CN113942497A - Image fusion parking controller state machine skipping method - Google Patents
Image fusion parking controller state machine skipping method Download PDFInfo
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- CN113942497A CN113942497A CN202111207751.7A CN202111207751A CN113942497A CN 113942497 A CN113942497 A CN 113942497A CN 202111207751 A CN202111207751 A CN 202111207751A CN 113942497 A CN113942497 A CN 113942497A
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- 230000004927 fusion Effects 0.000 title claims abstract description 23
- 238000003745 diagnosis Methods 0.000 claims abstract description 22
- 230000007717 exclusion Effects 0.000 claims abstract description 3
- 230000009191 jumping Effects 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 5
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- 230000008878 coupling Effects 0.000 description 2
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- 230000007849 functional defect Effects 0.000 description 2
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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
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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
- 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
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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
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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Abstract
The invention belongs to the technical field of automobiles, and relates to a state machine skipping method of an image fusion parking controller; the system comprises a first-level state machine, a second-level state machine and a third-level state machine; the two-stage state machine is a sub-state of the one-stage state machine, the three-stage state machine is a sub-state of the two-stage state machine, each state is in a mutual exclusion relationship, and only one state is executed at the same time; the primary state machine comprises an initialization state, a working state, a calibration state, a diagnosis state and a fault state; the secondary state machine comprises a standby state, an automatic parking state, a transparent vehicle bottom shell function state and a panoramic view function state; the three-level state machine comprises a parking space searching state, a parking pause state, a parking termination state, a driver intervention state in parking, a parking completion state and the like; the invention completely decouples the complex and changeable states and manages the states in a grading way, thereby greatly enhancing the safety and the reliability of the controller and improving the use experience of drivers.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a state machine jumping method of an image fusion parking controller.
Background
With the rapid development of automobile intellectualization, more and more automobile models are equipped with the ADAS system, and especially the influence of the ADAS system on the fusion parking function has gradually become the standard allocation of automobiles. The image fusion parking system is a system which utilizes a vehicle-mounted sensor (an ultrasonic radar and a camera) to identify an effective parking space and controls a vehicle to park through a controller, and is a driving auxiliary system which can enable the vehicle to park in a parking space or to drive out of the parking space in a correct mode. The parking system greatly optimizes the driving feeling of drivers, and makes parking more convenient, quicker, safer and more reliable.
In recent years, the carrying capacity of the whole vehicle is rapidly increased, the chip platform and the core algorithm of the image fusion parking controller are more mature, but with the increase of the carrying quantity and the reflection condition of the market, some problems are exposed, wherein one of the main problems is that the state logic is complicated and increases the calculation quantity, and simultaneously, the mutual coupling of the states causes functional defects or conflicts.
Disclosure of Invention
The invention aims to solve the technical problems of complex state logic, functional defects or conflicts caused by mutual coupling and the like in the prior art and provides a state machine jumping method of an image fusion parking controller.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme, which is described by combining the accompanying drawings as follows:
it is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
A state machine jumping method of an image fusion parking controller is characterized in that: execution of a three-level state machine; the three groups of state machines comprise a first-stage state machine, a second-stage state machine and a third-stage state machine; the second-level state machine is a sub-state of the first-level state machine, the third-level state machine is a sub-state of the second-level state machine, each state is in a mutual exclusion relationship, and only one state is executed at the same time.
Further, the primary state machine comprises an initialization state, a working state, a calibration state, a diagnosis state and a fault state;
the secondary state machine comprises a standby state, an automatic parking state, a transparent vehicle bottom shell function state and a panoramic view function state;
the three-level state machine comprises a parking space searching state, a parking pause state, a parking termination state, a driver intervention state in parking, a parking completion state, a parking exit pause state, a parking exit termination state, a driver intervention state in parking exit and a parking exit completion state.
Furthermore, the initialization state refers to that the vehicle is started, the controller enters the initialization state in the power-on process, and software and hardware self-checking is carried out;
after the controller is reset due to serious fault, the state of the controller is electrified and started again, and the controller enters an initialization state.
Further, the working state comprises a standby state, an automatic parking state and an automatic parking state;
the standby state is as follows:
after the initialization is finished, the controller enters a standby state from the initialization state;
in the automatic parking state, after the controller receives a parking exit instruction, the controller enters a standby state;
in the automatic berthing state, after the controller receives a berthing-out command, the controller enters a standby state;
under the functional state of the transparent vehicle bottom shell, after the controller receives an instruction of exiting the transparent vehicle bottom shell, the state of the controller enters a standby state;
in the panoramic view state, after the controller receives an instruction of exiting the panoramic view, the controller state enters a standby state;
in the calibration state, after the controller receives a calibration completion instruction, the controller state enters a standby state;
in the diagnosis state, after the controller receives a diagnosis completion instruction, the controller state enters a standby state;
after the controller is subjected to normal fault recovery, the state of the controller enters a standby state from a fault state;
the automatic parking state comprises a parking space searching state, a parking pause state, a parking termination state, a driver intervention state in parking and a parking completion state;
the parking space searching state is as follows:
in the standby state, after the controller receives an instruction of entering automatic parking, the controller enters a parking space searching state.
The parking state is that:
in the parking space searching state, after the controller receives an instruction for starting automatic parking, the state of the controller enters a parking state;
in the parking pause state, after the controller detects that the moving object leaves or the driver cancels the pause, the controller state enters the parking state.
The parking pause state is that:
in the parking state, after the controller detects that a moving target breaks into the parking space or a driver stops the parking space, the controller enters the parking pause state.
The parking termination state is as follows:
in the parking pause state, after the pause time of the controller is overtime, the controller state enters a parking termination state;
and under the driver intervention state in parking, after the controller confirms the intervention behavior, the controller state enters a parking termination state.
The driver intervention state in parking refers to:
in the parking state, after the controller detects that the driver operates the automobile, the controller state enters a driver intervention state in parking.
The parking completion state is that:
in the parking state, after the controller judges that the vehicle is parked, the controller enters a parking completion state.
Further, the automatic berthing state includes a berthing-out state, a berthing-out suspended state, a berthing-out terminating state, a berthing-out driver intervening state, and a berthing-out completion state;
the out-of-dock state is:
in the standby state, after the controller receives an instruction for starting automatic berthing, the state of the controller enters a berthing-out state;
in the parking-out pause state, after the controller detects that the moving target leaves or the driver cancels the pause, the controller enters the parking-out state;
the parking-out suspended state is as follows:
in the parking-out state, after the controller detects that a moving target breaks into the parking-out state or a driver is artificially paused, the controller enters the parking-out pause state;
the parking-out termination state is as follows:
when the controller is in the parking-out pause state, the controller enters a parking-out termination state after the pause time of the controller is overtime;
in the parking-out driver intervention state, after the controller confirms the intervention behavior, the controller state enters a parking-out termination state;
the parked driver intervention state is:
in the parking-out state, after the controller detects that a driver operates the automobile manually, the controller state enters a driver intervention state during parking-out;
the parking-out completion status is as follows:
and in the parking-out state, after the controller judges that the vehicle is parked out, the controller enters the parking-out completion state.
Further, the functional state of the transparent vehicle bottom shell is as follows:
in a standby state, after the controller receives an instruction of starting the transparent vehicle bottom shell, the state of the controller enters the functional state of the transparent vehicle bottom shell.
Further, the panoramic view functional state refers to:
in a standby state, after the controller receives a panoramic view starting instruction, the state of the controller enters a panoramic view function state;
further, the calibration state refers to:
in a standby state, after the controller receives a calibration starting instruction, the state of the controller enters a calibration state, and the calibration functions of the MCU and the SOC are realized.
Further, the diagnostic status refers to:
and in a standby state, the controller starts a diagnosis function, and the state of the controller enters a diagnosis state to realize the UDS diagnosis function.
Further, the fault state refers to:
in the working state, after the controller fails, the state of the controller enters a failure state;
in the diagnosis state, after a diagnosis fault occurs, the state of the controller enters the fault state;
in the calibration state, the controller fails to calibrate, and the controller state enters a fault state;
in the initialization state, the controller fails to initialize, and the controller state enters a fault state;
and in the fault state, fault classification and fault processing are carried out, and the vehicle is controlled to be dormant after braking.
Compared with the prior art, the invention has the beneficial effects that:
according to the image fusion parking controller state machine jumping method, the complex and variable states are completely decoupled, the states are managed in a grading mode, the safety and the reliability of the controller are greatly improved, and meanwhile the use experience of a driver is improved.
Drawings
The invention is further described with reference to the accompanying drawings in which:
fig. 1 is a logic diagram of a state machine jump method of an image fusion parking controller according to the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
The invention is described in detail below with reference to the attached drawing figures:
the invention provides a state machine jumping method of an image fusion parking controller, wherein the following fusion parking controller is called a controller for short, and the state machine in the method comprises the following steps:
a first-level state machine: initializing state, working state, calibration state, diagnosis state and fault state;
a secondary state machine: a standby state, an automatic parking state, a transparent vehicle bottom shell functional state and a panoramic view functional state;
a three-level state machine: searching a parking space state, a parking pause state, a parking termination state, a driver intervention state in parking, a parking completion state, a parking exit pause state, a parking exit termination state, a driver intervention state in parking exit, and a parking exit completion state;
the invention is composed of three groups of state machines, any states are mutually exclusive, and only one state is executed at the same time.
The technical scheme of the invention is described as follows by combining the attached drawings:
1. and initializing the state.
Starting a vehicle, entering an initialization state in the power-on process of a controller, and performing software and hardware self-checking;
after the controller is reset due to serious fault, the controller is powered on again and enters an initialization state.
2. And (5) working state.
2.1 Standby State
After the initialization is finished, the controller enters a standby state from the initialization state;
in the automatic parking state, after the controller receives a parking exit instruction, the controller enters a standby state;
under the automatic berthing state, the controller enters a standby state after receiving a berthing-out instruction;
under the functional state of the transparent vehicle bottom shell, the controller enters a standby state after receiving an instruction of exiting the transparent vehicle bottom shell;
in the panoramic view state, after the controller receives an instruction of exiting the panoramic view, the controller enters a standby state;
in the calibration state, after the controller receives a calibration completion instruction, the controller enters a standby state;
in the diagnosis state, after receiving a diagnosis completion instruction, the controller enters a standby state;
after the controller traverses the normal fault and recovers, the controller enters a standby state from the fault state.
2.2 automatic parking State
2.2.1 search for parking status
In the standby state, after the controller receives an instruction of entering automatic parking, the controller enters a parking space searching state.
2.2.2 parking State
In the parking space searching state, after the controller receives an instruction for starting automatic parking, the controller enters a parking state; in the parking pause state, the controller enters the parking state after detecting that the moving object leaves or the driver cancels the pause.
2.2.3 parking pause State
In the parking state, after the controller detects that a moving target intrudes or a driver artificially pauses, the controller enters the parking pause state.
2.2.4 parking end State
In the parking pause state, after the pause time of the controller is overtime, the controller enters a parking termination state;
in the state of driver intervention in parking, the controller enters a parking termination state after confirming the intervention behavior.
2.2.5 driver intervention State in parking
In the parking state, the controller detects that the driver operates the automobile and then enters a driver intervention state in parking.
2.2.6 parking completion
In the parking state, the controller judges that the vehicle is parked and enters a parking completion state after the vehicle is parked.
2.3 automatic park out State
2.3.1 being parked out
In the standby state, after the controller receives the command of starting the automatic berthing-out, the controller enters a berthing-out state; in the parking-out suspended state, the controller detects that the moving object leaves or the driver cancels the suspension, and then enters the parking-out state.
2.3.2 park out of pause State
In the parking-out state, the controller enters the parking-out pause state after detecting that a moving target breaks into the parking-out state or a driver stops artificially.
2.3.3 parking out of the end State
When the controller is in the parking-out pause state, the controller enters a parking-out termination state after the pause time of the controller is overtime;
and under the intervention state of the driver during parking, the controller enters a parking termination state after confirming the intervention behavior.
2.3.4 driver intervention State while parked
In the parking-out state, the controller detects that the driver operates the automobile manually and then enters the parking-out driver intervention state.
2.3.5 Pop out complete
When the vehicle is parked out, the controller enters the parking-out completion state after judging that the vehicle is parked out.
2.4 functional State of Chassis of transparent vehicle
In a standby state, after the controller receives an instruction of starting the transparent vehicle bottom shell, the controller enters a functional state of the transparent vehicle bottom shell.
2.5 panoramic view functional State
In a standby state, after receiving a panoramic view starting instruction, the controller enters a panoramic view function state; 3. and in the calibration state standby state, after the controller receives a calibration starting instruction, the controller enters the calibration state to realize the calibration functions of the MCU and the SOC.
4. Diagnostic status
In the standby state, the controller starts a diagnostic function, which enters a diagnostic state to implement a UDS diagnostic function.
5. Fault state
In the working state, after the controller fails, the controller enters a failure state;
in the diagnosis state, after a diagnosis fault occurs, the mobile terminal enters the fault state;
in the calibration state, the controller fails to calibrate and enters a fault state;
in the initialization state, the controller fails to initialize and enters a fault state;
and in the fault state, fault classification and fault processing are carried out, and the vehicle is controlled to be dormant after braking.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims. And those not described in detail in this specification are well within the skill of those in the art.
Claims (10)
1. A state machine jumping method of an image fusion parking controller is characterized in that: execution of a three-level state machine; the three groups of state machines comprise a first-stage state machine, a second-stage state machine and a third-stage state machine; the second-level state machine is a sub-state of the first-level state machine, the third-level state machine is a sub-state of the second-level state machine, each state is in a mutual exclusion relationship, and only one state is executed at the same time.
2. The image fusion parking controller state machine jumping method according to claim 1, characterized in that:
the primary state machine comprises an initialization state, a working state, a calibration state, a diagnosis state and a fault state;
the secondary state machine comprises a standby state, an automatic parking state, a transparent vehicle bottom shell function state and a panoramic view function state;
the three-level state machine comprises a parking space searching state, a parking pause state, a parking termination state, a driver intervention state in parking, a parking completion state, a parking exit pause state, a parking exit termination state, a driver intervention state in parking exit and a parking exit completion state.
3. The image fusion parking controller state machine jumping method according to claim 2, characterized in that:
the initialization state refers to that the vehicle is started, the controller enters the initialization state in the power-on process, and software and hardware self-checking is carried out;
after the controller is reset due to serious fault, the state of the controller is electrified and started again, and the controller enters an initialization state.
4. The image fusion parking controller state machine jumping method according to claim 2, characterized in that:
the working state comprises a standby state, an automatic parking state and an automatic parking state;
the standby state is as follows:
after the initialization is finished, the controller enters a standby state from the initialization state;
in the automatic parking state, after the controller receives a parking exit instruction, the controller enters a standby state;
in the automatic berthing state, after the controller receives a berthing-out command, the controller enters a standby state;
under the functional state of the transparent vehicle bottom shell, after the controller receives an instruction of exiting the transparent vehicle bottom shell, the state of the controller enters a standby state;
in the panoramic view state, after the controller receives an instruction of exiting the panoramic view, the controller state enters a standby state;
in the calibration state, after the controller receives a calibration completion instruction, the controller state enters a standby state;
in the diagnosis state, after the controller receives a diagnosis completion instruction, the controller state enters a standby state;
after the controller is subjected to normal fault recovery, the state of the controller enters a standby state from a fault state;
the automatic parking state comprises a parking space searching state, a parking pause state, a parking termination state, a driver intervention state in parking and a parking completion state;
the parking space searching state is as follows:
in the standby state, after the controller receives an instruction of entering automatic parking, the controller enters a parking space searching state.
The parking state is that:
in the parking space searching state, after the controller receives an instruction for starting automatic parking, the state of the controller enters a parking state;
in the parking pause state, after the controller detects that the moving object leaves or the driver cancels the pause, the controller state enters the parking state.
The parking pause state is that:
in the parking state, after the controller detects that a moving target breaks into the parking space or a driver stops the parking space, the controller enters the parking pause state.
The parking termination state is as follows:
in the parking pause state, after the pause time of the controller is overtime, the controller state enters a parking termination state;
and under the driver intervention state in parking, after the controller confirms the intervention behavior, the controller state enters a parking termination state.
The driver intervention state in parking refers to:
in the parking state, after the controller detects that the driver operates the automobile, the controller state enters a driver intervention state in parking.
The parking completion state is that:
in the parking state, after the controller judges that the vehicle is parked, the controller enters a parking completion state.
5. The image fusion parking controller state machine jumping method according to claim 1, characterized in that:
the automatic berthing state comprises a berthing-out state, a berthing-out suspension state, a berthing-out termination state, a berthing-out driver intervention state and a berthing-out completion state;
the out-of-dock state is:
in the standby state, after the controller receives an instruction for starting automatic berthing, the state of the controller enters a berthing-out state;
in the parking-out pause state, after the controller detects that the moving target leaves or the driver cancels the pause, the controller enters the parking-out state;
the parking-out suspended state is as follows:
in the parking-out state, after the controller detects that a moving target breaks into the parking-out state or a driver is artificially paused, the controller enters the parking-out pause state;
the parking-out termination state is as follows:
when the controller is in the parking-out pause state, the controller enters a parking-out termination state after the pause time of the controller is overtime;
in the parking-out driver intervention state, after the controller confirms the intervention behavior, the controller state enters a parking-out termination state;
the parked driver intervention state is:
in the parking-out state, after the controller detects that a driver operates the automobile manually, the controller state enters a driver intervention state during parking-out;
the parking-out completion status is as follows:
and in the parking-out state, after the controller judges that the vehicle is parked out, the controller enters the parking-out completion state.
6. The image fusion parking controller state machine jumping method according to claim 1, characterized in that:
the functional state of the transparent vehicle bottom shell is as follows:
in a standby state, after the controller receives an instruction of starting the transparent vehicle bottom shell, the state of the controller enters the functional state of the transparent vehicle bottom shell.
7. The image fusion parking controller state machine jumping method according to claim 1, characterized in that:
the panoramic view function state refers to:
in the standby state, after the controller receives the instruction of starting the panoramic view, the state of the controller enters the panoramic view function state.
8. The image fusion parking controller state machine jumping method according to claim 1, characterized in that:
the calibration state is as follows:
in a standby state, after the controller receives a calibration starting instruction, the state of the controller enters a calibration state, and the calibration functions of the MCU and the SOC are realized.
9. The image fusion parking controller state machine jumping method according to claim 1, characterized in that:
the diagnostic status refers to:
and in a standby state, the controller starts a diagnosis function, and the state of the controller enters a diagnosis state to realize the UDS diagnosis function.
10. The image fusion parking controller state machine jumping method according to claim 1, characterized in that:
the fault state is:
in the working state, after the controller fails, the state of the controller enters a failure state;
in the diagnosis state, after a diagnosis fault occurs, the state of the controller enters the fault state;
in the calibration state, the controller fails to calibrate, and the controller state enters a fault state;
in the initialization state, the controller fails to initialize, and the controller state enters a fault state;
and in the fault state, fault classification and fault processing are carried out, and the vehicle is controlled to be dormant after braking.
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| CN114194182A (en) * | 2022-01-29 | 2022-03-18 | 中国第一汽车股份有限公司 | Automatic passenger-replacing parking control method and device, computer equipment and storage medium |
| CN114578767A (en) * | 2022-01-26 | 2022-06-03 | 中国人民解放军海军工程大学 | Pulse workflow control method, recording medium and system |
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