CN110901633A

CN110901633A - Remote control parking control method and device for automobile and storage medium

Info

Publication number: CN110901633A
Application number: CN201911301302.1A
Authority: CN
Inventors: 陈海鸥; 徐达学; 姜灏; 王萍; 陈健昕
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-03-24

Abstract

The application discloses a remote control parking control method, device and storage medium of an automobile, belonging to the technical field of vehicle engineering. The method includes: in the process of remote parking, obtaining functional safety requirements of the car, the functional safety requirements are the requirements for realizing the safe parking of the car, and the functional safety requirements include: functional safety requirements for unexpected system exit, obstacle detection Functional safety requirements for missing functions, functional safety requirements for unintended vehicle longitudinal acceleration, functional safety requirements for missing vehicle speed limiting functions, functional safety requirements for reverse gear control, functional safety requirements for unintended gear control, and missing vehicle steering functions at least one of the functional safety requirements; obtain control information for car parking according to the functional safety requirements; control the car according to the control information. The present application sets functional safety requirements for the car, so that the functions of the car during the remote control parking process meet the safety requirements, and the safety of the remote control parking is improved.

Description

Remote control parking control method and device for automobile and storage medium

Technical Field

The present disclosure relates to the field of vehicle engineering technologies, and in particular, to a method, an apparatus, and a storage medium for controlling a remote parking of an automobile.

Background

With the great popularization of private vehicles, for many people, especially for novices, parking in limited parking spaces is a headache because of the very high probability of scratches and the like during parking. At present, the automobile can realize automatic parking, for example, remote control parking.

However, when remote parking is currently performed, the driver controls the vehicle without being in the vehicle. In the remote control parking process of a driver, if the attention of the driver is not concentrated or an emergency occurs, a safety accident occurs in the remote control parking process, and the safety of the remote control parking is low.

Disclosure of Invention

The application provides a remote control parking control method and device for an automobile and a storage medium, which can solve the problem that the possibility of safety accidents caused by remote control parking in the related art is high. The technical scheme is as follows:

in one aspect, a remote parking control method for a vehicle is provided, the method including:

in the process of remote control parking, obtaining a functional safety requirement of an automobile, wherein the functional safety requirement is a requirement for realizing safe parking of the automobile, and the functional safety requirement comprises the following steps: at least one of functional safety requirements for unexpected system exit, functional safety requirements for obstacle detection function loss, functional safety requirements for unexpected vehicle longitudinal acceleration, functional safety requirements for vehicle speed limit function loss, functional safety requirements for reverse gear control, functional safety requirements for unexpected gear control, and functional safety requirements for vehicle steering function loss;

acquiring control information of the automobile parking according to the functional safety requirement, wherein the control information comprises information for realizing at least one function of steering, gear changing, braking and early warning of the automobile;

and controlling the automobile according to the control information.

In some embodiments, the obtaining control information of parking of the automobile according to the functional safety requirement includes:

when the functional safety requirements comprise functional safety requirements for unexpected system exit, detecting whether the automobile receives an exit parking instruction sent by a terminal in a remote control parking process;

when the fact that the automobile does not receive the parking quitting instruction is detected, when the parking system of the automobile quits, at least one of brake information of an electronic stability control program (ESP) of the automobile and brake information of an electromechanical servo power system (iBooster) is obtained, and the brake information is used for indicating the automobile to brake.

when the functional safety requirements comprise functional safety requirements of the obstacle detection function loss, determining obstacle detection conditions of an ultrasonic radar and a panoramic camera in the automobile in the remote control parking process;

and when at least one of the ultrasonic radar and the panoramic camera is detected to be in fault or shielded, acquiring prompt information, wherein the prompt information is used for prompting that the obstacle cannot be detected.

when the functional safety requirement comprises a functional safety requirement of unexpected vehicle longitudinal acceleration, detecting the parking speed of the automobile in the remote control parking process;

when the parking speed of the automobile is accelerated under the condition that an acceleration instruction sent by a terminal is not received, the control information of a Remote Parking Assistant (RPA) controller in the automobile is obtained, and the control information of the RPA controller is used for controlling the gear, steering and braking functions of the automobile.

when the functional safety requirement comprises a functional safety requirement with a missing vehicle speed limiting function, detecting the parking speed of the vehicle in the remote control parking process;

and when the parking speed is greater than a vehicle speed threshold value, acquiring control information of an RPA controller in the vehicle, wherein the control information of the RPA controller is used for controlling the gear, steering and braking functions of the vehicle.

when the functional safety requirement comprises a functional safety requirement of reverse gear control, gear information of the automobile is obtained in the remote control parking process;

when it is detected that the gear of the automobile is not shifted or the gear shifting is wrong after the gear shifting instruction is received, acquiring gearbox information of an automatic gearbox control unit TCU of the automobile and at least one piece of braking information of an electric power steering system ESP and braking information of a line control system iBooster, wherein the braking information is used for indicating the automobile to brake.

when the functional safety requirements comprise the functional safety requirements of the unexpected gear control, detecting the gear information of the automobile in the remote control parking process;

when the gear of the automobile is changed under the condition that a gear shifting instruction is not received, at least one of braking information of ESP (electronic stability program) and braking information of iBooster of the automobile is obtained, and the braking information is used for indicating the automobile to brake.

when the functional safety requirements comprise functional safety requirements of the vehicle steering function loss, detecting a running path of the automobile in a remote control parking process;

when the driving path of the automobile is different from a preset parking path, at least one piece of braking information of ESP (electronic stability program) and iBooster of the automobile is obtained, and the braking information is used for indicating the automobile to brake.

In another aspect, there is provided a remote parking control apparatus for a vehicle, the apparatus including:

the system comprises a first obtaining module and a second obtaining module, wherein the first obtaining module is used for obtaining a functional safety requirement of an automobile in the process of remote control parking, the functional safety requirement is the requirement for realizing safe parking of the automobile, and the functional safety requirement comprises the following steps: at least one of functional safety requirements for unexpected system exit, functional safety requirements for obstacle detection function loss, functional safety requirements for unexpected vehicle longitudinal acceleration, functional safety requirements for vehicle speed limit function loss, functional safety requirements for reverse gear control, functional safety requirements for unexpected gear control, and functional safety requirements for vehicle steering function loss;

the second acquisition module is used for acquiring control information of the automobile parking according to the functional safety requirement, wherein the control information comprises information for realizing at least one function of steering, gear shifting, braking and early warning of the automobile;

and the control module is used for controlling the automobile according to the control information.

In some embodiments, the second obtaining module comprises:

the first detection submodule is used for detecting whether the automobile receives a parking quitting instruction sent by a terminal or not in the remote control parking process when the functional safety requirements comprise functional safety requirements of the unexpected system quitting;

the first obtaining submodule is used for obtaining at least one piece of braking information of an electronic stability control program (ESP) of the automobile and braking information of an electromechanical servo power system (iBooster) when the fact that the automobile does not receive the parking quitting instruction is detected and a parking system of the automobile quits, and the braking information is used for indicating the automobile to brake.

In some embodiments, the second obtaining module comprises:

the determining submodule is used for determining the obstacle detection conditions of an ultrasonic radar and a panoramic camera in the automobile in the remote control parking process when the functional safety requirements comprise functional safety requirements of the obstacle detection function loss;

and the second acquisition submodule is used for acquiring prompt information when at least one of the ultrasonic radar and the panoramic camera is detected to be in fault or shielded, and the prompt information is used for prompting that the obstacle cannot be detected.

In some embodiments, the second obtaining module comprises:

the second detection submodule is used for detecting the parking speed of the automobile in the remote control parking process when the functional safety requirement comprises a functional safety requirement of unexpected vehicle longitudinal acceleration;

and the third obtaining submodule is used for obtaining the control information of an RPA controller of the remote parking auxiliary equipment in the automobile when the parking speed of the automobile is accelerated under the condition that an acceleration instruction sent by a terminal is not received, wherein the control information of the RPA controller is used for controlling the gear, steering and braking functions of the automobile.

In some embodiments, the second obtaining module comprises:

the third detection submodule is used for detecting the parking speed of the automobile in the remote control parking process when the functional safety requirement comprises the functional safety requirement of the automobile speed limiting function loss;

and the fourth obtaining submodule is used for obtaining the control information of an RPA controller in the automobile when the parking speed is greater than the speed threshold value, and the control information of the RPA controller is used for controlling the gear, steering and braking functions of the automobile.

In some embodiments, the second obtaining module comprises:

a fifth obtaining submodule, configured to obtain gear information of the automobile during a remote control parking process when the functional safety requirement includes a functional safety requirement of the reverse gear control;

and the sixth obtaining submodule is used for obtaining gearbox information of an automatic gearbox control unit TCU of the automobile and at least one of brake information of an electric power steering system ESP and brake information of a line control system iBooster when detecting that the gear of the automobile is not shifted or has a wrong gear shift after receiving the gear shift instruction, wherein the brake information is used for indicating the automobile to brake.

In some embodiments, the second obtaining module comprises:

the fourth detection submodule is used for detecting the gear information of the automobile in the remote control parking process when the functional safety requirements comprise the functional safety requirements of the unexpected gear control;

and the seventh obtaining submodule is used for obtaining at least one piece of braking information in ESP (electronic stability program) braking information and iBooster braking information of the automobile when the gear of the automobile is changed under the condition that a gear shifting instruction is not received, wherein the braking information is used for indicating the automobile to brake.

In some embodiments, the second obtaining module comprises:

the fifth detection submodule is used for detecting the running path of the automobile in the remote control parking process when the functional safety requirements comprise functional safety requirements of the vehicle steering function loss;

and the eighth obtaining submodule is used for obtaining at least one piece of braking information in the braking information of the ESP and the iBooster of the automobile when the driving path of the automobile is different from the preset parking path, and the braking information is used for indicating the automobile to brake.

In another aspect, an automobile is provided, where the automobile includes a memory for storing a computer program and a processor for executing the computer program stored in the memory to implement the steps of the remote parking control method for an automobile.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the remote parking control method for a vehicle described above.

In another aspect, a computer program product containing instructions is provided, which when run on a computer causes the computer to perform the steps of the above-described method for remote parking control of a vehicle.

The technical scheme provided by the application can at least bring the following beneficial effects:

in the application, functional safety requirements can be set for each function of the automobile, and the automobile can obtain control information corresponding to the functional safety requirements in the remote control parking process and control the automobile according to the control information. When the automobile realizes any function, if the function has the function safety requirement, the automobile needs to meet the function safety requirement, so that the automobile not only realizes the functions of the automobile in the remote control parking process, but also the functions can meet the safety requirement, the safety of the automobile is guaranteed, and the safety of the remote control parking of the automobile is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic diagram of a remote parking control system of an automobile according to an embodiment of the present disclosure;

fig. 2 is a flowchart of a remote parking control method for an automobile according to an embodiment of the present application;

FIG. 3 is a flowchart illustrating another method for controlling remote parking of a vehicle according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a remote parking control device of an automobile according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second obtaining module according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of another second obtaining module provided in the embodiment of the present application;

fig. 7 is a schematic structural diagram of another second obtaining module provided in the embodiment of the present application;

fig. 8 is a schematic structural diagram of another second obtaining module provided in an embodiment of the present application;

fig. 9 is a schematic structural diagram of another second obtaining module provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of another second obtaining module provided in an embodiment of the present application;

fig. 11 is a schematic structural diagram of another second obtaining module provided in an embodiment of the present application;

FIG. 12 is a schematic structural diagram of an automobile according to an embodiment of the present disclosure;

fig. 13 is a schematic structural diagram of a terminal according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the method for controlling remote parking of an automobile provided in the embodiment of the present application in detail, an application scenario and a system architecture provided in the embodiment of the present application are introduced.

First, an application scenario related to the embodiment of the present application is described.

Because the probability of scratches and the like in the parking process is very high for novices, in order to reduce scratches, the remote control parking function of the automobile can be used for parking.

However, when remote parking is currently performed, the driver controls the vehicle without being in the vehicle. In the remote control parking process of a driver, if the attention of the driver is not concentrated or an emergency occurs, a safety accident occurs in the remote control parking process, and in the related technology, a function safety requirement is not set for a remote control parking function, so that the remote control parking safety is low.

Based on the application scene, the embodiment of the application provides the remote control parking control method for the automobile, which can improve the remote control parking safety.

Next, a system architecture according to an embodiment of the present application will be described.

Fig. 1 is a schematic diagram of a Remote Parking Control system of an automobile according to an embodiment of the present disclosure, and referring to fig. 1, the system may include a terminal 1, an RPA (Remote park assist) controller 2 in the automobile, an ultrasonic sensor 3, a panoramic camera 4, a PEPS (Passive Entry Passive Start) system 5, a BCM (Body Control Module) 6, an EPS (Electric power steering) 7, an ESP (Electronic Stability Program) 8, an iBooster (electromechanical servo) 9, a TCU (universal Control, Transmission controller) 10, and an IHU (audio master controller) 11. The terminal 1 may be any one of a car key, a mobile phone, and the like. The automobile can be remotely parked under the remote control of the terminal 1. That is, the car can be remotely parked under the control of the car key or the mobile phone.

The RPA controller 2 CAN be respectively connected with the ultrasonic sensor 3, the panoramic camera 4, the PEPS system 5, the BCM6, the EPS7, the ESP8, the iBooster9, the TCU10 and the IHU11 through a CAN bus; when the terminal is a mobile phone, the PEPS system 5 may be connected to the terminal 1 via the TBOX of the car. When the party terminal is a key, the PEPS system 5 may connect to the key through a Radio Frequency (RF) signal.

As an example, the terminal 1 is configured to send a control instruction to the PEPS system 5, and the PEPS system 5 may forward the control instruction to the RPA controller 2 to control the automobile to perform remote parking; the RPA controller 2 is used for receiving the control instruction sent by the terminal 1 and sending the control instruction to a corresponding module so as to realize the remote control parking function of the automobile; a plurality of ultrasonic sensors 3, for example, 12, can be mounted on the automobile for measuring the distance between obstacles in the front and rear directions of the automobile and searching parking spaces, road edges and wall surfaces; a plurality of panoramic cameras 4 can be arranged around the automobile body, for example, 4 panoramic cameras can be used for collecting environmental images and processing the environmental images to display the information of the automobile body around the automobile on the IHU 11; the BCM6 is used for managing brake lamps and steering lamps; the EPS7 is used to control the torque of the vehicle during parking and to send the torque information of the vehicle to the RPA controller 2. The ESP8 is used to maintain the vehicle in a proper trajectory when the vehicle is in a crisis driving condition, such as skidding or is unable to respond to the driver's driving intent, for example, the ESP8 may provide active braking when the vehicle is in a dangerous condition during parking. The iBooster9 is used to brake the vehicle. The iBooster9 and the ESP8 are brake redundancy systems, and when emergency working conditions are met, the iBooster9 intervenes to automatically generate acting force and exchange the acting force with a master cylinder to form brake hydraulic pressure. The TCU10 is used to shift the gears D, N, R, and P in accordance with the control instruction of the RPA controller 2. The IHU11 is used to display parking space searching, parking garage panoramic images, track planning path conditions, etc., and the driver can start or stop the parking function through the keys on the IHU.

The following provides a detailed explanation of a remote parking control method for a vehicle according to an embodiment of the present application with reference to the drawings.

Fig. 2 is a flowchart of a remote parking control method for a vehicle according to an embodiment of the present application, where the method is applied to a vehicle. Referring to fig. 2, the method includes the following steps.

Step 201: in the process of remote control parking, acquiring a functional safety requirement of an automobile, wherein the functional safety requirement is a requirement for realizing safe parking of the automobile, and the functional safety requirement comprises the following steps: at least one of a functional safety requirement for unexpected system exit, a functional safety requirement for obstacle detection function loss, a functional safety requirement for unexpected vehicle longitudinal acceleration, a functional safety requirement for vehicle speed limit function loss, a functional safety requirement for reverse gear control, a functional safety requirement for unexpected gear control, and a functional safety requirement for vehicle steering function loss.

Step 202: and acquiring control information of the automobile parking according to the functional safety requirement, wherein the control information comprises information for realizing at least one function of steering, gear shifting, braking and early warning of the automobile.

Step 203: and controlling the automobile according to the control information.

In the embodiment of the application, functional safety requirements can be set for each function of the automobile, and the automobile can obtain control information corresponding to the functional safety requirements in the remote control parking process and control the automobile according to the control information. When the automobile realizes any function, if the function has the function safety requirement, the automobile needs to meet the function safety requirement, so that the automobile not only realizes the functions of the automobile in the remote control parking process, but also the functions can meet the safety requirement, the safety of the automobile is guaranteed, and the safety of the remote control parking of the automobile is improved.

In some embodiments, obtaining the control information for parking the automobile according to the functional safety requirement includes:

when the function safety requirement comprises a function safety requirement for the unexpected system to exit, detecting whether the automobile receives an exit parking instruction sent by a terminal in the process of remote control parking;

when the fact that the automobile does not receive the parking quitting instruction is detected, when the parking system of the automobile quits, at least one of brake information of an electronic stability control program (ESP) of the automobile and brake information of an electromechanical servo assistance system (iBooster) is obtained, and the brake information is used for indicating the automobile to brake.

when the functional safety requirement comprises a functional safety requirement of the obstacle detection function loss, determining obstacle detection conditions of an ultrasonic radar and a panoramic camera in the automobile in the remote control parking process;

when detecting that at least one of the ultrasonic radar and the panoramic camera breaks down or is shielded, acquiring prompt information, wherein the prompt information is used for prompting that the obstacle cannot be detected.

when the parking speed of the automobile is accelerated under the condition that an acceleration instruction sent by a terminal is not received, the control information of a remote parking auxiliary equipment RPA controller in the automobile is obtained, and the control information of the RPA controller is used for controlling the gear, steering and braking functions of the automobile.

when the functional safety requirement comprises a functional safety requirement of the vehicle speed limiting function loss, detecting the parking speed of the vehicle in the remote control parking process;

and when the parking speed is greater than the vehicle speed threshold value, acquiring the control information of an RPA controller in the vehicle, wherein the control information of the RPA controller is used for controlling the gear, steering and braking functions of the vehicle.

when the situation that the gear of the automobile is not shifted or the gear shifting is wrong after the gear shifting instruction is received is detected, gearbox information of an automatic gearbox control unit TCU of the automobile and at least one piece of brake information of an electric power steering system ESP and brake information of a line control system iBooster are obtained, and the brake information is used for indicating the automobile to brake.

when the functional safety requirement comprises the functional safety requirement of the unexpected gear control, detecting the gear information of the automobile in the remote control parking process;

when the gear of the automobile is changed under the condition that a gear shifting command is not received, at least one piece of braking information of ESP (electronic stability program) braking information and iBooster braking information of the automobile is obtained, and the braking information is used for indicating the automobile to brake.

when the functional safety requirement comprises a functional safety requirement that the vehicle steering function is lacked, detecting a running path of the automobile in the remote control parking process;

when the driving path of the automobile is different from the preset parking path, at least one piece of braking information of ESP (electronic stability program) and iBooster of the automobile is obtained, and the braking information is used for indicating the automobile to brake.

All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.

Fig. 3 is a flowchart of a remote parking control method for a vehicle according to an embodiment of the present application, and referring to fig. 3, the method includes the following steps.

Step 301: in the process of remote control parking, the automobile acquires the functional safety requirement of the automobile.

It should be noted that the functional safety requirement is a requirement for realizing safe parking of the automobile, and the functional safety requirement may be set in advance, for example, the functional safety requirement may include: at least one of a functional safety requirement for unexpected system exit, a functional safety requirement for obstacle detection function loss, a functional safety requirement for unexpected vehicle longitudinal acceleration, a functional safety requirement for vehicle speed limit function loss, a functional safety requirement for reverse gear control, a functional safety requirement for unexpected gear control, and a functional safety requirement for vehicle steering function loss, etc.

Since a safety problem may occur when a vehicle is remotely parked, it is necessary to set a functional safety requirement of the vehicle in advance in order to improve the safety of the remotely parked vehicle. In order to meet the functional safety requirements of the automobile, each module in the hardware system of the automobile can be optimally designed on the aspects of hardware design, software design and safety strategy so as to meet the preset functional safety requirements.

To facilitate understanding of the present application, the functional safety requirements in the present application are explained below.

Functional safety requirements for unexpected system logout

In the process of remotely controlling and parking the automobile, the RPA controller cannot be randomly withdrawn, the system is accidentally withdrawn due to non-human factors, and the automobile can be in a non-human control state, so that the automobile slips. When the automobile slides smoothly, if pedestrians pass by or children play in the vicinity of the automobile at the moment, collision can occur. Thus, the severity level of the unintended system exit function may be set to S2, i.e., at low speed in a frontal, rear, side impact, or collision with a stationary object with another car, pedestrian; setting an operation scene exposure level to E4, that is, occurring in a parking lot where people and cars are dense; the controllability level is set to C3, that is, the driver does not operate the vehicle on the vehicle and does not substantially participate in the control of the vehicle, so that the injury is difficult to avoid. Thus, the functional safety requirement that may place an unexpected system exit, combining the factors described above, is ASIL-C.

Functional safety requirement for obstacle detection loss of function

In the process of remotely parking the automobile, the camera and the ultrasonic radar in the automobile may not detect the obstacle on the parking path, so that the driver cannot be reminded of the obstacle. At the moment, the automobile can be continuously parked, and the automatic brake cannot be realized. If a pedestrian passes by or a child plays in the vicinity of the car, a collision accident may occur. Therefore, the severity level of the obstacle detection function loss may be set to S2, the operation scene exposure level to E4, and the controllability level to C3, so that the functional safety requirement of the obstacle detection function loss is set to ASIL-C in a comprehensive manner.

Functional safety requirements for unintended vehicle longitudinal acceleration

Since the vehicle is parked remotely, if the RPA controller suddenly experiences an unexpected longitudinal acceleration condition without receiving an acceleration command, the vehicle may accelerate forward or backward. If a pedestrian passes by or a child plays by the automobile at this time, the automobile may have a collision accident. Therefore, the severity level of the unintended vehicle longitudinal acceleration may be set to S2, the operation scene exposure level to E4, and the controllability level to C3, thereby comprehensively setting the functional safety requirement of the unintended vehicle longitudinal acceleration to ASIL-C.

Functional safety requirement for lack of vehicle speed limiting function

In the remote control parking process, the automobile generally needs to be driven at a speed less than a speed threshold, for example, at any parking speed between 0 km/h and 5km/h (kilometer/hour). When the parking speed is greater than a speed threshold, for example, greater than 5km/h, the risk of ESP braking, EPS steering, VCU failure in the vehicle increases. When pedestrians pass by or children play near the automobile or passengers get off the automobile in the parking process, the speed limiting function is invalid, and the automobile runs in an accelerated mode to cause great damage. Therefore, the severity level of the lack of the vehicle speed limit function may be set to S3, that is, at a medium or high speed, in the event of a frontal collision, a rear collision, a side collision with another automobile or pedestrian, or in the event of a collision with a stationary object; the operation scene exposure level may be set to E4, that is, a parking lot where people and cars are dense; the controllability level may be set to C3, that is, when the person is not operating the car on the car, the person is not substantially involved in the control of the car, so that the resulting injury is difficult to avoid. Therefore, combining the above factors, it is possible to set ASIL-D as the functional safety requirement in which the vehicle speed limit function is missing.

Functional safety requirements for reverse gear control

The automobile may need to be backed or moved forward during remote parking, but the TCU does not shift gears during the backing or moving forward, which causes the driving direction of the automobile to be opposite to the direction planned by the RPA controller, thereby causing the automobile to be out of control. If pedestrians pass by the automobile or children play in the vicinity of the automobile at the moment, the out-of-control of the automobile can cause great injury to people. Therefore, the severity level of reverse gear control can be set to S1, i.e., a side impact car or a front impact, a tailgate impact, or a collision with a narrow stationary object at very low speed; the operation scene exposure level may be set to E4, that is, a parking lot where people and cars are dense; the controllability level may be set to C3, i.e., when the person is not operating the vehicle and is not substantially involved in the vehicle control, so that the resulting injuries are difficult to avoid. Therefore, combining the above factors, it is possible to set the functional safety requirement for reverse gear control to ASIL-B.

Functional safety requirements for unintended gear control

In the process of remotely parking the automobile, when the gear of the automobile is abnormal, for example, an irregular gear phenomenon occurs, so that the automobile runs in any direction, and the automobile is in an out-of-control mode. If a pedestrian or a child is present near the automobile, the pedestrian or the child will be greatly injured. And the severity level, the exposure level and the controllability level of the unexpected gear control are basically consistent with those of the reverse gear control, so that the functional safety requirement of the unexpected gear control can be set to be ASIL-B.

Functional safety requirements for lack of vehicle steering function

When the steering function of the automobile is lost during the remote control parking process of the automobile, the automobile may not be parked, go forward and go backward according to the preset planning track. The existence of pedestrians or children near the automobile can cause great damage to the pedestrians and the children. Therefore, it is possible to set the severity level of the vehicle steering function as true to be S2, the operation scene exposure level to be E4, and the controllability level to be C3, thereby comprehensively setting the functional safety requirement for the unintended longitudinal acceleration of the vehicle to be ASIL-C.

Step 302: the automobile obtains control information of automobile parking according to functional safety requirements, wherein the control information comprises information for realizing at least one function of steering, gear changing, braking and early warning of the automobile.

Therefore, in order to achieve parking safety, the automobile can acquire control information of parking of the automobile according to the functional safety requirement.

Because one or more functional safety requirements may exist in the automobile, the acquired control information of the automobile is different according to the different functional safety requirements. The operation of acquiring the control information according to the functional safety requirement of the automobile can at least comprise the following seven conditions.

In the first situation, when the functional safety requirement comprises a functional safety requirement for unexpected system exit, whether the automobile receives an exit parking instruction sent by a terminal or not can be detected in the process of remotely parking the automobile; when the situation that the automobile does not receive the parking quitting instruction is detected, and the parking system of the automobile quits, at least one piece of braking information in the braking information of an electronic stability control program ESP and the braking information of an electromechanical servo power system iBooster of the automobile is obtained, and the braking information is used for indicating the automobile to brake.

When the functional safety requirement comprises a functional safety requirement of unexpected system exit, it indicates that a collision accident that occurs when the automobile accidentally exits the system due to non-human factors needs to be avoided in the parking process, so that the automobile needs to detect whether the automobile exits due to the non-human factors in the parking process. That is, it is detected whether the parking system of the automobile exits when the automobile does not receive the exit parking instruction sent by the terminal. Since the vehicle may slip when the parking system of the vehicle is exited without receiving the exit parking instruction, at least one of the braking information of the ESP and the braking information of the iBooster of the vehicle needs to be acquired in order to control the vehicle to brake.

As an example, the automobile may exit the parking system when detecting that the automobile is the parking system that exits when receiving the exit parking instruction sent by the terminal, and may control the automobile to exit the parking system, and brake after exiting the parking system and wait until obtaining other control instructions.

In the second situation, when the functional safety requirements comprise functional safety requirements of barrier detection function loss, the barrier detection conditions of an ultrasonic radar and a panoramic camera in the automobile can be determined in the remote control parking process of the automobile; when at least one of the ultrasonic radar and the panoramic camera is detected to be out of order or shielded, prompt information is obtained, and the prompt information is used for prompting that the obstacle cannot be detected.

When the functional safety requirements of the obstacle detection function are included, the functional safety requirements indicate that the ultrasonic radar and the panoramic camera of the automobile need to accurately detect the position of the obstacle and the distance between the automobile and the obstacle in the parking process. Therefore, the automobile needs to determine that the ultrasonic radar and the panoramic camera can detect the obstacle during the remote control parking process. When it is detected that at least one of the ultrasonic radar and the panoramic camera is in fault or is shielded, for example, when the ultrasonic radar or the panoramic camera is damaged, a foreign object exists on a lens of the panoramic camera and the like, the ultrasonic radar and the panoramic camera may fail to detect an obstacle, and if the obstacle cannot be detected, the remote control parking is continued, so that the automobile and the obstacle collide with each other, and therefore prompt information needs to be obtained to prompt a user who remotely controls the automobile to park to be unable to detect the obstacle.

In a third case, when the functional safety requirement comprises a functional safety requirement for unexpected vehicle longitudinal acceleration, the automobile can detect the parking speed of the automobile in the remote control parking process; when the parking speed of the automobile is accelerated under the condition that an acceleration instruction sent by a terminal is not received, the control information of a remote parking auxiliary equipment RPA controller in the automobile is obtained, and the control information of the RPA controller is used for controlling the gear, steering and braking functions of the automobile.

When the functional safety requirement comprises a functional safety requirement of unexpected vehicle longitudinal acceleration, the requirement that the parking speed of the automobile is accelerated or decelerated according to the instruction sent by the terminal in the remote control parking process is shown. Therefore, the automobile needs to detect whether the parking speed of the automobile is accelerated when the acceleration instruction sent by the terminal is not received in the remote control parking process. Since the acceleration condition occurs when the parking speed of the automobile is not received the acceleration command transmitted from the terminal, the automobile may cause a collision accident due to the occurrence of an unexpected longitudinal acceleration condition. Therefore, the vehicle may perform operations of shifting gears, changing the direction of travel, or braking, and in order to perform the operations of shifting gears, steering, and braking, the vehicle needs to acquire control information of the RPA controller.

As an example, when the acceleration condition occurs while the parking speed of the automobile receives the acceleration instruction transmitted from the terminal, the acceleration may be performed in accordance with the acceleration instruction.

In a fourth situation, when the functional safety requirement comprises a functional safety requirement with a missing vehicle speed limiting function, the parking speed of the vehicle can be detected in the remote control parking process of the vehicle; and when the parking speed is greater than the vehicle speed threshold value, acquiring the control information of an RPA controller in the vehicle, wherein the control information of the RPA controller is used for controlling the gear, steering and braking functions of the vehicle.

When the functional safety requirement comprises a functional safety requirement with a missing vehicle speed limiting function, the automobile is indicated to limit the parking speed in the remote control parking process. Therefore, the automobile needs to detect the parking speed of the automobile. When the parking speed of the automobile is larger than the speed threshold value, the risk caused by ESP braking, EPS steering and VCU failure in the automobile is increased, so that the automobile can perform gear shifting, traveling direction changing or braking operations in order to reduce the risk, and the automobile needs to acquire control information of an RPA controller in order to perform the gear shifting, steering and braking operations.

As one example, when the automobile detects that the parking speed is less than or equal to the speed threshold, parking is continued at the current parking speed and the parking path.

In the fifth situation, when the functional safety requirement comprises a functional safety requirement of reverse gear control, gear information of the automobile is obtained in the remote control parking process of the automobile; when the situation that the gear of the automobile is not shifted or the gear shifting is wrong after the gear shifting instruction is received is detected, gearbox information of an automatic gearbox control unit TCU of the automobile and at least one piece of braking information of an electric power steering system ESP and braking information of a line control system iBooster are obtained, and the braking information is used for indicating the automobile to brake.

When the functional safety requirements comprise the functional safety requirements of reverse gear control, the automobile is required to change gears timely and accurately in the remote control parking process. Therefore, the automobile needs to acquire gear information. When the gear of the automobile is not shifted or is shifted wrongly after receiving a gear shifting instruction sent by a terminal, the driving direction of the automobile is possibly opposite to the direction planned by the RPA controller, so that the automobile is out of control, and if pedestrians pass by or children play around the automobile at the moment, traffic accidents can be caused. In order to avoid a traffic accident, the vehicle must be braked or shifted again. Thus, the vehicle can acquire the transmission information of the TCU and at least one of the braking information of the ESP and the braking information of the iBooster, which are used to instruct the vehicle to brake.

It should be noted that the transmission information of the TCU indicates that the vehicle is shifting gears.

In a sixth situation, when the functional safety requirement comprises a functional safety requirement of unexpected gear control, detecting gear information of the automobile in a remote control parking process; when the gear of the automobile is changed under the condition that the gear shifting instruction is not received, at least one of braking information of ESP (electronic stability program) and braking information of iBooster of the automobile is obtained, and the braking information is used for indicating the automobile to brake.

When the functional safety requirements comprise functional safety requirements of unexpected gear control, which indicates that the gear of the automobile needs to be changed according to a terminal instruction instead of irregularly in the remote control parking process of the automobile, the automobile needs to acquire gear information. When the gear of the automobile is changed under the condition that the gear shifting instruction is not received, the gear of the automobile is abnormal, the automobile is possibly out of control, and the possibility of collision accidents is improved. At this time, in order to solve the problem of the out-of-control of the vehicle and reduce the occurrence of accidents, the vehicle needs to be braked, and therefore, the vehicle needs to acquire at least one of braking information of the ESP and braking information of the iBooster of the vehicle, which are used for instructing the vehicle to brake.

In a seventh situation, when the functional safety requirement includes a functional safety requirement that a vehicle steering function is lost, a driving path of the vehicle can be detected in a remote control parking process of the vehicle; when the driving path of the automobile is different from the preset parking path, at least one of braking information of an ESP (electronic stability program) and braking information of an iBooster of the automobile is obtained, and the braking information is used for indicating the automobile to brake.

When the functional safety requirements include functional safety requirements that a vehicle steering function is missing, it is indicated that the vehicle is required to travel according to a planned parking path in the remote control parking process of the vehicle, and therefore the travel path of the vehicle needs to be detected. When the driving path of the automobile is different from the preset parking path, the automobile steering function is possibly lost, the possibility of collision accidents of the automobile is increased, and the automobile needs to be braked in order to reduce the possibility of collision accidents. Therefore, the automobile needs to acquire braking information.

Step 303: the automobile controls the automobile according to the control information.

As can be seen from the above description, the control information obtained by the vehicle is different for different parking situations, for example, the control information may be transmission information, prompt information, braking information, and the like. The operation of controlling the vehicle is also different according to different control information.

As an example, when the vehicle acquires at least one of the braking information of the ESP and the braking information of the iBooster, the vehicle may be brake-controlled according to at least one of the braking information of the ESP and the braking information of the iBooster.

As an example, when the vehicle acquires the transmission information of the TCU, the gear shift may be resumed according to the transmission information so that the vehicle driving direction is the same as the direction planned by the RPA controller.

As an example, when the automobile obtains the prompt, the prompt may be displayed and/or played to prompt a user remotely controlling the automobile to park that the automobile cannot detect an obstacle.

As one example, when the vehicle acquires the RPA control information, the gear, steering, and braking aspects of the vehicle are controlled programmatically.

In the embodiment of the application, each function in the automobile can be provided with a function safety requirement, and the automobile can obtain control information corresponding to the function safety requirement in the remote control parking process and control the automobile according to the control information. When the automobile realizes any function, if the function has the function safety requirement, the automobile needs to meet the function safety requirement, so that the automobile not only realizes the functions of the automobile in the remote control parking process, but also the functions can meet the safety requirement, the safety of the automobile is guaranteed, and the safety of the remote control parking of the automobile is improved.

After explaining the remote parking control method for the automobile according to the embodiment of the present application, a remote parking control device for the automobile according to the embodiment of the present application will be described.

Fig. 4 is a schematic structural diagram of a remote parking control device of an automobile according to an embodiment of the present application, where the remote parking control device of the automobile may be implemented by software, hardware, or a combination of the two as part of or all of the automobile. Referring to fig. 1, the apparatus includes: a first acquisition module 401, a second acquisition module 402 and a control module 403.

A first obtaining module 401, configured to obtain a functional safety requirement of an automobile in a process of performing remote control parking, where the functional safety requirement is a requirement for achieving safe parking of the automobile, and the functional safety requirement includes: at least one of functional safety requirements for unexpected system exit, functional safety requirements for obstacle detection function loss, functional safety requirements for unexpected vehicle longitudinal acceleration, functional safety requirements for vehicle speed limit function loss, functional safety requirements for reverse gear control, functional safety requirements for unexpected gear control, and functional safety requirements for vehicle steering function loss;

a second obtaining module 402, configured to obtain control information of the automobile parking according to the functional safety requirement, where the control information includes information for implementing at least one function of steering, gear shifting, braking, and early warning of the automobile;

and a control module 403, configured to control the vehicle according to the control information.

In some embodiments, referring to fig. 5, the second obtaining module 402 comprises:

the first detection submodule 4021 is configured to detect whether the automobile receives a parking exit instruction sent by a terminal in a remote control parking process when the functional safety requirement includes a functional safety requirement for an unexpected system exit;

the first obtaining sub-module 4022 is configured to obtain at least one of braking information of an electronic stability control program ESP of the automobile and braking information of an electromechanical servo-assisted system iBooster when it is detected that the automobile does not receive the parking quitting instruction and a parking system of the automobile quits, where the braking information is used to instruct the automobile to brake.

In some embodiments, referring to fig. 6, the second obtaining module 402 comprises:

the determining submodule 4023 is configured to determine the obstacle detection conditions of the ultrasonic radar and the panoramic camera in the automobile in the remote control parking process when the functional safety requirements include the functional safety requirements that the obstacle detection function is missing;

the second obtaining sub-module 4024 is configured to obtain prompt information when it is detected that at least one of the ultrasonic radar and the panoramic camera has a fault or is blocked, where the prompt information is used to prompt that an obstacle cannot be detected.

In some embodiments, referring to fig. 7, the second obtaining module 402 includes:

the second detection sub-module 4025 is used for detecting the parking speed of the automobile in the remote control parking process when the functional safety requirement comprises a functional safety requirement of unexpected longitudinal acceleration of the automobile;

the third obtaining sub-module 4026 is configured to obtain control information of an RPA controller of a remote parking assist device in the automobile when the parking speed of the automobile is accelerated without receiving an acceleration instruction sent by a terminal, where the control information of the RPA controller is used to control a gear, a steering function, and a braking function of the automobile.

In some embodiments, referring to fig. 8, the second obtaining module 402 comprises:

the third detection submodule 4027 is configured to detect a parking speed of the automobile in a remote control parking process when the functional safety requirement includes a functional safety requirement that the vehicle speed limiting function is missing;

the fourth obtaining submodule 4028 is configured to obtain control information of an RPA controller in the automobile when the parking speed is greater than a vehicle speed threshold, where the control information of the RPA controller is used to control a gear, a steering function, and a braking function of the automobile.

In some embodiments, referring to fig. 9, the second obtaining module 402 includes:

a fifth obtaining sub-module 4029, configured to obtain gear information of the automobile during remote control parking when the functional safety requirement includes a functional safety requirement of the reverse gear control;

the sixth obtaining sub-module 40210 is configured to obtain gearbox information of an automatic gearbox control unit TCU of the automobile and at least one of brake information of an electric power steering system ESP and brake information of a line control system iBooster when it is detected that the gear of the automobile is not shifted or a shift error occurs after the gear shift instruction is received, where the brake information is used to instruct the automobile to brake.

In some embodiments, referring to fig. 10, the second obtaining module 402 comprises:

the fourth detection submodule 40211 is configured to detect gear information of the automobile in a remote control parking process when the functional safety requirement includes a functional safety requirement of the unexpected gear control;

the seventh obtaining sub-module 40212 is configured to obtain at least one of braking information of an ESP and braking information of an iBooster of the automobile when the gear of the automobile is changed without receiving a gear shift instruction, where the braking information is used to instruct the automobile to brake.

In some embodiments, referring to fig. 11, the second obtaining module 402 comprises:

a fifth detection submodule 40213, configured to detect a driving path of the automobile in a remote control parking process when the functional safety requirement includes a functional safety requirement that the vehicle steering function is missing;

the eighth obtaining sub-module 40214 is configured to obtain at least one of braking information of an ESP and braking information of an iBooster of the automobile when a driving path of the automobile is different from a preset parking path, where the braking information is used to instruct the automobile to brake.

It should be noted that: in the remote control parking control device for the automobile provided in the above embodiment, when controlling the automobile, only the division of the above function modules is exemplified, and in practical application, the above function distribution may be completed by different function modules according to needs, that is, the internal structure of the device is divided into different function modules, so as to complete all or part of the above described functions. In addition, the remote control parking control device for the automobile and the remote control parking control method embodiment of the automobile provided by the embodiment belong to the same concept, and specific implementation processes are detailed in the method embodiment and are not described again.

Fig. 12 is a block diagram of an automobile 1200 according to an embodiment of the present application.

Generally, the automobile 1200 includes: a processor 1201 and a memory 1202.

The processor 1201 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 1201 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1201 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1201 may be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing content that the display screen needs to display. In some embodiments, the processor 1201 may further include an AI (Artificial Intelligence) processor for processing a computing operation related to machine learning.

Memory 1202 may include one or more computer-readable storage media, which may be non-transitory. Memory 1202 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1202 is configured to store at least one instruction for execution by the processor 1201 to implement the method for remote parking control of a vehicle provided by the method embodiments of the present application.

In some embodiments, the automobile 1200 may further include: a peripheral interface 1203 and at least one peripheral. The processor 1201, memory 1202, and peripheral interface 1203 may be connected by a bus or signal line. Various peripheral devices may be connected to peripheral interface 1203 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1204, touch display 1205, camera 1206, audio circuitry 1207, pointing component 1208, and power source 1209.

The peripheral interface 1203 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 1201 and the memory 1202. In some embodiments, the processor 1201, memory 1202, and peripheral interface 1203 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1201, the memory 1202 and the peripheral device interface 1203 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 1204 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit 1204 communicates with a communication network and other communication devices by electromagnetic signals. The radio frequency circuit 1204 converts an electric signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electric signal. Optionally, the radio frequency circuit 1204 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuit 1204 may communicate with other terminals through at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 1204 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 1205 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1205 is a touch display screen, the display screen 1205 also has the ability to acquire touch signals on or over the surface of the display screen 1205. The touch signal may be input to the processor 1201 as a control signal for processing. At this point, the display 1205 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1205 may be one, providing the front panel of the automobile 1200; in other embodiments, the display 1205 may be at least two, respectively disposed on different surfaces of the vehicle 1200 or in a folded design; in still other embodiments, the display 1205 may be a flexible display disposed on a curved surface or on a folded surface of the automobile 1200. Even further, the display screen 1205 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display panel 1205 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or other materials.

Camera assembly 1206 is used to capture images or video. Optionally, the camera assembly 1206 includes any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to implement a background blurring function implemented by the fusion of the main camera and the depth-of-field camera, implement a panoramic shooting function and a VR (Virtual Reality) shooting function implemented by the fusion of the main camera and the wide-angle camera, or implement other fusion shooting functions. In some embodiments, camera assembly 1206 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuitry 1207 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals into the processor 1201 for processing or inputting the electric signals into the radio frequency circuit 1204 to achieve voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and located in different locations of the automobile 1200. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1201 or the radio frequency circuit 1204 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 1207 may also include a headphone jack.

The positioning component 1208 is used to locate the current geographic location of the automobile 1200 to implement navigation or LBS (location based Service). The positioning component 1208 can be a positioning component based on the GPS (global positioning System) in the united states, the beidou System in china, or the galileo System in russia.

The power supply 1209 is used to power the various components in the automobile 1200. The power source 1209 may be alternating current, direct current, disposable or rechargeable. When the power source 1209 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the automobile 1200 also includes one or more sensors 1210.

Those skilled in the art will appreciate that the configuration shown in FIG. 12 is not intended to be limiting of the vehicle 1200 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.

Fig. 13 is a block diagram of a terminal 1300 according to an embodiment of the present disclosure. The terminal 1300 may be a portable mobile terminal such as: smart phones, tablet computers, car keys, etc. Terminal 1300 may also be referred to by other names such as user equipment, portable terminal, etc.

In general, terminal 1300 includes: a processor 1301 and a memory 1302.

Processor 1301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 1301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also referred to as a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing content that the display screen needs to display. In some embodiments, processor 1301 may further include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.

Memory 1302 may include one or more computer-readable storage media, which may be non-transitory. The memory 1302 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1302 is used to store at least one instruction for execution by the processor 1301 to implement the method for remote parking control of a car provided by the method embodiments of the present application.

In some embodiments, when the terminal 1300 is a smart terminal such as a mobile phone, the terminal 1300 may further include: a peripheral interface 1303 and at least one peripheral. Processor 1301, memory 1302, and peripheral interface 1303 may be connected by a bus or signal line. Each peripheral device may be connected to the peripheral device interface 1303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1304, touch display 1305, camera 1306, audio circuitry 1307, positioning component 1308, and power supply 1309.

Peripheral interface 1303 may be used to connect at least one peripheral associated with I/O (Input/Output) to processor 1301 and memory 1302. In some embodiments, processor 1301, memory 1302, and peripheral interface 1303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1301, the memory 1302, and the peripheral device interface 1303 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 1304 is used to receive and transmit RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 1304 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 1304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 1304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 1304 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 1305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1305 is a touch display screen, the display screen 1305 also has the ability to capture touch signals on or over the surface of the display screen 1305. The touch signal may be input to the processor 1301 as a control signal for processing. At this point, the display 1305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, display 1305 may be one, providing the front panel of terminal 1300; in other embodiments, display 1305 may be at least two, either on different surfaces of terminal 1300 or in a folded design; in still other embodiments, display 1305 may be a flexible display disposed on a curved surface or on a folded surface of terminal 1300. Even further, the display 1305 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display 1305 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.

The camera assembly 1306 is used to capture images or video. Optionally, camera assembly 1306 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 1306 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuit 1307 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1301 for processing, or inputting the electric signals to the radio frequency circuit 1304 for realizing voice communication. For stereo capture or noise reduction purposes, multiple microphones may be provided, each at a different location of terminal 1300. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1301 or the radio frequency circuitry 1304 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 1307 may also include a headphone jack.

The positioning component 1308 is used for positioning the current geographic position of the terminal 1300 to implement navigation or LBS (location based Service). The positioning component 1308 can be a positioning component based on the GPS (global positioning System) of the united states, the beidou System of china, or the galileo System of russia.

Power supply 1309 is used to provide power to various components in terminal 1300. The power source 1309 may be alternating current, direct current, disposable or rechargeable. When the power source 1309 comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, terminal 1300 also includes one or more sensors 1310. The one or more sensors 1310 include, but are not limited to: acceleration sensor 1311, gyro sensor 1312, pressure sensor 1313, fingerprint sensor 1314, optical sensor 1315, and proximity sensor 1316.

The acceleration sensor 1311 can detect the magnitude of acceleration on three coordinate axes of the coordinate system established with the terminal 1300. For example, the acceleration sensor 1311 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 1301 may control the touch display screen 1305 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1311. The acceleration sensor 1311 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 1312 may detect the body direction and the rotation angle of the terminal 1300, and the gyro sensor 1312 may cooperate with the acceleration sensor 1311 to acquire a 3D motion of the user with respect to the terminal 1300. Processor 1301, based on the data collected by gyroscope sensor 1312, may perform the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

Pressure sensor 1313 may be disposed on a side bezel of terminal 1300 and/or underlying touch display 1305. When the pressure sensor 1313 is disposed on the side frame of the terminal 1300, a user's holding signal to the terminal 1300 may be detected, and the processor 1301 performs left-right hand recognition or shortcut operation according to the holding signal acquired by the pressure sensor 1313. When the pressure sensor 1313 is disposed at a lower layer of the touch display screen 1305, the processor 1301 controls an operability control on the UI interface according to a pressure operation of the user on the touch display screen 1305. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

The fingerprint sensor 1314 is used for collecting the fingerprint of the user, and the processor 1301 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 1314, or the fingerprint sensor 1314 identifies the identity of the user according to the collected fingerprint. When the identity of the user is identified as a trusted identity, the processor 1301 authorizes the user to perform relevant sensitive operations, including unlocking a screen, viewing encrypted information, downloading software, paying, changing settings, and the like. The fingerprint sensor 1314 may be disposed on the front, back, or side of the terminal 1300. When a physical button or vendor Logo is provided on the terminal 1300, the fingerprint sensor 1314 may be integrated with the physical button or vendor Logo.

The optical sensor 1315 is used to collect the ambient light intensity. In one embodiment, the processor 1301 can control the display brightness of the touch display screen 1305 according to the intensity of the ambient light collected by the optical sensor 1315. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 1305 is increased; when the ambient light intensity is low, the display brightness of the touch display 1305 is turned down. In another embodiment, the processor 1301 can also dynamically adjust the shooting parameters of the camera assembly 1306 according to the ambient light intensity collected by the optical sensor 1315.

Proximity sensor 1316, also known as a distance sensor, is typically disposed on a front panel of terminal 1300. Proximity sensor 1316 is used to gather the distance between the user and the front face of terminal 1300. In one embodiment, the processor 1301 controls the touch display 1305 to switch from the bright screen state to the dark screen state when the proximity sensor 1316 detects that the distance between the user and the front face of the terminal 1300 gradually decreases; the touch display 1305 is controlled by the processor 1301 to switch from the rest state to the bright state when the proximity sensor 1316 detects that the distance between the user and the front face of the terminal 1300 gradually becomes larger.

Those skilled in the art will appreciate that the configuration shown in fig. 13 is not intended to be limiting with respect to terminal 1300 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be employed.

In some embodiments, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the remote parking control method for a vehicle in the above-described embodiments. For example, the computer readable storage medium may be ROM, RAM, CD-ROM, DDR, FLASH, EEPROM, magnetic tape, floppy disk, optical data storage device, and the like.

It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the remote parking control method for a vehicle described above.

The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. a remote-controlled parking control method of automobile, is characterized in that, described method comprises:

In the process of remote parking, obtain the functional safety requirements of the car, the functional safety requirements are the requirements for realizing the safe parking of the car, and the functional safety requirements include: functional safety requirements for unexpected system exit, obstacles Functional safety requirements for lack of object detection function, functional safety requirements for unintended vehicle longitudinal acceleration, functional safety requirements for missing vehicle speed limiting functions, functional safety requirements for reverse gear control, functional safety requirements for unintended gear control, and vehicle steering at least one of the functional safety requirements for which the function is missing;

According to the functional safety requirements, obtain control information for parking the car, where the control information includes information for realizing at least one function of steering, gear shifting, braking and early warning of the car;

The vehicle is controlled according to the control information.

2 . The method according to claim 1 , wherein the acquiring control information of the vehicle parking according to the functional safety requirements comprises: 2 .

When the functional safety requirements include the functional safety requirements for unintended system exit, in the process of remote parking, detecting whether the car receives an exit parking instruction sent by the terminal;

When it is detected that the car's parking system exits under the condition that the car has not received the exit parking instruction, the braking information of the electronic stability control program ESP and the electromechanical servo power system of the car are obtained. At least one piece of braking information in the braking information of the iBooster, where the braking information is used to instruct the vehicle to brake.

3 . The method of claim 1 , wherein the acquiring control information of the car parking according to the functional safety requirements comprises: 3 .

When the functional safety requirements include the functional safety requirements that the obstacle detection function is missing, determine the obstacle detection situation of the ultrasonic radar and the panoramic camera in the car during the remote control parking process;

When it is detected that at least one of the ultrasonic radar and the panoramic camera is faulty or blocked, prompt information is obtained, where the prompt information is used to prompt that an obstacle cannot be detected.

4. The method according to claim 1, wherein the acquiring control information of the car parking according to the functional safety requirements comprises:

When the functional safety requirement includes a functional safety requirement for unintended longitudinal acceleration of the vehicle, detecting the parking speed of the vehicle during remote parking;

When the parking speed of the car accelerates without receiving the acceleration command sent by the terminal, obtain the control information of the RPA controller of the remote parking aid in the car, and the control information of the RPA controller For controlling the gear, steering and braking functions of the vehicle.

5 . The method of claim 1 , wherein the acquiring control information for parking the car according to the functional safety requirements comprises: 5 .

When the functional safety requirements include the functional safety requirements of the lack of the vehicle speed limit function, in the process of remote parking, detecting the parking speed of the vehicle;

When the parking speed is greater than the vehicle speed threshold, the control information of the RPA controller in the vehicle is acquired, and the control information of the RPA controller is used to control the gear position, steering and braking functions of the vehicle.

6 . The method of claim 1 , wherein the acquiring control information of the car parking according to the functional safety requirements comprises: 6 .

When the functional safety requirements include the functional safety requirements of the reverse gear control, during the remote control parking process, obtain the gear information of the vehicle;

When it is detected that the gear of the car has not been shifted after receiving the shift command or that the gear is shifted incorrectly, obtain the gearbox information of the automatic transmission control unit TCU of the car, and the electric power steering system ESP At least one of the braking information of the control-by-wire system and the braking information of the control-by-wire system iBooster, the braking information is used to instruct the vehicle to brake.

7 . The method of claim 1 , wherein the acquiring control information for parking the vehicle according to the functional safety requirements comprises: 8 .

When the functional safety requirements include the functional safety requirements of the unexpected gear control, during the remote control parking process, detect the gear information of the vehicle;

When the gear of the car is changed without receiving a gear shift instruction, at least one braking information of the braking information of the ESP of the car and the braking information of the iBooster is acquired, and the braking information is obtained. Braking information is used to instruct the car to brake.

8 . The method of claim 1 , wherein the acquiring control information for parking the vehicle according to the functional safety requirements comprises: 8 .

When the functional safety requirement includes the functional safety requirement that the steering function of the vehicle is missing, during the remote control parking process, the driving path of the vehicle is detected;

When the driving path of the car is not the same as the preset parking path, acquire at least one braking information among the braking information of the ESP of the car and the braking information of the iBooster, and the braking information is used to indicate The car is braked.

9. A remote control parking control device for an automobile, wherein the device comprises:

The first obtaining module is used to obtain the functional safety requirements of the car in the process of remote parking, the functional safety requirements are the requirements for realizing the safe parking of the car, and the functional safety requirements include: Functional safety requirements for exit, functional safety requirements for missing obstacle detection, functional safety requirements for unintended longitudinal vehicle acceleration, functional safety requirements for missing vehicle speed limiting functions, functional safety requirements for reverse gear control, unexpected gear control At least one of the functional safety requirements of the vehicle and the functional safety requirements of the lack of steering function of the vehicle;

a second acquisition module, configured to acquire control information for parking the car according to the functional safety requirements, where the control information includes information for realizing at least one of the functions of steering, gear shifting, braking and early warning of the car;

The control module is used for controlling the vehicle according to the control information.

10. A computer-readable storage medium, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-8 are implemented.