CN117087654A - Intelligent parking switching driving auxiliary method, device, equipment and medium - Google Patents

Intelligent parking switching driving auxiliary method, device, equipment and medium Download PDF

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Publication number
CN117087654A
CN117087654A CN202311086233.3A CN202311086233A CN117087654A CN 117087654 A CN117087654 A CN 117087654A CN 202311086233 A CN202311086233 A CN 202311086233A CN 117087654 A CN117087654 A CN 117087654A
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CN
China
Prior art keywords
parking
user
intelligent
intelligent parking
vehicle
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CN202311086233.3A
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Chinese (zh)
Inventor
蒋敏
翁江林
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202311086233.3A priority Critical patent/CN117087654A/en
Publication of CN117087654A publication Critical patent/CN117087654A/en
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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
    • 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
    • B60W30/14—Adaptive cruise control
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to the technical field of auxiliary driving, and discloses an intelligent parking switching driving auxiliary method, device, equipment and medium, wherein the method comprises the following steps: judging whether a user sets a navigation destination; when the user does not set a navigation destination, after the intelligent parking function is activated by acquiring the parking direction input by the user, intelligent parking switching driving assistance is performed by utilizing an intelligent parking access manual driving mode and/or an intelligent parking access self-adaptive cruising mode; when the user sets the navigation destination, after the navigation destination input by the user is acquired to activate the intelligent parking function, the intelligent parking access intelligent pilot mode and/or the intelligent parking access manual driving mode are utilized to carry out intelligent parking switching driving assistance. The invention opens the breakpoint from parking to driving, is more suitable for the use habit of the user, simplifies the operation of the user, can improve the parking efficiency, ensures stronger continuity of the driving and parking integration and better continuous experience for the user.

Description

Intelligent parking switching driving auxiliary method, device, equipment and medium
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to an intelligent parking switching driving auxiliary method, device, equipment and medium.
Background
With the development of auxiliary driving, more and more vehicle enterprises carry intelligent parking systems, and the attention of users to the intelligent parking systems is also increased. Compared with the intelligent berthing assistance, the intelligent berthing assistance users and manufacturers have low attention. The final position of the parking and the complexity of the interaction of switching the driving after the parking are important factors which prevent the use of the intelligent parking function.
The intelligent parking system on the market at present has obvious break points in the parking cutting vehicle, and brings discontinuous and discontinuous cutting experience to users. Secondly, the traveling and parking are integrated into an automatic driving hot key word. More and more manufacturers are beginning to focus on a row-poise integrated solution. However, the current scheme of integrative traveling and parking is mainly embodied in technical architecture, and the integrative traveling and parking design in the sense and experience of users is less. The intelligent parking auxiliary system is an important ring in full-scene auxiliary driving, and how to switch between parking auxiliary and driving auxiliary without sense is an important design content of auxiliary driving functions.
Disclosure of Invention
In view of the above, the invention provides an intelligent parking switching driving auxiliary method, device, equipment and medium, so as to solve the defect that in the prior art, a parking switching driving has obvious breakpoint experience and brings discontinuous and discontinuous cracking feeling to a user.
In a first aspect, the present invention provides an intelligent parking switching driving assisting method, including:
judging whether a user sets a navigation destination;
when the user does not set a navigation destination, after the intelligent parking function is activated by acquiring the parking direction input by the user, intelligent parking access manual driving mode T01 and/or intelligent parking access self-adaptive cruise mode T02 are utilized to carry out intelligent parking switching driving assistance;
when the user sets the navigation destination, after the navigation destination input by the user is acquired to activate the intelligent parking function, the intelligent parking access intelligent pilot mode T03 and/or the intelligent parking access manual driving mode T04 are utilized to carry out intelligent parking switching driving assistance.
The intelligent parking switching driving auxiliary method provided by the embodiment of the invention opens the breakpoint of parking to driving, is more suitable for the use habit of a user, simplifies the operation of the user, ensures stronger continuity of the driving and parking, provides better continuous experience for the user, and improves the parking efficiency.
In an alternative embodiment, the intelligent parking-out access manual driving mode T01 includes:
in the process of parking, if the parking position of the vehicle does not exceed the 1/2 area of the parking space, the user is not supported to actively access the manual driving mode, at the moment, the accelerator is disabled, the intelligent parking function is triggered to exit by stepping on the brake and rotating the steering wheel, and after the intelligent parking function exits, the system brakes the vehicle and waits for the user to take over; if the parking position of the vehicle exceeds 1/2 area of the parking space, supporting the user to actively access the manual driving mode, stepping on the accelerator and rotating the steering wheel by the user, enabling the system to respond to the intelligent parking function and seamlessly access the manual driving mode, and stopping without braking in the whole process; if the intelligent parking is finished, the manual driving mode is accessed, after the vehicle is parked to a designated position, the vehicle runs forwards at a low speed according to a preset speed and the user takes over, and if the user steps on an accelerator, brakes or holds a steering wheel in a preset time, the intelligent parking function is seamlessly accessed into the manual driving mode, and braking and parking are not needed in the whole process; and if the preset time is exceeded, braking the system, and waiting for the user to take over.
According to the intelligent parking access manual driving mode provided by the embodiment of the invention, the parking collision risk is higher when the parking position of the vehicle does not exceed the 1/2 area of the parking space in the parking process, so that the user is not supported to access the manual driving mode seamlessly, the intelligent parking function is accessed to the manual driving mode seamlessly when the parking position of the vehicle does not exceed the 1/2 area of the parking space and after the vehicle is completely parked out of the parking space after the intelligent parking is finished, no brake and no clamping are generated in the whole process, better user experience is achieved, the vehicle runs forward at a low speed after the vehicle is parked to a designated position and takes over by the user, the manual driving mode is accessed seamlessly when the user takes over is detected, and the brake is braked when the preset time is exceeded, so that the safety of the vehicle is ensured.
In an alternative embodiment, the intelligent parking-out access adaptive cruise mode T02 includes:
the system can only control the transverse direction and the longitudinal direction of the vehicle according to the lane lines, and has no definite destination, in the mode, the vehicle can not activate the driving auxiliary function in the intelligent parking process, after the intelligent parking is finished, the user is waited for taking over, and the self-adaptive cruise function can be activated after the T01 state is finished.
According to the embodiment of the invention, when the user does not input the navigation destination, the system can only control the transverse direction and the longitudinal direction of the vehicle according to the lane lines, so that the intelligent parking access self-adaptive cruise mode can only carry out self-adaptive navigation after the manual driving mode is finished, and the driving experience of the user is improved.
In an alternative embodiment, the intelligent berthing access intelligent piloting mode T03 includes:
if the intelligent piloting state can be positioned to the parking position of the vehicle, the piloting map covers the parking space, after the navigation activation auxiliary driving function is set by a user, the intelligent parking out and piloting of the vehicle can be completed by one key, the seamless switching and the access of the two functions are completed by the system, and the whole process is free from user operation and takeover; if the pilot map does not cover the parking space, only covers the lane, at the moment, the intelligent parking triggering instruction of the user is acquired to activate the intelligent parking function, after the parking is leveled to the lane line, whether the pilot map is covered is judged, and if the pilot map is judged to be covered by the system, the pilot map is directly parked from the intelligent to enter the intelligent pilot.
According to the intelligent berthing-out access intelligent pilot mode provided by the embodiment of the invention, the self-adaptive driving assistance is carried out according to whether the pilot map covers the parking spaces and the lanes, so that the experience and the driving safety of a user are improved.
In an alternative embodiment, the intelligent parking-out access manual driving mode T04 includes:
if the pilot map does not cover the target parking space, a route needs to be manually driven to reach the pilot route, and the mode is referred to as T02; and activating driving assistance in the driving process of the user, and entering intelligent navigation if the driving assistance reaches the navigation route.
According to the intelligent parking access manual driving mode provided by the embodiment of the invention, self-adaptive driving assistance is carried out according to whether the pilot map covers the parking space, and if the pilot map does not cover the parking space, manual driving is carried out, so that driving safety is improved; if the pilot route is reached, the intelligent pilot is automatically entered based on the driving assistance activated by the user, and a better driving experience is brought to the user.
In an optional implementation manner, when the navigation destination is not set by the user, after the intelligent parking function is activated by acquiring the parking direction input by the user, the intelligent parking switching driving assistance process is performed by using the intelligent parking access manual driving mode T01 and/or the intelligent parking access adaptive cruise mode T02, and the method includes:
acquiring a parking direction input by a user in an intelligent parking page to activate an intelligent parking function;
after the parking function is activated, the system controls the vehicle to execute intelligent parking, and in the process, the user can not activate the driving auxiliary function;
in the intelligent parking process, if the parking position of the vehicle does not exceed the 1/2 area of the parking space, the user steps on the brake and rotates the steering wheel, and the intelligent parking function is withdrawn; the intelligent function stops braking the vehicle after exiting, and waits for the user to take over the vehicle; the user does not respond to the accelerator stepping system, and the parking function is continuously executed;
in the intelligent parking process, if the parking position of the vehicle does not exceed 1/2 area of the parking space, a user steps on an accelerator or a brake, holds a steering wheel, responds to the system, and judges that the user takes over the vehicle at the moment; the system control vehicle and the driver control vehicle seamlessly handshake, and the user does not have a perception of accessing the intelligent parking access manual driving mode T01;
after the intelligent parking is carried out to the planning position, the intelligent parking is carried out to drive forwards at a low speed according to a preset speed, and the user is informed to take over; if the user steps on the accelerator or the vehicle and holds the steering wheel, the user is regarded as taking over the vehicle; the system control vehicle and the driver control vehicle seamlessly handshake, and the user does not have a perception of accessing the intelligent parking access manual driving mode T01;
after the user takes over the vehicle, the driving auxiliary function is activated, and the intelligent parking access self-adaptive cruise mode T02 is entered.
According to the embodiment of the invention, under the condition that the user does not set the navigation destination, the intelligent parking-out switching driving assistance can be performed in a self-adaptive mode of using the intelligent parking-out access manual driving mode and/or the intelligent parking-out access self-adaptive cruising mode according to the parking-out position of the vehicle and the actual scene road condition, and the continuity experience sense of the user parking integration is provided.
In an optional implementation manner, when the user sets the navigation destination, after the navigation destination input by the user is acquired and the intelligent parking function is activated, the intelligent parking access intelligent pilot mode T03 and/or the intelligent parking access manual driving mode T04 are used for performing the intelligent parking switching driving assistance process, which includes:
acquiring a navigation destination input by a user and activating an intelligent auxiliary function;
after the intelligent auxiliary function is activated, the system judges whether the parking space can be navigated out, if so, the system judges the parking direction, the control vehicle executes parking out, and the control vehicle is navigated to run according to the navigation path after parking out; if the vehicle cannot navigate out of the parking space, the intelligent parking function is activated by acquiring the intelligent parking direction input by the user, and the system controls the vehicle to execute parking;
after the vehicle is parked out and parallel to the lane, the system judges whether the pilot map can be accessed at the moment or not again; if the pilot map can be accessed, the system controls the vehicle to be directly accessed into intelligent pilot, and if the pilot map cannot be accessed, the system controls the vehicle to run at a low speed and reports the user to take over;
if a user steps on an accelerator or a brake in a preset time and holds a steering wheel, the user is considered to take over the vehicle, and under the dynamic condition of the vehicle, the system control vehicle and the user control vehicle finish handshake handover without braking the vehicle;
after the user takes over the vehicle, activating a driving auxiliary function, and after the driving auxiliary function is activated, judging whether a pilot map can be accessed by the system; if the pilot map can be accessed, the intelligent pilot is accessed by manual driving;
if the user does not take over the vehicle within the preset time, the system controls the vehicle to be decelerated comfortably according to the preset speed, and the vehicle is parked and waits for the user to take over.
According to the embodiment of the invention, under the condition that the user does not set the navigation destination, the intelligent parking switching driving assistance is performed by adaptively utilizing the intelligent parking access intelligent navigation mode and/or the intelligent parking access manual driving mode according to whether the user can navigate out of the parking space and whether the user can access the navigation map, so that the continuity experience sense of the user traveling and parking integration is provided.
In a second aspect, the present invention provides an intelligent parking switch driving assistance device, the device comprising:
the navigation setting judging module is used for judging whether a user sets a navigation destination or not;
the navigation auxiliary module is not arranged, and is used for performing intelligent parking switching driving auxiliary by utilizing an intelligent parking access manual driving mode T01 and/or an intelligent parking access self-adaptive cruise mode T02 after acquiring a parking direction input by a user to activate an intelligent parking function when the user does not set a navigation destination;
and setting a navigation auxiliary module, wherein the navigation auxiliary module is used for performing intelligent parking switching driving auxiliary by utilizing the intelligent parking access intelligent pilot mode T03 and/or the intelligent parking access manual driving mode T04 after acquiring the navigation destination input by the user and activating the intelligent parking function when the user sets the navigation destination.
And judging whether the target vehicle is the nearest vehicle in the path of the own vehicle at the cutting moment, and if so, determining that the target vehicle is a real cutting target.
The intelligent parking switching driving auxiliary device provided by the embodiment of the invention opens the breakpoint of parking to driving, is more suitable for the use habit of a user, simplifies the operation of the user, ensures stronger continuity of the driving, provides better continuous experience for the user, and improves the parking efficiency.
In a third aspect, the present invention provides a computer device comprising: the intelligent parking switching driving assisting method comprises a memory and a processor, wherein the memory and the processor are in communication connection, computer instructions are stored in the memory, and the processor executes the computer instructions, so that the intelligent parking switching driving assisting method of the first aspect or any corresponding implementation mode of the first aspect is executed.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon computer instructions for causing a computer to execute the intelligent parking switch driving assistance method of the first aspect or any one of its corresponding embodiments.
The invention has the beneficial effects that:
(1) According to the invention, by judging whether the user navigates the destination or not, different intelligent parking switching driving assistance is provided in a self-adaptive manner, so that the breakpoint of parking to driving is opened, the use habit of the user is more fitted, the user operation is simplified, the continuity of the driving and parking integration is stronger, the continuous experience of the user is better, and meanwhile, the parking efficiency is improved.
(2) According to the intelligent parking access manual driving mode, when the collision risk is higher in the parking process, the user is not supported to be seamlessly accessed into the manual driving mode, when the collision risk is lower, the intelligent parking function is seamlessly accessed into the manual driving mode, no brake and no clamping are caused in the whole course, better user experience is achieved, the vehicle is parked to a specified position and then runs forward at a low speed, and the user takes over is reported, the user takes over is detected to be seamlessly accessed into the manual driving mode, and if the preset time is exceeded, the brake is braked, so that the safety of the vehicle is ensured;
(3) According to the invention, when the user does not input the navigation destination, the system can only control the transverse direction and the longitudinal direction of the vehicle according to the lane lines, so that the intelligent parking access self-adaptive cruise mode can only carry out self-adaptive navigation after the manual driving mode is finished, and the driving experience of the user is improved.
(4) According to the intelligent berthing-out access intelligent pilot mode, self-adaptive driving assistance is carried out according to whether the pilot map covers the parking spaces and the lanes, so that the experience and the driving safety of a user are improved.
(5) According to the intelligent parking access manual driving mode, self-adaptive driving assistance is carried out according to whether the pilot map covers the parking spaces, and if the pilot map does not cover the parking spaces, manual driving is carried out, so that driving safety is improved; if the pilot route is reached, the intelligent pilot is automatically entered based on the driving assistance activated by the user, and a better driving experience is brought to the user.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a sensor arrangement of an embodiment of the present invention;
FIG. 2 is a flow chart of an intelligent parking switch driving assistance method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a smart-out phase of an embodiment of the present invention;
FIG. 4 is a flow chart of intelligent parking and driving switching when a user does not set a navigation destination according to an embodiment of the present invention;
FIG. 5 is a flow chart of intelligent parking and driving switching when a user sets a navigation destination according to an embodiment of the present invention;
FIG. 6 is a block diagram of an intelligent parking switch traffic assist apparatus in accordance with an embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In accordance with an embodiment of the present invention, an intelligent parking switch drive assist method embodiment is provided, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and, although a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a different order than that illustrated herein.
In this embodiment, an intelligent parking switching driving assisting method is provided, based on a sensor arrangement architecture shown in fig. 1, a hardware scheme of 1 controller (N5) +12 ultrasonic sensors (N2) +9 high-definition panoramic cameras (N3) +5 millimeter wave radars (N4) +1 forward-looking cameras (N1) is adopted, and a man-machine interaction intelligent driving control system is combined to realize seamless parking-driving switching.
As shown in fig. 2, a flowchart of an intelligent parking switch driving assistance method according to an embodiment of the present invention may be used for a controller terminal, and as shown in fig. 2, the flowchart includes the following steps:
step S101, it is determined whether the user sets a navigation destination.
Step S102, when a navigation destination is not set by a user, after a parking direction input by the user is acquired to activate an intelligent parking function, intelligent parking access manual driving mode T01 and/or intelligent parking access self-adaptive cruise mode T02 are utilized to carry out intelligent parking switching driving assistance;
step S103, when the user sets the navigation destination, after the navigation destination input by the user is acquired to activate the intelligent parking function, the intelligent parking access intelligent pilot mode T03 and/or the intelligent parking access manual driving mode T04 are utilized to carry out intelligent parking switching driving assistance.
The embodiment of the invention can be divided into four modes according to whether a user sets a navigation destination or not: setting an intelligent parking access manual driving mode T01 and an intelligent parking access adaptive cruise (IACC) mode T02 under the condition that a navigation destination is not set; under the condition that a navigation destination is set, an intelligent parking access intelligent navigation (ICC) mode T03 and/or an intelligent parking access manual driving mode T04 are set, in practical application, different auxiliary modes are adaptively switched according to practical driving scenes, the breakpoint of parking to a driving is opened, the use habit of a user is more fitted, the operation of the user is simplified, the parking efficiency can be improved, the continuity of a parking body is stronger, and the continuous experience feeling of the user is better.
The intelligent parking access manual driving mode T01 provided by the embodiment of the invention specifically comprises the following steps: in the process of parking, if the parking position of the vehicle does not exceed the 1/2 area of the parking space, the user is not supported to actively access the manual driving mode, at the moment, the accelerator is disabled, the intelligent parking function is triggered to exit by stepping on the brake and rotating the steering wheel, and after the intelligent parking function exits, the system brakes the vehicle and waits for the user to take over; if the parking position of the vehicle exceeds 1/2 area of the parking space, supporting the user to actively access the manual driving mode, stepping on the accelerator and rotating the steering wheel by the user, enabling the system to respond to the intelligent parking function and seamlessly access the manual driving mode, and stopping without braking in the whole process; if the intelligent parking is finished, the manual driving mode is accessed, after the vehicle is parked to a designated position, the vehicle is driven forwards at a low speed according to a preset speed and the user takes over the pipe, if the user steps on an accelerator, brakes or holds a steering wheel in a preset time, the intelligent parking function is accessed to the manual driving mode in a seamless mode, no brake and no clamping are needed in the whole process, and no braking and stopping are needed; and if the preset time is exceeded, braking the system, and waiting for the user to take over.
It should be noted that, as shown in fig. 3, the intelligent parking may be divided into three stages, namely, a front delivery stage W01, a rear delivery stage W02, and a leveling stage W03:
1. the front section W01 of the garage is used for starting the parking of the vehicle, and if the parking position of the vehicle does not exceed the 1/2 area of the parking space. The risk of collision at the moment is high, the vehicle speed is generally slow, and the vehicle speed proposal is controlled below 2 km/h. In this stage, the user is not supported to seamlessly access the dynamic take-over of the manual driving, if the user needs to exit, the system brakes the vehicle, and after the intelligent parking function exits, the user can access the manual take-over.
2. The rear section W02 of the delivery is that the vehicle completely passes over the parking space after the parking position of the vehicle does not exceed 1/2 area of the parking space. The collision risk is medium, the vehicle speed is controlled slowly, the vehicle speed proposal is controlled below 3.5km/h, and the dynamic take-over of the manual driving is supported by the seamless access of the user.
3. And the leveling stage W03 is a stage of leveling the parking space and the lane after the vehicle is completely parked out of the parking space. The risk of collision is now small. The speed control can be improved, the speed proposal is controlled below 5km/h, and the dynamic take-over of the manual driving is supported by the seamless access of the user at the moment.
The vehicle in the embodiment of the invention is parked to the appointed position, which is a parked position adaptively adjusted according to the actual driving scene and road condition of the vehicle, for example, when a parked vehicle is near the position of the parked position which is not more than 1/2 area of the parking space, the parked position of the vehicle is controlled to be parked after the parked vehicle in order to avoid collision risk; and if no other parked vehicles exist nearby after the vehicle is completely parked out of the vehicle position, controlling the vehicle to park out to the position where the parking space and the lane are leveled.
According to the intelligent parking access manual driving mode, when the collision risk is higher in the parking process, the user is not supported to be seamlessly accessed into the manual driving mode, when the collision risk is lower, the intelligent parking function is seamlessly accessed into the manual driving mode, no brake and no clamping are caused in the whole course, better user experience is achieved, the vehicle is parked to a specified position and then runs forward at a low speed, and the user takes over is reported, the user takes over is detected to be seamlessly accessed into the manual driving mode, and if the preset time is exceeded, the brake is braked, so that the safety of the vehicle is ensured;
the intelligent parking access self-adaptive cruise mode T02 provided by the embodiment of the invention is specifically as follows: the system can only control the transverse direction and the longitudinal direction of the vehicle according to the lane lines, and has no definite destination, in the mode, the vehicle can not activate the driving auxiliary function in the intelligent parking process, after the intelligent parking is finished, the user is waited for taking over, and the self-adaptive cruise function can be activated after the T01 state is finished. According to the invention, when the user does not input the navigation destination, the system can only control the transverse direction and the longitudinal direction of the vehicle according to the lane lines, so that the intelligent parking access self-adaptive cruise mode can only carry out self-adaptive navigation after the manual driving mode is finished, and the driving experience of the user is improved.
The intelligent berthing-out access intelligent pilot mode T03 provided by the embodiment of the invention can be used only under the condition of having an explicit navigation destination, and is related to whether a navigation map, a positioning map and a pilot map are covered or not, specifically comprises the following steps:
if the intelligent piloting state can be positioned to the parking position of the vehicle, the piloting map covers the parking space, after the navigation activation auxiliary driving function is set by a user, the intelligent parking out and piloting of the vehicle can be completed by one key, the seamless switching and the access of the two functions are completed by the system, and the whole process is free from user operation and takeover; if the pilot map does not cover the parking space, only covers the lane, at the moment, the intelligent parking triggering instruction of the user is acquired to activate the intelligent parking function, after the parking is leveled to the lane line, whether the pilot map is covered is judged, and if the pilot map is judged to be covered by the system, the pilot map is directly parked from the intelligent to enter the intelligent pilot.
The intelligent parking access manual driving mode T04 provided by the embodiment of the invention specifically comprises the following steps: if the pilot map does not cover the target parking space, a route needs to be manually driven to reach the pilot route, and the mode is referred to as T02; and activating driving assistance in the driving process of the user, and entering intelligent navigation if the driving assistance reaches the navigation route. According to the intelligent berthing-out access intelligent pilot mode, self-adaptive driving assistance is carried out according to whether the pilot map covers the parking spaces and the lanes, so that the experience of a user and the driving safety of a vehicle are improved.
The embodiment of the invention provides a flow chart of intelligent parking and driving switching when a user does not set a navigation destination, as shown in fig. 4, and the specific process is as follows:
1. acquiring a parking direction input by a user in an intelligent parking page to activate an intelligent parking function;
2. after the parking function is activated, the system controls the vehicle to execute intelligent parking, and in the process, the user can not activate the driving auxiliary function;
3. in the intelligent parking process, if the parking position of the vehicle does not exceed the 1/2 area of the parking space, the user steps on the brake and rotates the steering wheel, and the intelligent parking function is withdrawn; the intelligent function stops braking the vehicle after exiting, and waits for the user to take over the vehicle; the user does not respond to the accelerator stepping system, and the parking function is continuously executed;
4. in the intelligent parking process, if the parking position of the vehicle does not exceed 1/2 area of the parking space, the user steps on the accelerator, brakes or rotates the steering wheel, the system responds, and the user is judged to take over the vehicle at the moment; the system control vehicle and the driver control vehicle seamlessly handshake, and the user does not have a perception of accessing the intelligent parking access manual driving mode T01;
5. after the intelligent parking is carried out to the planning position, the intelligent parking is carried out to drive forwards at a low speed according to a preset speed, and the user is informed to take over; if the user steps on the accelerator or the brake and holds the steering wheel, the vehicle is considered to be taken over; the system control vehicle and the driver control vehicle seamlessly handshake, and the user does not have a perception of accessing the intelligent parking access manual driving mode T01;
6. after the user takes over the vehicle, the driving auxiliary function is activated, and the intelligent parking access self-adaptive cruise mode T02 is entered.
The flow chart of intelligent parking and driving switching when the user sets the navigation destination is provided in the embodiment of the invention, as shown in fig. 5, specifically comprises the following steps:
1. acquiring a navigation destination input by a user and activating an intelligent auxiliary function;
2. after the intelligent auxiliary function is activated, the system judges whether the parking space can be navigated out, if so, the system judges the parking direction, the control vehicle executes parking out, and the control vehicle is navigated to run according to the navigation path after parking out; if the vehicle cannot navigate out of the parking space, the intelligent parking function is activated by acquiring the intelligent parking direction input by the user, and the system controls the vehicle to execute parking;
3. after the vehicle is parked out and parallel to the lane, the system judges whether the pilot map can be accessed at the moment or not again; if the pilot map can be accessed, the system controls the vehicle to be directly accessed into intelligent pilot, and if the pilot map cannot be accessed, the system controls the vehicle to run at a low speed and reports the user to take over;
4. if the user steps on the accelerator or the brake in the preset time and the user holds the steering wheel, the user is considered to take over the vehicle, and under the dynamic condition of the vehicle, the system control and the driver control complete handshake handover without braking the vehicle;
5. after the user takes over the vehicle, activating a driving auxiliary function, and after the driving auxiliary function is activated, judging whether a pilot map can be accessed by the system; if the pilot map can be accessed, the intelligent pilot is accessed by manual driving;
6. if the user does not take over the vehicle within the preset time, the system controls the vehicle to be decelerated comfortably according to the preset speed, and the vehicle is parked and waits for the user to take over.
In this embodiment, an intelligent parking switching driving auxiliary device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and is not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The embodiment provides an intelligent parking switching driving auxiliary device, as shown in fig. 6, including:
a navigation setting judging module 601, configured to judge whether a user sets a navigation destination;
the non-setting navigation auxiliary module 602 is configured to perform intelligent parking switching driving assistance by using the intelligent parking access manual driving mode T01 and/or the intelligent parking access adaptive cruise mode T02 after acquiring a parking direction input by a user to activate an intelligent parking function when the user does not set a navigation destination;
and setting a navigation auxiliary module 603, configured to, when the user sets the navigation destination, acquire the navigation destination input by the user, activate the intelligent parking function, and then perform intelligent parking switching driving auxiliary by using the intelligent parking access intelligent pilot mode T03 and/or the intelligent parking access manual driving mode T04.
The intelligent parking switch traffic aid in this embodiment is in the form of functional units, where units refer to ASIC circuits, processors and memories executing one or more software or firmware programs, and/or other devices that provide the above-described functionality. Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.
The embodiment of the invention also provides computer equipment, which is provided with the intelligent parking switching driving auxiliary device shown in the figure 6.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 7, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 7.
The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.
Wherein the memory 20 stores instructions executable by several processors 10 to cause the several processors 10 to perform the methods shown to implement the above embodiments.
The memory 20 may include a storage program area that may store an operating system, several applications needed for functions, and a storage data area; the storage data area may store data created from the use of the computer device of the presentation of a sort of applet landing page, and the like. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as several disk storage devices, flash memory devices, or other non-transitory solid-state storage devices. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.
The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.
The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (10)

1. An intelligent parking switching driving assisting method applied to an intelligent driving control system is characterized by comprising the following steps:
judging whether a user sets a navigation destination;
when the user does not set a navigation destination, after the intelligent parking function is activated by acquiring the parking direction input by the user, intelligent parking access manual driving mode T01 and/or intelligent parking access self-adaptive cruise mode T02 are utilized to carry out intelligent parking switching driving assistance;
when the user sets the navigation destination, after the navigation destination input by the user is acquired to activate the intelligent parking function, the intelligent parking access intelligent pilot mode T03 and/or the intelligent parking access manual driving mode T04 are utilized to carry out intelligent parking switching driving assistance.
2. The intelligent parking and switching drive assist method as set forth in claim 1, wherein the intelligent parking and switching manual drive mode T01 includes:
in the process of parking, if the parking position of the vehicle does not exceed the 1/2 area of the parking space, the user is not supported to actively access the manual driving mode, at the moment, the accelerator is disabled, the intelligent parking function is triggered to exit by stepping on the brake and rotating the steering wheel, and after the intelligent parking function exits, the system brakes the vehicle and waits for the user to take over;
if the parking position of the vehicle exceeds 1/2 area of the parking space, supporting the user to actively access the manual driving mode, stepping on the accelerator and rotating the steering wheel by the user, enabling the system to respond to the intelligent parking function and seamlessly access the manual driving mode, and stopping without braking in the whole process;
if the intelligent parking is finished, the manual driving mode is accessed, after the vehicle is parked to a designated position, the vehicle runs forwards at a low speed according to a preset speed and the user takes over, and if the user steps on an accelerator, brakes or holds a steering wheel in a preset time, the intelligent parking function is seamlessly accessed into the manual driving mode, and braking and parking are not needed in the whole process; and if the preset time is exceeded, braking the system, and waiting for the user to take over.
3. The intelligent parking and switching drive assist method as recited in claim 2, wherein said intelligent parking and switching adaptive cruise mode T02 comprises:
the system can only control the transverse direction and the longitudinal direction of the vehicle according to the lane lines, and has no definite destination, in the mode, the vehicle can not activate the driving auxiliary function in the intelligent parking process, after the intelligent parking is finished, the user is waited for taking over, and the self-adaptive cruise function can be activated after the T01 state is finished.
4. The intelligent parking and switching driving assistance method according to claim 1, wherein the intelligent parking and switching intelligent pilot mode T03 includes:
if the intelligent piloting state can be positioned to the parking position of the vehicle, the piloting map covers the parking space, after the navigation activation auxiliary driving function is set by a user, the intelligent parking out and piloting of the vehicle can be completed by one key, the seamless switching and the access of the two functions are completed by the system, and the whole process is free from user operation and takeover;
if the pilot map does not cover the parking space, only covers the lane, at the moment, the intelligent parking triggering instruction of the user is acquired to activate the intelligent parking function, after the parking is leveled to the lane line, whether the pilot map is covered is judged, and if the pilot map is judged to be covered by the system, the pilot map is directly parked from the intelligent to enter the intelligent pilot.
5. The intelligent parking and switching drive assist method as recited in claim 3 or 4, wherein said intelligent parking and switching manual drive mode T04 comprises:
if the pilot map does not cover the target parking space, a route needs to be manually driven to reach the pilot route, and the mode is referred to as T02;
and activating driving assistance in the driving process of the user, and entering intelligent navigation if the driving assistance reaches the navigation route.
6. The intelligent parking switching driving assistance method according to claim 3, wherein the process of performing intelligent parking switching driving assistance by using the intelligent parking access manual driving mode T01 and/or the intelligent parking access adaptive cruise mode T02 after acquiring the parking direction input by the user to activate the intelligent parking function when the user does not set the navigation destination comprises:
acquiring a parking direction input by a user in an intelligent parking page to activate an intelligent parking function;
after the parking function is activated, the system controls the vehicle to execute intelligent parking, and in the process, the user can not activate the driving auxiliary function;
in the intelligent parking process, if the parking position of the vehicle does not exceed the 1/2 area of the parking space, the user steps on the brake and rotates the steering wheel, and the intelligent parking function is withdrawn; the intelligent function stops braking the vehicle after exiting, and waits for the user to take over the vehicle; the user does not respond to the accelerator stepping system, and the parking function is continuously executed;
in the intelligent parking process, if the parking position of the vehicle does not exceed 1/2 area of the parking space, a user steps on an accelerator or a brake, holds a steering wheel, responds to the system, and judges that the user takes over the vehicle at the moment; the system control vehicle and the driver control vehicle seamlessly handshake, and the user does not have a perception of accessing the intelligent parking access manual driving mode T01;
after the intelligent parking is carried out to the planning position, the intelligent parking is carried out to drive forwards at a low speed according to a preset speed, and the user is informed to take over; if the user steps on the accelerator or the vehicle and holds the steering wheel, the user is regarded as taking over the vehicle; the system control vehicle and the driver control vehicle seamlessly handshake, and the user does not have a perception of accessing the intelligent parking access manual driving mode T01;
after the user takes over the vehicle, the driving auxiliary function is activated, and the intelligent parking access self-adaptive cruise mode T02 is entered.
7. The intelligent parking and switching driving assistance method according to claim 5, wherein when the navigation destination is set by the user, after the navigation destination input by the user is acquired to activate the intelligent parking function, the intelligent parking and switching driving assistance process is performed by using the intelligent parking and switching on intelligent pilot mode T03 and/or the intelligent parking and switching on manual driving mode T04, and the intelligent parking and switching driving assistance process includes:
acquiring a navigation destination input by a user and activating an intelligent auxiliary function;
after the intelligent auxiliary function is activated, the system judges whether the parking space can be navigated out, if so, the system judges the parking direction, the control vehicle executes parking out, and the control vehicle is navigated to run according to the navigation path after parking out; if the vehicle cannot navigate out of the parking space, the intelligent parking function is activated by acquiring the intelligent parking direction input by the user, and the system controls the vehicle to execute parking;
after the vehicle is parked out and parallel to the lane, the system judges whether the pilot map can be accessed at the moment or not again; if the pilot map can be accessed, the system controls the vehicle to be directly accessed into intelligent pilot, and if the pilot map cannot be accessed, the system controls the vehicle to run at a low speed and reports the user to take over;
if a user steps on an accelerator or a brake in a preset time and holds a steering wheel, the user is considered to take over the vehicle, and under the dynamic condition of the vehicle, the system control vehicle and the driver control vehicle complete handshake handover without braking the vehicle;
after the user takes over the vehicle, activating a driving auxiliary function, and after the driving auxiliary function is activated, judging whether a pilot map can be accessed by the system; if the pilot map can be accessed, the intelligent pilot is accessed by manual driving;
if the user does not take over the vehicle within the preset time, the system controls the vehicle to be decelerated comfortably according to the preset speed, and the vehicle is parked and waits for the user to take over.
8. An intelligent parking switch drive assist apparatus, the apparatus comprising:
the navigation setting judging module is used for judging whether a user sets a navigation destination or not;
the navigation auxiliary module is not arranged, and is used for performing intelligent parking switching driving auxiliary by utilizing an intelligent parking access manual driving mode T01 and/or an intelligent parking access self-adaptive cruise mode T02 after acquiring a parking direction input by a user to activate an intelligent parking function when the user does not set a navigation destination;
and setting a navigation auxiliary module, wherein the navigation auxiliary module is used for performing intelligent parking switching driving auxiliary by utilizing the intelligent parking access intelligent pilot mode T03 and/or the intelligent parking access manual driving mode T04 after acquiring the navigation destination input by the user and activating the intelligent parking function when the user sets the navigation destination.
9. A computer device, comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the intelligent parking switch drive assist method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the intelligent parking out handoff driving assistance method of any one of claims 1 to 7.
CN202311086233.3A 2023-08-25 2023-08-25 Intelligent parking switching driving auxiliary method, device, equipment and medium Pending CN117087654A (en)

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CN202311086233.3A CN117087654A (en) 2023-08-25 2023-08-25 Intelligent parking switching driving auxiliary method, device, equipment and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311086233.3A CN117087654A (en) 2023-08-25 2023-08-25 Intelligent parking switching driving auxiliary method, device, equipment and medium

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117985012A (en) * 2024-01-29 2024-05-07 南京航空航天大学 Intelligent switching system and method for row parking with time-sharing multiplexing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117985012A (en) * 2024-01-29 2024-05-07 南京航空航天大学 Intelligent switching system and method for row parking with time-sharing multiplexing

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