the automatic parking controller completes automatic parking, specifically comprising:

6. The automatic driving method for automobile according to any one of claims 1 to 5, wherein the controlling the vehicle to perform active driving specifically comprises:

if the vehicle is detected to be in the parking space, controlling the vehicle to stop;

otherwise, controlling the vehicle to run along a preset mode.

7. An automotive autopilot electronic device, comprising:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform a method of automatically driving a vehicle according to any one of claims 1 to 6.

8. An automatic parking method for an automobile, comprising:

when an active driving release control right signal sent by an active driving controller is received, the control right of the vehicle is obtained, the vehicle enters an automatic parking mode, the vehicle is controlled to perform automatic parking, after the automatic parking is completed, the automatic parking release control right signal is sent to the active driving controller, and the vehicle enters the active driving mode;

when the automatic parking request is an automatic parking request, and when an active driving release control right signal sent by an active driving controller is received, acquiring a control right of the vehicle, enabling the vehicle to enter an automatic parking mode, controlling the vehicle to execute automatic parking, and after the automatic parking is completed, sending an automatic parking release control right signal to the active driving controller, and enabling the vehicle to enter the active driving mode specifically comprises the following steps:

after the vehicle is controlled to automatically park out of the parking space, the vehicle is controlled to stop, an automatic parking release control right signal is sent to the active driving controller, and the vehicle enters an active driving mode.

9. The automatic parking method for an automobile according to claim 8, wherein when the automatic parking request is an automatic parking request, the waiting for an active driving release control right signal from an active driving controller in response to the automatic parking request specifically comprises:

10. The automatic automobile parking method according to claim 8, wherein the step of obtaining the control right of the automobile when receiving the active driving release control right signal sent by the active driving controller, the step of entering the automatic parking mode by the automobile to control the automobile to perform automatic parking, and after completing the automatic parking, the step of sending the automatic parking release control right signal to the active driving controller, the step of entering the active driving mode by the automobile specifically comprises the following steps:

after the vehicle is controlled to automatically park in the parking space, the vehicle is controlled to stop, an automatic parking release control right signal is sent to the active driving controller, and the vehicle enters an active driving mode.

11. An electronic device for automatic parking of a vehicle, comprising:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for automatic parking of a car according to any one of claims 8 to 10.