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

Abstract

Translated fromChinese

本发明是一种自动泊车系统的异常处理方法、装置、设备及存储介质。该方法包括：一、影像融合自动泊车系统启动时，如果发生异常情况，泊车功能不进入；二、车位搜索时，如果发生异常情况，车位信息不释放；三、泊车过程中，如果发生异常情况，泊车恢复中断，系统请求紧急制动，系统请求挡位为P档，系统请求EPB锁止，若异常情况在30s内解除，泊车恢复，继续泊车，若30s内异常情况未解除，泊车功能退出；四、泊车过程中，如果发生异常情况，不恢复中断，系统请求紧急制动，系统请求挡位为P档，系统请求EPB锁止，泊车功能退出。本发明可以极大地提高系统的安全性，大大降低了自动泊车的风险，对驾乘人员、行人、车辆的安全起到了有效的保障。

The present invention is an abnormal processing method, device, equipment and storage medium of an automatic parking system. The method includes: 1. When the image fusion automatic parking system is activated, if an abnormal situation occurs, the parking function will not enter; 2. When searching for a parking space, if an abnormal situation occurs, the parking space information will not be released; If an abnormal situation occurs, the parking recovery is interrupted, the system requests emergency braking, the system requests the gear to be P gear, and the system requests EPB lock. If it is not released, the parking function exits; 4. During the parking process, if an abnormal situation occurs, the interruption is not resumed, the system requests emergency braking, the system requests the gear to be P, the system requests EPB lock, and the parking function exits. The invention can greatly improve the safety of the system, greatly reduce the risk of automatic parking, and effectively guarantee the safety of drivers, pedestrians and vehicles.

Description

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

Technical Field

The invention belongs to the technical field of automobiles, and particularly relates to an exception handling method, device, equipment and storage medium of an image fusion automatic parking system.

Background

The rapid development of ADAS is a necessary trend in the automotive industry, and meets the higher requirements of drivers and passengers on automobiles, and also meets the national development strategy in the automotive industry. The image fusion parking is one of the important functions of the ADAS, and is also the function of the current automobile market with the largest demand on the ADAS, so that the safety and the reliability of the image fusion parking are particularly important.

Disclosure of Invention

The invention provides an exception handling method, device, equipment and storage medium of an image fusion automatic parking system, which can greatly improve the safety of the system, greatly reduce the risk of automatic parking and effectively guarantee the safety of drivers, passengers and vehicles.

The technical scheme of the invention is described as follows by combining the attached drawings:

in a first aspect, an embodiment of the present invention provides an exception handling method for an image fusion automatic parking system, including:

step one, when an image fusion automatic parking system is started, judging whether an abnormal condition exists or not, if the abnormal condition occurs, not entering a parking function, and displaying a warning prompt on a screen of a vehicle machine;

step two, judging whether an abnormal condition exists or not during parking space searching, if the abnormal condition occurs, not releasing parking space information, and displaying a warning prompt on a screen of the vehicle machine;

step three, judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, stopping the parking recovery, requesting emergency braking by the system, requesting the gear to be P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle, if the abnormal condition is relieved within 30s, recovering the parking, continuing the parking, and if the abnormal condition is not relieved within 30s, quitting the parking function;

and step four, judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, not recovering interruption, requesting emergency braking by the system, requesting the gear to be P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle machine, and exiting the parking function.

Further, the abnormal condition includes four conditions, which are respectively:

the first abnormal condition: the system detects the occurrence of an obstacle on a planned parking path; opening any door of the vehicle; opening a front hatch cover; opening a trunk door; main driving safety belt loosening

The second abnormal condition is: manual intervention in the parking process, including steering wheel intervention, gear shifting intervention, EPB intervention, accelerator pedal intervention and brake pedal intervention;

the third abnormal condition: faults of the image fusion parking system comprise sensor faults, controller faults and communication faults;

the fourth abnormal condition: associated system faults including EPS faults, ESP faults, and VCU faults.

Further, the abnormal conditions in the first step include a first abnormal condition, a third abnormal condition and a fourth abnormal condition.

Further, the abnormal conditions in the second step include a first abnormal condition, a third abnormal condition and a fourth abnormal condition.

Further, the abnormal condition in step three includes a first abnormal condition.

Further, the abnormal conditions in the fourth step include a second abnormal condition, a third abnormal condition and a fourth abnormal condition.

In a second aspect, an embodiment of the present invention further provides an exception handling device for an image fusion automatic parking system, including:

the first processing module is used for judging whether an abnormal condition exists or not when the image fusion automatic parking system is started, if the abnormal condition occurs, the parking function is not started, and a warning prompt is displayed on a screen of the vehicle machine;

the second processing module is used for judging whether an abnormal condition exists or not when the parking space is searched, if the abnormal condition occurs, the parking space information is not released, and a warning prompt is displayed on a screen of the vehicle machine;

the third processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the parking is recovered and interrupted, the system requests emergency braking, the system requests that the gear is P gear, the system requests EPB locking, warning prompts are displayed on a screen of the vehicle machine, if the abnormal condition is relieved within 30s, the parking is recovered, the parking is continued, and if the abnormal condition is not relieved within 30s, the parking function is quitted;

and the fourth processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the system does not recover interruption, requests emergency braking, requests a gear P to be a P gear, requests EPB locking, displays a warning prompt on a screen of the vehicle machine, and exits the parking function.

In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method for processing the exception in the image fusion automatic parking system according to any one of the embodiments of the present invention.

In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for processing the abnormality of the image fusion automatic parking system according to any one of the embodiments of the present invention.

The invention has the beneficial effects that:

the invention can greatly improve the safety of the system, greatly reduce the risk of automatic parking, and effectively guarantee the safety of drivers, pedestrians and vehicles.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a flowchart illustrating an exception handling method of an image fusion automatic parking system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an exception handling device of an image fusion automatic parking system according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device in a third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The abnormal condition includes four conditions, which are respectively:

the first abnormal condition: the system detects the occurrence of an obstacle on a planned parking path; opening any door of the vehicle; opening a front hatch cover; opening a trunk door; main driving safety belt loosening

The second abnormal condition is: manual intervention in the parking process, including steering wheel intervention, gear shifting intervention, EPB intervention, accelerator pedal intervention and brake pedal intervention;

the third abnormal condition: faults of the image fusion parking system comprise sensor faults, controller faults and communication faults;

the fourth abnormal condition: associated system faults including EPS faults, ESP faults, and VCU faults.

Referring to fig. 1, an exception handling method of an image fusion automatic parking system includes:

step one, when an image fusion automatic parking system is started, judging whether a first abnormal condition, a third abnormal condition and a fourth abnormal condition exist, if the abnormal conditions exist, the parking function is not entered, and displaying a warning prompt on a screen of a vehicle machine;

step two, judging whether abnormal conditions exist or not during parking space searching, if the first abnormal condition, the third abnormal condition and the fourth abnormal condition occur, not releasing parking space information, and displaying a warning prompt on a screen of a vehicle machine;

step three, judging whether an abnormal condition exists or not in the parking process, if the first abnormal condition occurs, stopping the parking recovery, requesting emergency braking by the system, requesting a gear to be a P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle, if the abnormal condition is relieved within 30s, recovering the parking, continuing the parking, and if the abnormal condition is not relieved within 30s, withdrawing the parking function;

and step four, judging whether an abnormal condition exists or not in the parking process, if the second, third and fourth abnormal conditions occur, not recovering the interruption, requesting emergency braking by the system, requesting the gear to be P gear by the system, requesting EPB locking by the system, displaying a warning prompt on a screen of the vehicle machine, and exiting the parking function.

Example two

An exception handling device of an image fusion automatic parking system is used for realizing an exception handling method of the image fusion automatic parking system, and comprises the following steps:

the first processing module is used for judging whether an abnormal condition exists or not when the image fusion automatic parking system is started, if the abnormal condition occurs, the parking function is not started, and a warning prompt is displayed on a screen of the vehicle machine;

the second processing module is used for judging whether an abnormal condition exists or not when the parking space is searched, if the abnormal condition occurs, the parking space information is not released, and a warning prompt is displayed on a screen of the vehicle machine;

the third processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the parking is recovered and interrupted, the system requests emergency braking, the system requests that the gear is P gear, the system requests EPB locking, warning prompts are displayed on a screen of the vehicle machine, if the abnormal condition is relieved within 30s, the parking is recovered, the parking is continued, and if the abnormal condition is not relieved within 30s, the parking function is quitted;

and the fourth processing module is used for judging whether an abnormal condition exists or not in the parking process, if the abnormal condition occurs, the system does not recover interruption, requests emergency braking, requests a gear P to be a P gear, requests EPB locking, displays a warning prompt on a screen of the vehicle machine, and exits the parking function.

EXAMPLE III

Fig. 3 is a schematic structural diagram of a computer device in a third embodiment of the present invention. FIG. 3 illustrates a block diagram of anexemplary computer device 12 suitable for use in implementing embodiments of the present invention. Thecomputer device 12 shown in FIG. 3 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the present invention.

As shown in FIG. 3,computer device 12 is in the form of a general purpose computing device. The components ofcomputer device 12 may include, but are not limited to: one or more processors orprocessing units 16, asystem memory 28, and abus 18 that couples various system components including thesystem memory 28 and theprocessing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible bycomputer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

Thesystem memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/orcache memory 32.Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only,storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected tobus 18 by one or more data media interfaces.Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) ofprogram modules 42 may be stored, for example, inmemory 28,such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment.Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device,display 24, etc.), with one or more devices that enable a user to interact withcomputer device 12, and/or with any devices (e.g., network card, modem, etc.) that enablecomputer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O)interface 22. In thecomputer device 12 of the present embodiment, thedisplay 24 is not provided as a separate body but is embedded in the mirror surface, and when the display surface of thedisplay 24 is not displayed, the display surface of thedisplay 24 and the mirror surface are visually integrated. Also,computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) vianetwork adapter 20. As shown,network adapter 20 communicates with the other modules ofcomputer device 12 viabus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction withcomputer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

Theprocessing unit 16 executes various functional applications and data processing by running the program stored in thesystem memory 28, for example, implementing an exception handling method of the image fusion automatic parking system provided by the embodiment of the present invention.

Example four

A fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an exception handling method for an image fusion automatic parking system according to all embodiments of the present invention.

Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (9)

Translated fromChinese

1.一种影像融合自动泊车系统的异常处理方法，其特征在于，包括以下步骤：1. an abnormal processing method of an image fusion automatic parking system, is characterized in that, comprises the following steps:步骤一、影像融合自动泊车系统启动时，判断是否有异常情况，如果发生异常情况，泊车功能不进入，并在车机屏幕显示警告提示；Step 1. When the image fusion automatic parking system is activated, it is judged whether there is an abnormal situation. If an abnormal situation occurs, the parking function will not be activated, and a warning prompt will be displayed on the screen of the car machine;步骤二、车位搜索时，判断是否有异常情况，如果发生异常情况，车位信息不释放，并在车机屏幕显示警告提示；Step 2: When searching for a parking space, determine whether there is any abnormality. If an abnormality occurs, the parking space information will not be released, and a warning prompt will be displayed on the car screen;步骤三、泊车过程中，判断是否有异常情况，如果发生异常情况，泊车恢复中断，系统请求紧急制动，系统请求挡位为P档，系统请求EPB锁止，并在车机屏幕显示警告提示，若异常情况在30s内解除，泊车恢复，继续泊车，若30s内异常情况未解除，泊车功能退出；Step 3. During the parking process, judge whether there is any abnormal situation. If an abnormal situation occurs, the parking recovery is interrupted, the system requests emergency braking, the system requests the gear to be P, the system requests EPB lock, and displays it on the vehicle screen. The warning prompts, if the abnormal situation is lifted within 30s, the parking will resume and continue to park; if the abnormal situation is not lifted within 30s, the parking function will be exited;步骤四、泊车过程中，判断是否有异常情况，如果发生异常情况，不恢复中断，系统请求紧急制动，系统请求挡位为P档，系统请求EPB锁止，并在车机屏幕显示警告提示，泊车功能退出。Step 4. During the parking process, judge whether there is an abnormal situation. If an abnormal situation occurs, the interruption will not resume. The system requests emergency braking, the system requests the gear to be P, the system requests EPB lock, and displays a warning on the car screen Prompt to exit the parking function.2.根据权利要求1所述的一种影像融合自动泊车系统的异常处理方法，其特征在于，所述异常情况包括四种情况，分别为：2. The abnormality processing method of an image fusion automatic parking system according to claim 1, wherein the abnormality includes four cases, which are:第一种异常情况：系统在规划的泊车路径上探测到障碍物出现；车辆任意一扇门打开；前舱盖开启；后备箱门开启；主驾安全带松开The first abnormal situation: the system detects an obstacle on the planned parking path; any door of the vehicle is opened; the front hatch is opened; the trunk door is opened; the driver's seat belt is released第二种异常情况：泊车过程中人为干预，包括方向盘干预、换挡干预、EPB干预、油门踏板干预、制动踏板干预；The second abnormal situation: human intervention during parking, including steering wheel intervention, gear shift intervention, EPB intervention, accelerator pedal intervention, and brake pedal intervention;第三种异常情况：影像融合泊车系统故障，包括传感器故障、控制器故障和通信故障；The third abnormal situation: image fusion parking system failure, including sensor failure, controller failure and communication failure;第四种异常情况：关联系统故障，包括EPS故障、ESP故障和VCU故障。The fourth abnormal situation: related system failure, including EPS failure, ESP failure and VCU failure.3.根据权利要求2所述的一种影像融合自动泊车系统的异常处理方法，其特征在于，所述步骤一中的异常情况包括第一种异常情况、第三种异常情况和第四种异常情况。3. The abnormality processing method of an image fusion automatic parking system according to claim 2, wherein the abnormality in the step 1 comprises the first abnormality, the third abnormality and the fourth abnormality abnormal situation.4.根据权利要求2所述的一种影像融合自动泊车系统的异常处理方法，其特征在于，所述步骤二中的异常情况包括第一种异常情况、第三种异常情况和第四种异常情况。4. The abnormality processing method of an image fusion automatic parking system according to claim 2, wherein the abnormality in the step 2 comprises the first abnormality, the third abnormality and the fourth abnormality abnormal situation.5.根据权利要求2所述的一种影像融合自动泊车系统的异常处理方法，其特征在于，所述步骤三中的异常情况包括第一种异常情况。5 . The abnormality processing method of an image fusion automatic parking system according to claim 2 , wherein the abnormality in the step 3 includes the first abnormality. 6 .6.根据权利要求2所述的一种影像融合自动泊车系统的异常处理方法，其特征在于，所述步骤四中的异常情况包括第二种异常情况、第三种异常情况和第四种异常情况。6. The abnormality processing method of an image fusion automatic parking system according to claim 2, wherein the abnormality in the step 4 includes the second abnormality, the third abnormality and the fourth abnormality abnormal situation.7.一种影像融合自动泊车系统的异常处理装置，其特征在于，包括：7. An abnormality processing device for an image fusion automatic parking system, characterized in that, comprising:第一处理模块，用于影像融合自动泊车系统启动时，判断是否有异常情况，如果发生异常情况，泊车功能不进入，并在车机屏幕显示警告提示；The first processing module is used to judge whether there is an abnormal situation when the image fusion automatic parking system is activated. If an abnormal situation occurs, the parking function will not enter, and a warning prompt will be displayed on the screen of the vehicle machine;第二处理模块，用于车位搜索时，判断是否有异常情况，如果发生异常情况，车位信息不释放，并在车机屏幕显示警告提示；The second processing module is used to determine whether there is an abnormal situation when searching for a parking space. If an abnormal situation occurs, the parking space information will not be released, and a warning prompt will be displayed on the car screen;第三处理模块，用于泊车过程中，判断是否有异常情况，如果发生异常情况，泊车恢复中断，系统请求紧急制动，系统请求挡位为P档，系统请求EPB锁止，并在车机屏幕显示警告提示，若异常情况在30s内解除，泊车恢复，继续泊车，若30s内异常情况未解除，泊车功能退出；The third processing module is used to judge whether there is an abnormal situation during the parking process. If an abnormal situation occurs, the parking recovery is interrupted, the system requests emergency braking, the system requests the gear to be P, the system requests EPB lock, and in The car screen will display a warning prompt. If the abnormal situation is lifted within 30s, the parking will resume and continue to park. If the abnormal situation is not lifted within 30s, the parking function will exit;第四处理模块，用于泊车过程中，判断是否有异常情况，如果发生异常情况，不恢复中断，系统请求紧急制动，系统请求挡位为P档，系统请求EPB锁止，并在车机屏幕显示警告提示，泊车功能退出。The fourth processing module is used to judge whether there is an abnormal situation during the parking process. If an abnormal situation occurs, the interruption will not be resumed, the system requests emergency braking, the system requests the gear to be P gear, the system requests EPB lock, and the vehicle is in the car. A warning message is displayed on the screen of the machine, and the parking function is exited.8.一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求1-6中任一所述的一种影像融合自动泊车系统的异常处理方法。8. A computer equipment, comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements any of claims 1-6 when the processor executes the program. 1. An exception processing method for an image fusion automatic parking system.9.一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-6中任一所述的一种影像融合自动泊车系统的异常处理方法。9. A computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the image fusion automatic parking system according to any one of claims 1-6 is realized. Exception handling method.

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