CN117163009A

CN117163009A - Automatic parking system and method, vehicle and storage medium

Info

Publication number: CN117163009A
Application number: CN202310892251.4A
Authority: CN
Inventors: 杨雨
Original assignee: Zongmu Technology Chongqing Co ltd
Current assignee: Zongmu Technology Chongqing Co ltd
Priority date: 2023-07-19
Filing date: 2023-07-19
Publication date: 2023-12-05

Abstract

The application provides an automatic parking system and method, a vehicle and a storage medium, wherein the system comprises a first data acquisition module, a second data acquisition module and a storage medium, wherein the first data acquisition module is used for acquiring external scene data in real time; the second data acquisition module is used for regularly scanning the system information; the domain controller is connected with the first data acquisition module and the second data acquisition module, and is used for planning a parking route based on external scene data and system information and controlling a vehicle to automatically park according to the parking route; the domain controller comprises a monitoring module which is used for analyzing whether the external scene data and the system information are abnormal or not in real time and uploading abnormal data in real time when any item of the external scene data and the system information are abnormal. The application can monitor and analyze the state of the parking system in real time, can adopt different processing strategies when the parking system is abnormal, and timely informs a user that the abnormality occurs, thereby being convenient for timely avoiding the problem of the parking system, ensuring the safety of the user and improving the safety and stability of the parking system.

Description

Automatic parking system and method, vehicle and storage medium

Technical Field

The application belongs to the technical field of automobile parking, and particularly relates to an automatic parking system and method, a vehicle and a storage medium.

Background

With the acceleration of the urban process, the parking spaces are increasingly short, and the problem of difficult parking is also more and more prominent. To solve this problem, various parking systems are on the market, but these systems have some problems in use. For example, when an abnormality occurs in a parking system, most of the solutions on the market at present are to directly restart the system and then to reproduce the problem through the same scene by a host factory, which is time-consuming and also easy to cause a traffic accident. Moreover, if the CPU or GPU of the whole domain controller is busy and has a hardware failure, serious accidents occur, and specific reasons cannot be traced.

Disclosure of Invention

The application aims to provide an automatic parking system and method, a vehicle and a storage medium, which are used for solving the technical problem that parking safety is reduced due to insufficient parking monitoring when an abnormality occurs in a parking system.

In a first aspect, the present application provides an automated parking system comprising:

the first data acquisition module is used for acquiring external scene data in real time;

the second data acquisition module is used for regularly scanning the system information;

the domain controller is connected with the first data acquisition module and the second data acquisition module, and is used for planning a parking route based on the external scene data and the system information and controlling a vehicle to automatically park according to the parking route;

The domain controller comprises a monitoring module which is connected with the first data acquisition module and the second data acquisition module and is used for analyzing whether the external scene data and the system information are abnormal or not in real time and uploading abnormal data in real time when any item of the external scene data and the system information are abnormal.

In an implementation manner of the first aspect, the domain controller further includes:

the data fusion module is used for fusing the external scene data;

and the planning control module is connected with the data fusion module and is used for planning a parking route based on the fused external scene data and controlling the vehicle to automatically park according to the parking route.

In an implementation manner of the first aspect, the monitoring module is further connected to the data fusion module and the planning control module, and is configured to analyze in real time whether the fused external scene data and the parking route are abnormal, and upload abnormal data in real time when any one of the external scene data and the parking route is abnormal;

the domain controller further comprises an exception handling module, which is connected with the monitoring module and is used for automatically executing a preset emergency handling strategy when any one of the external scene data, the system information, the fused external scene data and the parking route is abnormal.

In an implementation manner of the first aspect, the automatic execution of the preset emergency processing policy by the exception processing module includes:

if the uploading of the abnormal data by the monitoring module is overtime, the abnormal processing module immediately restarts the first data acquisition module; and/or the number of the groups of groups,

if the abnormal processing module restarts the first data acquisition module for a preset number of times, the monitoring module uploads the abnormal data again and still overturns, the abnormal processing module immediately brakes the vehicle and automatically informs a background monitoring personnel of checking on site; and/or the number of the groups of groups,

if the external scene data changes, the abnormality processing module immediately brakes the vehicle and waits for the external scene data to return to normal before the planning control module continues to execute automatic parking; and/or the number of the groups of groups,

if the system information is overloaded within the preset time, the abnormality processing module immediately restarts a program causing abnormality or carries out frequency-reducing processing on system parameters corresponding to the system information until the system information is recovered to be normal, and then the planning control module continues to execute automatic parking; and/or the number of the groups of groups,

if the fused external scene data is abnormal, the abnormal processing module immediately restarts a program causing the abnormality or performs frequency reduction processing on part of the data until the fused external scene data is recovered to be normal, and then the planning control module continues to execute automatic parking; and/or the number of the groups of groups,

If the current parking route is abnormal, the abnormality processing module immediately brakes the vehicle, and the planning control module re-plans the parking route so as to control the vehicle to automatically park according to the re-planned parking route.

In one implementation manner of the first aspect, the system information includes usage states of a processor, a graphics processor, and a memory.

the network driving module is used for acquiring network data in real time;

the planning control module is also connected with the network driving module and is used for planning a parking route based on the network data and the fused external scene data and controlling a vehicle to automatically park according to the parking route;

the monitoring module is also connected with the network driving module and is used for analyzing whether the network data is abnormal or not in real time and uploading abnormal data in real time when the network data is abnormal;

the abnormal processing module is used for temporarily clearing some unimportant data when congestion and breakdown occur to the network data, performing frequency reduction processing on part of the data, and continuing to execute automatic parking by the planning control module until the network data is recovered to be normal.

In one implementation manner of the first aspect, the automatic parking system further includes:

the display is connected with the planning control module and used for displaying a parking interface in real time; and/or the number of the groups of groups,

the cloud storage module is connected with the monitoring module and used for receiving the abnormal data uploaded by the monitoring module in real time;

and the local memory is connected with the monitoring module and used for storing abnormal data which cannot be uploaded to the cloud storage module.

In a second aspect, the present application provides an automatic parking method, including:

collecting external scene data in real time;

scanning system information at regular time;

planning a parking route based on the external scene data and the system information, and controlling a vehicle to automatically park according to the parking route;

and analyzing whether the external scene data and the system information are abnormal or not in real time, and uploading abnormal data in real time when any item is abnormal.

In one implementation manner of the second aspect, planning a parking route based on the external scene data and the system information, and controlling the vehicle to automatically park according to the parking route includes:

fusing the external scene data;

and planning a parking route based on the fused external scene data, and controlling the vehicle to automatically park according to the parking route.

In one implementation manner of the second aspect, planning a parking route based on the external scene data and the system information, and controlling the vehicle to automatically park according to the parking route further includes:

analyzing whether the fused external scene data, the system information and the parking route are abnormal in real time, and uploading abnormal data in real time when any item is abnormal;

and when any one of the external scene data, the system information, the fused external scene data and the parking route is abnormal, automatically executing a preset emergency treatment strategy.

In a third aspect, the present application provides a vehicle comprising an automated parking system as defined in any one of the preceding claims.

In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements the auto-park method of any of the above.

As described above, the automatic parking system and method, the vehicle and the storage medium according to the present application can monitor and analyze the state of the parking system in real time, and improve the safety of the parking system; further, when the parking system is abnormal, different processing strategies can be adopted according to different abnormal states, and a user is informed of the abnormality in time, so that the problem of the parking system can be avoided in time, the use safety of the user is guaranteed, and the safety and stability of the parking system are further improved.

Drawings

Fig. 1 is a schematic structural diagram of an automatic parking system according to an embodiment of the application.

Fig. 2 is a schematic structural view of an automatic parking system according to another embodiment of the present application.

Fig. 3 is a flowchart of an automatic parking method according to an embodiment of the application.

Fig. 4 is a flowchart of an automatic parking method according to another embodiment of the application.

Fig. 5 is a flowchart of an automatic parking method according to another embodiment of the application.

Description of element reference numerals

11. First data acquisition module

111. Millimeter wave radar

112. Camera group

12. Second data acquisition module

13. Domain controller

131. Monitoring module

132. Network driving module

133. Data fusion module

134. Planning control module

135. Exception handling module

14. Communication module

15. Display device

16. Cloud storage module

17. Local memory

S1-S3 method steps

S31 to S35 method steps

Detailed Description

Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.

In order to solve some problems existing in the use process of the existing parking system, a more intelligent parking monitoring technology is required to be adopted. In the existing parking technology, when the CPU of the domain controller is full and the planning control part is abnormal, a user cannot be informed of the occurrence of the abnormality in parking, abnormal data cannot be stored for a long time, subsequent analysis is inconvenient, and safety is reduced.

The following embodiments of the present application provide an automatic parking system and method, a vehicle, and a storage medium, by acquiring and analyzing external scene data in real time, automatically planning a parking route, and implementing uploading and emergency processing of abnormal data, human intervention can be greatly reduced, and the level of intellectualization and automation of the parking system can be improved. Meanwhile, the safety and stability of parking can be improved, and traffic accidents are reduced.

As shown in fig. 1, the present embodiment provides an automatic parking system. In one embodiment, the automated parking system includes a first data acquisition module 11, a second data acquisition module 12, and a domain controller 13.

The first data acquisition module 11 is configured to acquire external scene data in real time.

Specifically, the external scene data refers to environmental information around the vehicle collected by a camera, a radar, or other devices, and may be image data or video data. The position of the vehicle, the position and size of the target parking space, the position and size of the obstacle, and the like may be acquired based on the external scene data.

In an embodiment, the first data acquisition module includes a millimeter wave radar and a camera set.

The millimeter wave radar 111 is used to identify obstacles at a close distance.

Millimeter wave radar is a radar system that utilizes the millimeter wave band for detection. Since millimeter waves have a high frequency and a short wavelength, it is possible to provide a high-resolution image and accurate distance measurement. Millimeter wave radars may also operate in severe weather conditions such as rain, snow, and fog.

In the embodiment of the application, the millimeter wave radar is used for identifying short-distance obstacles, such as automobiles and pedestrians. Millimeter wave radars are mounted on the front and rear of the vehicle, wherein 4 millimeter wave radars are mounted on the front of the vehicle and 4 millimeter wave radars are mounted on the rear of the vehicle. In installing a millimeter wave radar, it is necessary to satisfy the angle requirements for radar installation, for example, to ensure that the horizontal angle, yaw angle, and pitch angle of the radar are all less than 5 °. In the implementation mode, the coverage range and detection precision of the radar are improved, and repeated detection and blind areas are reduced.

It should be noted that, the installation position of the millimeter wave radar should avoid interference with other sensors or antennas on the vehicle body, and the installation angle can be adjusted adaptively according to the target height and distance.

The camera set 112 is used to identify a close obstacle, a far obstacle, and a target parking space.

In the embodiment of the application, the camera group comprises 4 high-definition cameras which are respectively arranged in the front direction, the rear direction, the left direction and the right direction of the car body so as to monitor the surrounding environment in all directions. After the camera is successfully installed, the camera is calibrated by determining the internal parameters and the external parameters of the camera.

It should be noted that, in practical application, a person skilled in the art may flexibly select different calibration methods to calibrate the camera.

The second data acquisition module 12 is used for timing the scanning of system information.

Specifically, the system information includes usage states of a processor (CPU), a Graphics Processor (GPU), and a Memory (Memory).

In the embodiment of the application, the timing scanning of the system information can be realized by writing a custom script or program, using a third-party tool and using a task planning program of the system. For example, by setting a timing task, custom scripts or programs may be run for a specified time interval to obtain system information.

The domain controller 13 is connected to the first data acquisition module 11 and the second data acquisition module 12, and is configured to plan a parking route based on the external scene data and the system information, and control the vehicle to automatically park according to the parking route.

In an embodiment, the domain controller 13 includes a monitoring module 131, connected to the first data acquisition module 11 and the second data acquisition module 12, for analyzing whether the external scene data and the system information are abnormal in real time, and uploading abnormal data in real time when any one of the external scene data and the system information is abnormal.

Specifically, the monitoring module 131 may identify obstacles around the vehicle and the position thereof, and may also identify the size and position of the target parking space by analyzing the external scene image or video. For example, if the size and position of the target parking space are not appropriate, it is determined that the external scene data is abnormal.

The monitoring module 131 may also identify an abnormal value, a missing value, an error value, etc. existing in the system information by analyzing the system information. For example, if the system information is abnormally jumped over a period of time, the system information is determined to be abnormal.

As shown in fig. 2, in an embodiment, the domain controller 13 further includes a network driving module 132, a data fusion module 133, and a planning control module 134.

The network driver module 132 is configured to acquire network data in real time.

In the embodiment of the application, hundred megaethernet is used in the parking process, and the vehicle can timely acquire map data through the network, including the position of a parking lot, the number, the size, the position and other information of the parking space, so as to perform parking calculation and planning; the real-time road condition data can also be obtained, including information such as road congestion, road surface conditions and the like, and the weather data can be obtained, including information such as temperature, rainfall and the like, so that parking path planning and adjustment can be performed.

The data fusion module 133 is configured to fuse the external scene data.

Specifically, by adopting various fusion algorithms such as kalman filtering, particle filtering and the like, more accurate and reliable data information can be obtained, thereby improving the accuracy, precision and reliability of data.

In the implementation mode, the image data, the radar data and the like in the external scene data are integrated and processed, so that the limitation and the error of a single data source can be eliminated, and the accuracy and the precision of the data are improved; by adopting various fusion algorithms, the reliability and robustness of the data can be improved to a higher level, thereby improving the safety and stability of the vehicle.

The planning control module 134 is connected to the network driving module and the data fusion module, and is configured to plan a parking route based on the network data and the fused external scene data, and control the vehicle to automatically park according to the parking route.

Specifically, the planning control module calculates a proper parking route according to the fused external scene data; further adjusting the parking route according to external scene data received at regular time, map data acquired by utilizing network data, real-time road condition data and the like, and generating a parking instruction based on the adjusted parking route, wherein the parking instruction comprises information such as the moving direction, speed, steering angle and the like of a vehicle; and controlling the vehicle to automatically park according to the parking route based on the parking instruction.

In an embodiment, the monitoring module 131 is further connected to the network driving module, the data fusion module, and the planning control module, and is configured to analyze in real time whether the network data, the fused external scene data, and the parking route are abnormal, and upload in real time abnormal data when any one of the external scene data, the parking route is abnormal.

Specifically, if the monitoring module 131 does not receive the external scene data or the system information at regular time, an abnormality may occur in the network data, or the first data acquisition module or the second data acquisition module may fail, which also needs to be determined as an abnormality. For example, when the network data is abnormal, the monitoring module may capture an ethernet control packet protocol (Internet Control Message Protocol, ICMP) data packet, and obtain the connection state and reachability of the network by analyzing the control information therein, such as the response information of the ping command. Further, the monitoring module can set a threshold value and an alarm rule of the network state, and when the network state exceeds the threshold value or an abnormality occurs, alarm information is sent out timely and an administrator is notified to process. The threshold value, the alarm rule and the alarm information can be set by themselves.

If the monitoring module 131 monitors some data changes or errors which do not meet the expectations by analyzing the fused external scene data, it is determined that the fused external scene data is abnormal.

If the monitoring module 131 monitors that the originally planned parking route is blocked by an obstacle or the vehicle deviates from the originally planned parking route during the parking, it determines that the parking route is abnormal.

It should be noted that, the monitoring module in the embodiment of the present application acts on the whole parking process of the vehicle and each functional module of the automatic parking system, that is, any link in the parking process monitors in real time whether the external scene data, the system information, the network data, the fused external scene data, and the parking route are abnormal. Further, once any one of the anomalies is found during the parking process, the monitoring module 131 generates a corresponding log, and records the anomaly data. By uploading logs of the abnormal data, a system administrator or developer can timely acquire detailed abnormal information so as to analyze and troubleshoot the problem. In practical application, the condition for abnormality determination can be set by itself, and is not limited herein.

In one embodiment, the domain controller further includes an exception handling module 135.

The abnormality processing module 135 is connected to the monitoring module, and is configured to automatically execute a preset emergency processing policy when any one of the external scene data, the system information, the network data, the fused external scene data, and the parking route is abnormal.

In one embodiment, the automatic execution of the preset emergency treatment policy by the exception handling module 135 includes:

(1) If the uploading of the abnormal data by the monitoring module 131 is overtime, the abnormal processing module 135 will immediately restart the first data acquisition module.

Specifically, if the uploading of the abnormal data is timed out, the monitoring module 131 may attempt to re-upload the abnormal data first, and if still fails, the first data acquisition module is restarted immediately by the abnormality processing module 135. And if the monitoring module is successful in uploading the abnormal data after restarting the first data acquisition module, the planning control module continues to execute the parking task.

(2) If the anomaly handling module 135 restarts the first data acquisition module for a preset number of times, the monitoring module 131 again uploads the anomaly data and still times out, the anomaly handling module 135 immediately brakes the vehicle and automatically notifies a background monitoring person to check on site.

For example, when the report of the abnormal data by the monitoring module 131 is overtime, the abnormality processing module 135 may restart the millimeter wave radar or the high-definition camera group immediately, and if the report of the abnormal data is overtime after restarting 3 times, the monitoring module 131 immediately brakes the vehicle, so as to ensure the safety of the user, and automatically notify the background monitoring personnel to go to the site for inspection. In this embodiment, the preset number of times of restarting the first data acquisition module is 3, but the method is not limited thereto, and the method can be set according to actual needs.

(3) If the external scene data changes, the anomaly handling module 135 immediately brakes the vehicle and waits for the external scene data to return to normal before the planning control module continues to perform automatic parking.

For example, if the millimeter wave radar or the high-definition camera group senses that a pedestrian or other vehicles pass around the vehicle, the abnormality processing module firstly guarantees the safety of the vehicle through measures such as vehicle braking after receiving the changed external scene data uploaded by the monitoring module, and continues to execute the parking task by the planning control module when the pedestrian or other vehicles pass and the external scene data are not abnormal.

(4) If the system information is overloaded within a preset time, the abnormality processing module 135 may restart the procedure that causes the abnormality immediately, or perform the frequency-reducing processing on the system parameters corresponding to the system information until the system information returns to normal, and then continue to perform automatic parking by the planning control module.

For example, if the CPU is overloaded, an attempt may be made to restart a process that occupies more CPU resources to free up system resources. After restarting the program, the monitoring module needs to monitor the system information again to ensure the normal operation of the system. If the problem of overload of system information still cannot be solved after restarting the program, the exception handling module can adopt a mode of down-converting system parameters. For example, the operating frequency of the CPU or GPU may be reduced, reducing the system burden. After the frequency reduction processing, the monitoring module needs to monitor the system information again to ensure the normal operation of the system. If the hardware memory abnormality is detected, useless files are automatically deleted, and operations such as forced emptying of the cache are performed.

(5) If congestion and breakdown occur in the network data, the exception handling module 135 may temporarily empty some unimportant data, and perform down-conversion processing on a part of the data, until the network data is recovered to be normal, and then the planning control module continues to execute automatic parking.

Meanwhile, the background can also carry out statistical analysis on the situation and the scene of each error, a solution is researched, and the situation of the same occurrence of multiple times is prevented. For example, the cause of network congestion, the time of occurrence, the frequency, etc. may be analyzed to find out the way and direction of optimization of the solution to the problem.

In the implementation mode, the network load can be reduced and the network stability and reliability can be improved by clearing unimportant data and reducing the transmission frequency of important data; by carrying out statistical analysis and research on abnormal conditions, a method for solving the problem and an optimization direction can be found out, and the maintainability and reliability of the system are improved.

(6) If the fused external scene data is abnormal, the abnormality processing module 135 immediately restarts the abnormal program, or performs the frequency-reducing processing on part of the data until the fused external scene data is recovered to be normal, and then the planning control module continues to execute automatic parking.

For example, if the fused external scene data is erroneous, an attempt may be made to re-enable the process of fusing the external scene data. After restarting the program, the monitoring module needs to monitor the fused external scene data again. If the error can not be eliminated after restarting the program, the anomaly processing module can perform frequency reduction processing on the external scene data, and fuse the external scene data after frequency reduction until the fused external scene data is recovered to be normal, and then the planning control module continues to execute automatic parking.

(7) If the current parking route is abnormal, the abnormality processing module immediately brakes the vehicle, and the planning control module re-plans the parking route so as to control the vehicle to automatically park according to the re-planned parking route.

For example, if the millimeter wave radar or the high-definition camera group senses that pedestrians or other vehicles pass around the vehicle, the originally planned parking route is blocked by an obstacle, or the vehicle deviates from the originally planned parking route, the abnormality processing module can ensure the safety of the vehicle through measures such as braking the vehicle, and meanwhile, the planning control module re-plans the parking route according to external scene data received at regular time and system information scanned at regular time, map data acquired by network data, real-time road condition data and the like, so as to control the vehicle to automatically park according to the re-planned parking route.

It should be noted that, the present application provides that the exception handling module 135 automatically executes preset emergency handling policies, and in practical situations, one or more policies may be used, which is not limited in this aspect of the present application.

It should be noted that, the automatic parking mode includes AVP (Automated Valet Parking, autonomous passenger parking system) and APA (Automated Parking Assist, automatic auxiliary parking), wherein the AVP needs to load map data and real-time road conditions by using network data; the APA is used for realizing short-distance parking, so that network data is not needed to be utilized, a parking route can be planned based on the fused external scene data, and whether the network data is used or not is specifically selected according to an actual scene.

Thus, in another embodiment, the domain controller 13 in the automated parking system does not include the network driving module described above.

Specifically, the domain controller 13 includes a data fusion module 133 and a planning control module 134.

The data fusion module 133 is configured to fuse the external scene data;

the planning control module 134 is connected to the data fusion module 133, and is configured to plan a parking route based on the fused external scene data, and control the vehicle to automatically park according to the parking route.

Further, the monitoring module 131 in the domain controller 13 is connected to the data fusion module 133 and the planning control module 134, and is configured to analyze in real time whether the fused external scene data and the parking route are abnormal, and upload abnormal data in real time when any one of the external scene data and the parking route is abnormal.

Further, the abnormality processing module 135 in the domain controller 13 is connected to the monitoring module 131, and is configured to automatically execute a preset emergency processing policy when any one of the external scene data, the system information, the fused external scene data, and the parking route is abnormal.

Further, the exception handling module 135 automatically executes a preset emergency handling policy, including:

The present embodiment simply describes differences between some modules and the above embodiments, and the other modules and functions in the automatic parking system will not be described in detail.

It should be noted that, in the embodiment of the present application, the preset emergency treatment strategy includes steering avoidance in addition to emergency braking. In order to ensure the safety and stability of the parking process, the execution conditions and modes of the emergency treatment strategy can be set in practical application by themselves, and the method is not limited herein.

In an embodiment, the automatic parking system further comprises a communication module 14, a display 15 and/or a cloud storage module 16, a local memory 17.

The communication module 14 is connected to the network driver module 132 for providing the network driver module 132 with the network data.

In the embodiment of the application, the communication module is a vehicle-mounted TBOX and supports various wireless communication protocols, such as 4G, wiFi, bluetooth and the like. The TBOX is used as a wireless gateway of an automobile system, can be connected with an internal network and an external network of the automobile, provides a remote communication interface for the automobile and realizes the remote communication between the automobile and the Internet. Information such as vehicle state, driving behavior, vehicle position and the like can be uploaded to the cloud server through the TBOX, or remote instructions such as remote starting, remote locking and the like can be received from the cloud server.

It should be noted that, when the automatic parking system does not include the network driving module, the automatic parking system does not need to be provided with a communication module, and specifically, the automatic parking system can be adaptively adjusted according to actual use conditions, which is not limited by the present application.

The display 15 is connected to the planning control module 134 for displaying the parking interface in real time.

In the embodiment of the application, the display can display the parking interface in real time, including the vehicle state, the reversing radar information, the parking path and the like. The display may be of conventional liquid crystal display type, such as TFT-LCD display, OLED display, LED display, etc., or AR display.

The traditional liquid crystal display has the characteristics of high resolution, high brightness, high contrast and the like, and is suitable for displaying multimedia content, vehicle states, navigation information and the like. For convenience in debugging and viewing, the conventional lcd may be mounted on a dashboard or center console of a vehicle by means of an embedded, built-in or rear-hanging type, etc. The AR display is a novel vehicle-mounted display, has projection display and augmented reality technology, can superimpose virtual information in the real world, and improves the visual experience and safety of a driver. The AR display may be implemented by projection onto a windshield or integration into driver glasses, etc., with extremely high customizable and flexible features.

It should be noted that, different types of vehicle-mounted displays have different characteristics and application scenarios, and need to be selected and optimized according to the actual situation of the vehicle.

The cloud storage module 16 is connected to the monitoring module, and is configured to receive the abnormal data uploaded by the monitoring module in real time. The local memory 17 is connected to the monitoring module, and is configured to store abnormal data that cannot be uploaded to the cloud storage module.

Specifically, cloud storage refers to storing data on a cloud server, and a user can access and manage the data through a network; local storage refers to storing data in a local device, such as a hard disk, a USB flash disk, an SD card, and the like. Because the access speed of the local storage is faster, the user can directly access the data in the device, while the access speed of the cloud storage is affected by the network environment and the server load, and the access speed may be slower. Thus, for the case of video data that is too large, as well as large system files, local storage may be used to save the video data and system files in external memory for ready access and management, while cloud storage may be used to upload some points in time and data for analysis and processing.

It should be noted that, a suitable storage manner may be selected according to actual situations, so as to meet requirements of security, reliability, access speed, cost and the like of data.

As shown in fig. 3, the present embodiment provides an automatic parking method, which includes steps S1 to S4.

And S1, acquiring external scene data in real time.

And S2, regularly scanning system information.

And step S3, planning a parking route based on the external scene data and the system information, and controlling the vehicle to automatically park according to the parking route.

And S4, analyzing whether the external scene data and the system information are abnormal in real time, and uploading abnormal data in real time when any item is abnormal.

In one embodiment, as shown in fig. 4, planning a parking route based on the external scene data and the system information, and controlling the vehicle to automatically park according to the parking route includes steps S31 to S33.

Step S31, network data are acquired in real time.

And step S32, fusing the external scene data.

And step S33, planning a parking route based on the network data and the fused external scene data, and controlling the vehicle to automatically park according to the parking route.

As shown in fig. 5, in an embodiment, the method further includes steps S34 to S35, wherein the method further includes parking the vehicle according to the external scene data based on the parking route and controlling the vehicle to automatically park according to the parking route.

And step S34, analyzing whether the network data, the fused external scene data and the parking route are abnormal in real time, and uploading abnormal data in real time when any one of the external scene data, the fused external scene data and the parking route is abnormal.

Step S35, when any one of the external scene data, the system information, the network data, the fused external scene data, and the parking route is abnormal, automatically executing a preset emergency processing policy.

It should be noted that, the steps and embodiments of the automatic parking method in this embodiment are in one-to-one correspondence with the structures and principles of the first data acquisition module, the second data acquisition module, the domain controller, the network driving module, the monitoring module, the data fusion module, the planning control module and the exception handling module, so that no further description is given here.

In another embodiment, planning a parking route based on the external scene data and the system information, and controlling the vehicle to automatically park according to the parking route includes steps S32 to S33a.

And step S32, fusing the external scene data.

And step S33a, planning a parking route based on the fused external scene data, and controlling the vehicle to automatically park according to the parking route.

Further, parking the vehicle based on the external scene data and controlling the vehicle to automatically park according to the parking route further includes steps S34a to S35a.

And step S34a, analyzing whether the fused external scene data and the fused parking route are abnormal in real time, and uploading abnormal data in real time when any one of the external scene data and the fused parking route is abnormal.

Step S35a, when any one of the external scene data, the system information, the fused external scene data, and the parking route is abnormal, automatically executing a preset emergency treatment policy.

It should be noted that, the steps and embodiments of the automatic parking method in this embodiment are in one-to-one correspondence with the structures and principles of the first data acquisition module, the second data acquisition module, the domain controller, the monitoring module, the data fusion module, the planning control module and the exception handling module, so that the description thereof will not be repeated here.

The protection scope of the automatic parking method according to the embodiment of the present application is not limited to the execution sequence of the steps listed in the embodiment, and all the schemes implemented by adding or removing steps and replacing steps according to the prior art according to the principles of the present application are included in the protection scope of the present application.

The automatic parking system provided by the application can realize the automatic parking method of the application, but the implementation device of the automatic parking method of the application comprises but is not limited to the structure of the automatic parking system listed in the embodiment, and all structural modifications and substitutions of the prior art according to the principles of the application are included in the protection scope of the application.

The embodiment also provides a vehicle, including the automatic parking system described in any one of the above.

In the several embodiments provided by the present application, it should be understood that the disclosed system or method may be implemented in other manners. For example, the system embodiments described above are merely illustrative, e.g., the division of modules/units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple modules or units may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules or units, which may be in electrical, mechanical or other forms.

The modules/units illustrated as separate components may or may not be physically separate, and components shown as modules/units may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules/units may be selected according to actual needs to achieve the objectives of the embodiments of the present application. For example, functional modules/units in various embodiments of the application may be integrated into one processing module, or each module/unit may exist alone physically, or two or more modules/units may be integrated into one module/unit.

Those of ordinary skill would further appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, the program being executed to implement the automatic parking method according to any one of the above. Those of ordinary skill in the art will appreciate that all or part of the steps in the method implementing the above embodiments may be implemented by a program to instruct a processor, where the program may be stored in a computer readable storage medium, where the storage medium is a non-transitory (non-transitory) medium, such as a random access memory, a read only memory, a flash memory, a hard disk, a solid state disk, a magnetic tape (magnetic tape), a floppy disk (floppy disk), an optical disk (optical disk), and any combination thereof. The storage media may be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

The descriptions of the processes or structures corresponding to the drawings have emphasis, and the descriptions of other processes or structures may be referred to for the parts of a certain process or structure that are not described in detail.

In summary, the application provides an automatic parking system and method, a vehicle and a storage medium, which solve the technical problem of reduced parking safety caused by insufficient parking monitoring when the parking system is abnormal, and can monitor and analyze the state of the parking system in real time to improve the safety of the parking system; further, when the parking system is abnormal, different processing strategies can be adopted according to different abnormal states, and a user is informed of the abnormality in time, so that the problem of the parking system can be avoided in time, the safety of the user is guaranteed, and the safety and stability of the parking system are further improved.

The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. Accordingly, it is intended that all equivalent modifications and variations of the application be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims

1. An automated parking system, comprising:

2. The automated parking system of claim 1, wherein the domain controller further comprises:

the data fusion module is used for fusing the external scene data;

3. The automated parking system of claim 2, wherein,

The monitoring module is also connected with the data fusion module and the planning control module and is used for analyzing whether the fused external scene data and parking route are abnormal or not in real time and uploading abnormal data in real time when any item is abnormal;

4. The automated parking system of claim 3, wherein the exception handling module automatically executing a preset emergency handling policy comprises:

5. The automated parking system of claim 1, wherein the system information comprises usage status of the processor, the graphics processor, and the memory.

6. The automated parking system of claim 3, wherein the domain controller further comprises:

the network driving module is used for acquiring network data in real time;

7. The automated parking system of claim 3, further comprising:

8. An automatic parking method, comprising:

collecting external scene data in real time;

scanning system information at regular time;

9. The automatic parking method according to claim 8, wherein planning a parking route based on the external scene data and the system information, and controlling the vehicle to automatically park in accordance with the parking route, comprises:

fusing the external scene data;

10. The automatic parking method according to claim 9, wherein planning a parking route based on the external scene data and the system information, and controlling the vehicle to automatically park in accordance with the parking route further comprises:

Analyzing whether the fused external scene data and the fused parking route are abnormal or not in real time, and uploading abnormal data in real time when any item is abnormal;

11. A vehicle comprising an automatic parking system according to any one of claims 1 to 7.

12. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed, implements the automatic parking method according to any one of claims 8 to 10.