CN113911109A - Automatic parking system exception handling method, device, equipment and storage medium - Google Patents

Automatic parking system exception handling method, device, equipment and storage medium Download PDF

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Publication number
CN113911109A
CN113911109A CN202110940952.1A CN202110940952A CN113911109A CN 113911109 A CN113911109 A CN 113911109A CN 202110940952 A CN202110940952 A CN 202110940952A CN 113911109 A CN113911109 A CN 113911109A
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CN
China
Prior art keywords
parking
abnormal condition
abnormality
gear
image fusion
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Pending
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CN202110940952.1A
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Chinese (zh)
Inventor
吴迪
曹包华
潘泽洵
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Changchun Faw Fusheng Group Co ltd
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Changchun Faw Fusheng Group Co ltd
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Application filed by Changchun Faw Fusheng Group Co ltd filed Critical Changchun Faw Fusheng Group Co ltd
Priority to CN202110940952.1A priority Critical patent/CN113911109A/en
Publication of CN113911109A publication Critical patent/CN113911109A/en
Pending legal-status Critical Current

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    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • 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
    • 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
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor 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
    • 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
    • B60W2050/146—Display means

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an exception handling method, device, equipment and storage medium for an automatic parking system. The method comprises the following steps: when the image fusion automatic parking system is started, if an abnormal condition occurs, the parking function is not entered; secondly, when the parking space is searched, if an abnormal condition occurs, the parking space information is not released; in the parking process, if an abnormal condition occurs, the parking is recovered and interrupted, the system requests emergency braking, the system requests a gear P, the system requests EPB locking, if the abnormal condition is relieved within 30s, the parking is recovered, the parking is continued, and if the abnormal condition is not relieved within 30s, the parking function is quitted; and fourthly, in the parking process, if an abnormal condition occurs, the interruption is not recovered, the system requests emergency braking, the system requests a gear P, the system requests EPB locking, and the parking function is quitted. The invention can greatly improve the safety of the system, greatly reduce the risk of automatic parking, and effectively guarantee the safety of drivers, pedestrians and vehicles.

Description

Automatic parking system exception handling method, device, equipment and storage medium
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to an exception handling method, device, equipment and storage medium of an image fusion automatic parking system.
Background
The rapid development of ADAS is a necessary trend in the automotive industry, and meets the higher requirements of drivers and passengers on automobiles, and also meets the national development strategy in the automotive industry. The image fusion parking is one of the important functions of the ADAS, and is also the function of the current automobile market with the largest demand on the ADAS, so that the safety and the reliability of the image fusion parking are particularly important.
Disclosure of Invention
The invention provides an exception handling method, device, equipment and storage medium of an image fusion automatic parking system, which can greatly improve the safety of the system, greatly reduce the risk of automatic parking and effectively guarantee the safety of drivers, passengers and vehicles.
The technical scheme of the invention is described as follows by combining the attached drawings:
in a first aspect, an embodiment of the present invention provides an exception handling method for an image fusion automatic parking system, including:
step one, when an image fusion automatic parking system is started, judging whether an abnormal condition exists or not, if the abnormal condition occurs, not entering a parking function, and displaying a warning prompt on a screen of a vehicle machine;
step two, judging whether an abnormal condition exists or not during parking space searching, if the abnormal condition occurs, not releasing parking space information, and displaying a warning prompt on a screen of the vehicle machine;
step three, judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, stopping the parking recovery, requesting emergency braking by the system, requesting the gear to be P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle, if the abnormal condition is relieved within 30s, recovering the parking, continuing the parking, and if the abnormal condition is not relieved within 30s, quitting the parking function;
and step four, judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, not recovering interruption, requesting emergency braking by the system, requesting the gear to be P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle machine, and exiting the parking function.
Further, the abnormal condition includes four conditions, which are respectively:
the first abnormal condition: the system detects the occurrence of an obstacle on a planned parking path; opening any door of the vehicle; opening a front hatch cover; opening a trunk door; main driving safety belt loosening
The second abnormal condition is: manual intervention in the parking process, including steering wheel intervention, gear shifting intervention, EPB intervention, accelerator pedal intervention and brake pedal intervention;
the third abnormal condition: faults of the image fusion parking system comprise sensor faults, controller faults and communication faults;
the fourth abnormal condition: associated system faults including EPS faults, ESP faults, and VCU faults.
Further, the abnormal conditions in the first step include a first abnormal condition, a third abnormal condition and a fourth abnormal condition.
Further, the abnormal conditions in the second step include a first abnormal condition, a third abnormal condition and a fourth abnormal condition.
Further, the abnormal condition in step three includes a first abnormal condition.
Further, the abnormal conditions in the fourth step include a second abnormal condition, a third abnormal condition and a fourth abnormal condition.
In a second aspect, an embodiment of the present invention further provides an exception handling device for an image fusion automatic parking system, including:
the first processing module is used for judging whether an abnormal condition exists or not when the image fusion automatic parking system is started, if the abnormal condition occurs, the parking function is not started, and a warning prompt is displayed on a screen of the vehicle machine;
the second processing module is used for judging whether an abnormal condition exists or not when the parking space is searched, if the abnormal condition occurs, the parking space information is not released, and a warning prompt is displayed on a screen of the vehicle machine;
the third processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the parking is recovered and interrupted, the system requests emergency braking, the system requests that the gear is P gear, the system requests EPB locking, warning prompts are displayed on a screen of the vehicle machine, if the abnormal condition is relieved within 30s, the parking is recovered, the parking is continued, and if the abnormal condition is not relieved within 30s, the parking function is quitted;
and the fourth processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the system does not recover interruption, requests emergency braking, requests a gear P to be a P gear, requests EPB locking, displays a warning prompt on a screen of the vehicle machine, and exits the parking function.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method for processing the exception in the image fusion automatic parking system according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for processing the abnormality of the image fusion automatic parking system according to any one of the embodiments of the present invention.
The invention has the beneficial effects that:
the invention can greatly improve the safety of the system, greatly reduce the risk of automatic parking, and effectively guarantee the safety of drivers, pedestrians and vehicles.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a flowchart illustrating an exception handling method of an image fusion automatic parking system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an exception handling device of an image fusion automatic parking system according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device in a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The abnormal condition includes four conditions, which are respectively:
the first abnormal condition: the system detects the occurrence of an obstacle on a planned parking path; opening any door of the vehicle; opening a front hatch cover; opening a trunk door; main driving safety belt loosening
The second abnormal condition is: manual intervention in the parking process, including steering wheel intervention, gear shifting intervention, EPB intervention, accelerator pedal intervention and brake pedal intervention;
the third abnormal condition: faults of the image fusion parking system comprise sensor faults, controller faults and communication faults;
the fourth abnormal condition: associated system faults including EPS faults, ESP faults, and VCU faults.
Referring to fig. 1, an exception handling method of an image fusion automatic parking system includes:
step one, when an image fusion automatic parking system is started, judging whether a first abnormal condition, a third abnormal condition and a fourth abnormal condition exist, if the abnormal conditions exist, the parking function is not entered, and displaying a warning prompt on a screen of a vehicle machine;
step two, judging whether abnormal conditions exist or not during parking space searching, if the first abnormal condition, the third abnormal condition and the fourth abnormal condition occur, not releasing parking space information, and displaying a warning prompt on a screen of a vehicle machine;
step three, judging whether an abnormal condition exists or not in the parking process, if the first abnormal condition occurs, stopping the parking recovery, requesting emergency braking by the system, requesting a gear to be a P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle, if the abnormal condition is relieved within 30s, recovering the parking, continuing the parking, and if the abnormal condition is not relieved within 30s, withdrawing the parking function;
and step four, judging whether an abnormal condition exists or not in the parking process, if the second, third and fourth abnormal conditions occur, not recovering the interruption, requesting emergency braking by the system, requesting the gear to be P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle machine, and exiting the parking function.
Example two
An exception handling device of an image fusion automatic parking system is used for realizing an exception handling method of the image fusion automatic parking system, and comprises the following steps:
the first processing module is used for judging whether an abnormal condition exists or not when the image fusion automatic parking system is started, if the abnormal condition occurs, the parking function is not started, and a warning prompt is displayed on a screen of the vehicle machine;
the second processing module is used for judging whether an abnormal condition exists or not when the parking space is searched, if the abnormal condition occurs, the parking space information is not released, and a warning prompt is displayed on a screen of the vehicle machine;
the third processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the parking is recovered and interrupted, the system requests emergency braking, the system requests that the gear is P gear, the system requests EPB locking, warning prompts are displayed on a screen of the vehicle machine, if the abnormal condition is relieved within 30s, the parking is recovered, the parking is continued, and if the abnormal condition is not relieved within 30s, the parking function is quitted;
and the fourth processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the system does not recover interruption, requests emergency braking, requests a gear P to be a P gear, requests EPB locking, displays a warning prompt on a screen of the vehicle machine, and exits the parking function.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention. FIG. 3 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 3 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the present invention.
As shown in FIG. 3, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. In the computer device 12 of the present embodiment, the display 24 is not provided as a separate body but is embedded in the mirror surface, and when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing an exception handling method of the image fusion automatic parking system provided by the embodiment of the present invention.
Example four
A fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an exception handling method for an image fusion automatic parking system according to all embodiments of the present invention.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (9)

1. An exception handling method of an image fusion automatic parking system is characterized by comprising the following steps:
step one, when an image fusion automatic parking system is started, judging whether an abnormal condition exists or not, if the abnormal condition occurs, not entering a parking function, and displaying a warning prompt on a screen of a vehicle machine;
step two, judging whether an abnormal condition exists or not during parking space searching, if the abnormal condition occurs, not releasing parking space information, and displaying a warning prompt on a screen of the vehicle machine;
step three, judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, stopping the parking recovery, requesting emergency braking by the system, requesting the gear to be P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle, if the abnormal condition is relieved within 30s, recovering the parking, continuing the parking, and if the abnormal condition is not relieved within 30s, quitting the parking function;
and step four, judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, not recovering interruption, requesting emergency braking by the system, requesting the gear to be P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle machine, and exiting the parking function.
2. The method for processing the abnormality of the image fusion automatic parking system according to claim 1, wherein the abnormal situation includes four situations, which are respectively:
the first abnormal condition: the system detects the occurrence of an obstacle on a planned parking path; opening any door of the vehicle; opening a front hatch cover; opening a trunk door; main driving safety belt loosening
The second abnormal condition is: manual intervention in the parking process, including steering wheel intervention, gear shifting intervention, EPB intervention, accelerator pedal intervention and brake pedal intervention;
the third abnormal condition: faults of the image fusion parking system comprise sensor faults, controller faults and communication faults;
the fourth abnormal condition: associated system faults including EPS faults, ESP faults, and VCU faults.
3. The method for processing the abnormality of the image fusion automatic parking system according to claim 2, wherein the abnormality in the first step includes a first abnormality, a third abnormality and a fourth abnormality.
4. The method for processing the abnormality of the image fusion automatic parking system according to claim 2, wherein the abnormality in the second step includes a first abnormality, a third abnormality and a fourth abnormality.
5. The method as claimed in claim 2, wherein the exception handling in step three includes a first exception.
6. The method as claimed in claim 2, wherein the abnormal situations in the fourth step include a second abnormal situation, a third abnormal situation and a fourth abnormal situation.
7. An abnormality processing device for an image fusion automatic parking system, comprising:
the first processing module is used for judging whether an abnormal condition exists or not when the image fusion automatic parking system is started, if the abnormal condition occurs, the parking function is not started, and a warning prompt is displayed on a screen of the vehicle machine;
the second processing module is used for judging whether an abnormal condition exists or not when the parking space is searched, if the abnormal condition occurs, the parking space information is not released, and a warning prompt is displayed on a screen of the vehicle machine;
the third processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the parking is recovered and interrupted, the system requests emergency braking, the system requests that the gear is P gear, the system requests EPB locking, warning prompts are displayed on a screen of the vehicle machine, if the abnormal condition is relieved within 30s, the parking is recovered, the parking is continued, and if the abnormal condition is not relieved within 30s, the parking function is quitted;
and the fourth processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the system does not recover interruption, requests emergency braking, requests a gear P to be a P gear, requests EPB locking, displays a warning prompt on a screen of the vehicle machine, and exits the parking function.
8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for processing the abnormality of the image fusion automatic parking system according to any one of claims 1 to 6 when executing the program.
9. A computer-readable storage medium on which a computer program is stored, wherein the program, when executed by a processor, implements an abnormality processing method for an image fusion automatic parking system according to any one of claims 1 to 6.
CN202110940952.1A 2021-08-17 2021-08-17 Automatic parking system exception handling method, device, equipment and storage medium Pending CN113911109A (en)

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US20140081476A1 (en) * 2011-02-09 2014-03-20 Lidia-Pilar Verdugo-Lara Method for assisting a driver of a motor vehicle
US20170021828A1 (en) * 2015-07-21 2017-01-26 Hyundai Motor Company Apparatus and method for controlling autonomous parking system
WO2017168754A1 (en) * 2016-04-01 2017-10-05 三菱電機株式会社 Automatic parking system, automatic parking control device, and automatic parking control method
CN110588639A (en) * 2019-09-24 2019-12-20 威马智慧出行科技（上海）有限公司 Automatic parking control method, electronic equipment and automobile
CN111746519A (en) * 2020-06-05 2020-10-09 重庆长安汽车股份有限公司 Safety monitoring method for short-distance remote control parking and computer readable storage medium
CN112158193A (en) * 2020-06-24 2021-01-01 上汽通用五菱汽车股份有限公司 Automatic parking system, parking safety protection method thereof and storage medium
CN112406896A (en) * 2020-11-24 2021-02-26 东风汽车集团有限公司 Pure electric vehicle passenger-replacing parking function failure protection method and system
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

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140081476A1 (en) * 2011-02-09 2014-03-20 Lidia-Pilar Verdugo-Lara Method for assisting a driver of a motor vehicle
US20170021828A1 (en) * 2015-07-21 2017-01-26 Hyundai Motor Company Apparatus and method for controlling autonomous parking system
WO2017168754A1 (en) * 2016-04-01 2017-10-05 三菱電機株式会社 Automatic parking system, automatic parking control device, and automatic parking control method
CN110588639A (en) * 2019-09-24 2019-12-20 威马智慧出行科技（上海）有限公司 Automatic parking control method, electronic equipment and automobile
CN111746519A (en) * 2020-06-05 2020-10-09 重庆长安汽车股份有限公司 Safety monitoring method for short-distance remote control parking and computer readable storage medium
CN112158193A (en) * 2020-06-24 2021-01-01 上汽通用五菱汽车股份有限公司 Automatic parking system, parking safety protection method thereof and storage medium
CN112406896A (en) * 2020-11-24 2021-02-26 东风汽车集团有限公司 Pure electric vehicle passenger-replacing parking function failure protection method and system
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

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