CN109878492A

CN109878492A - A kind of parking signal coordinates method and coordinates device

Info

Publication number: CN109878492A
Application number: CN201910276607.5A
Authority: CN
Inventors: 赵冠雄; 武晓华; 王华凯; 王志坚
Original assignee: Neolix Technologies Co Ltd
Current assignee: Neolithic Zhiqin (Shenmu) Technology Co.,Ltd.
Priority date: 2019-04-08
Filing date: 2019-04-08
Publication date: 2019-06-14
Anticipated expiration: 2039-04-08
Also published as: CN109878492B; WO2020207366A1

Abstract

The embodiment of the present application provides a kind of coordinating method and coordinating device for parking signal, receives at least two parking request signals；Based on the corresponding parking Request Priority of every kind of parking request signal, the first parking request signal is selected from at least two parkings request signal；Obtain the first driving mode of vehicle when every kind of parking request signal receives；When the first driving mode of the first parking request signal and the vehicle when receiving the first parking request signal matches, control that the vehicle executes parking instruction corresponding with the first parking request signal or corresponding releasing parking instructs.In this way, by being screened to the parking request signal received according to Request Priority, and it is matched with the driving mode of vehicle, vehicle can be assisted to carry out Coordination Treatment to parking signal, signal conflict odds in vehicle driving is reduced, the safety and reliability of vehicle is helped to improve.

Description

A kind of parking signal coordinates method and coordinates device

Technical field

This application involves Driving Skills field, coordinating method and coordinate dress more particularly, to a kind of parking signal It sets.

Background technique

With the continuous progress of science and technology, vehicle has more and more come into people's lives, becomes people's trip Necessity.Wherein, unmanned technology is increasingly taken seriously, and has been increasingly becoming the bellwether of next-generation driving technology.But Be to realize really it is unmanned, it is also necessary to very long road will be walked, and therefore, at present other than unmanned, also be collocated with Parallel drive manner, remote driving mode etc., do not have driver to control vehicle, do not drive in unmanned technology Room, also without steering wheel, brake pedal, the mechanical structures such as gas pedal, the driving intention of vehicle is usually by unmanned meter It calculates unit, parallel driving controller or vehicle remote control device and carries out decision.

For unmanned, if carrying out parking in the case where emergency or passenger need, generally Parking system all on vehicle according to real-time vehicle driving situation, around environmental factor and the vehicle that receives it is each What the parking signal that control system is sent was controlled.But for the parking system of unmanned control vehicle, due to vehicle Parking and release parking request signal source it is more, Yi Fasheng signal conflict causes parking system can not be timely and effectively Judged, the safety and reliability of vehicle is low.

Summary of the invention

In view of this, the application provides a kind of coordinating method and coordinating device for parking signal, vehicle can be assisted to staying Vehicle signal carries out Coordination Treatment, reduces due to signal conflict odds, helps to improve the safety and reliability of vehicle.

The embodiment of the present application provides a kind of method of coordinating of parking signal, and the method for coordinating is described applied to vehicle The method of coordinating includes:

Receive at least two parking request signals；

Based on the corresponding parking Request Priority of every kind of parking request signal, from at least two parkings request signal Select the first parking request signal, wherein the parking Request Priority of the first parking request signal is higher than described at least two The parking request that other parking request signals except the first parking request signal are removed in kind parking request signal is preferential Grade；

Obtain the driving mode of vehicle when every kind of parking request signal receives, the driving mode, which is included in, receives described the First driving mode of vehicle when one parking is requested；

When the first parking request signal drives mould with first of the vehicle when receiving the first parking request signal Formula matches, and controls the vehicle and executes parking instruction corresponding with the first parking request signal or corresponding releasing parking Instruction.

In some embodiments of the present application, in the driving mould for obtaining vehicle when every kind of parking request signal receives Formula, the driving mode include the side of coordinating when receiving first parking request after the first driving mode of vehicle Method further include:

When the first parking request signal and first driving mode mismatch, asked from least two parking It asks and selects the second parking request signal in signal, wherein the driving mode further includes when receiving second parking request Second driving mode of vehicle, the parking Request Priority of the second parking request signal, which is higher than at least two parking, asks Seek other parking request signals removed except the first parking request signal and the second parking request signal in signal Parking Request Priority or the second parking request signal be at least two parkings request signal in remove described in Unique parking request signal except first parking request signal；

It controls the vehicle and executes parking instruction corresponding with the second parking request signal or corresponding releasing parking Instruction.

When the first parking request signal and first driving mode mismatch, asked from least two parking Seek selection third parking request signal in signal, wherein the driving mode further includes when receiving third parking request The third driving mode of vehicle, the third parking request signal remove institute in at least two parkings request signal State the parking request to match in other parking request signals except the first parking request signal with the third driving mode Signal；

It controls the vehicle and executes parking instruction corresponding with the third parking request signal or corresponding releasing parking Instruction.

In the above-described embodiments, at least two parkings request signal includes:

Letter is requested in the parking of parking request signal, the sending of emergency brake of vehicle system that electric control hydraulic braking system is sent Number, remote emergency braking system send parking request signal, vehicle collision avoidance system send parking request signal, drive automatically Sail the parking request signal of control system transmission, the parking request signal that parallel Ride Control System is sent and remote driving control The two or more parking request signal in parking request signal that system processed is sent.

In the above-described embodiments, the parking Request Priority for the parking request signal that the electric control hydraulic braking system is sent It is stayed higher than what the emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system were sent respectively The parking Request Priority of any parking request signal in vehicle request signal；

The emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system are sent respectively Parking request signal parking Request Priority having the same；

The emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system are sent respectively Parking request signal in any parking request signal parking Request Priority be higher than the automatic driving control system, institute State parallel Ride Control System and parking request signal that the remote driving control system is sent respectively in any parking The parking Request Priority of request signal；

The automatic driving control system, the parallel Ride Control System and remote driving control system difference The parking request signal of transmission parking Request Priority having the same.

In some embodiments of the present application, the parking request selected from at least two parkings request signal is believed The parking that the corresponding vehicle control system of driving mode of vehicle issues when number to receive the parking request signal selected is asked Signal is sought, the driving mould of vehicle when determining the parking request signal selected and receive the parking request signal selected Formula matches；Or

Based on the corresponding parking Request Priority of every kind of parking request signal, from at least two parkings request signal The parking request signal selected is that the driving mode with vehicle when being higher than the reception parking request signal selected is corresponding Vehicle control system issue parking request signal parking Request Priority, with determine the parking request signal selected Match with the driving mode of vehicle when receiving the parking request signal selected.

In some embodiments of the present application, described when the first parking request signal and reception first parking When the first driving mode of vehicle matches when request, controls the vehicle and execute and the first parking request signal request pair It is described to coordinate method after the parking instruction or corresponding releasing parking instruction answered further include:

When receiving at least one parking request signal again, maintain to ask with first parking controlling the vehicle After the time for seeking the corresponding vehicle-state preset duration of signal, controls the vehicle and execute and at least one parking request signal pair The parking instruction or corresponding releasing parking instruction answered；Or

When having the 4th parking request signal of continuation requests in at least two parkings request signal, described in control After vehicle maintains the time of vehicle-state preset duration corresponding with the first parking request signal, controls the vehicle and execute Parking instruction corresponding with the 4th parking request signal or corresponding releasing parking instruction.

The embodiment of the present application also provides a kind of device of coordinating of parking signal, and the device of coordinating is described applied to vehicle Coordinating device includes:

Receiving module is configurable for receiving at least two parking request signals；

First choice module is configurable for being based on the corresponding parking Request Priority of every kind of parking request signal, from The first parking request signal is selected in at least two parkings request signal, wherein the first parking request signal is stayed Vehicle Request Priority, which is higher than in at least two parkings request signal, removes other except the first parking request signal The parking Request Priority of parking request signal；

Module is obtained, is configurable for obtaining the driving mode of vehicle when receiving every kind of parking request signal, it is described to drive The mode of sailing includes the first driving mode of the vehicle when receiving first parking request；

First control module is configurable for asking when the first parking request signal in reception first parking The first driving mode of vehicle matches when seeking signal, controls the vehicle and executes and the first parking request signal request pair The parking instruction or corresponding releasing parking instruction answered.

It is described to coordinate device in some embodiments of the present application further include:

Second selecting module, be configurable for when the first parking request signal and first driving mode not Timing selects the second parking request signal from at least two parkings request signal, wherein the driving mode further includes The parking request of the second driving mode of vehicle when receiving second parking request, the second parking request signal is preferential Grade is higher than in at least two parkings request signal except the first parking request signal and the second parking request signal Except other parking request signals parking Request Priority or the second parking request signal be described at least two Unique parking request signal except the first parking request signal is removed in parking request signal；

Second control module is configurable for controlling the vehicle execution and the second parking request signal request pair The parking instruction or corresponding releasing parking instruction answered.

Third selecting module is used for when the first parking request signal and first driving mode mismatch, from Third parking request signal is selected in at least two parkings request signal, wherein the driving mode further includes receiving The third driving mode of vehicle when the third parking is requested, the third parking request signal are stayed selected from described at least two Other parking request signals except the first parking request signal are removed in vehicle request signal and drive mould with the third The parking request signal that formula matches；

Third control module executes parking instruction corresponding with the third parking request signal for controlling the vehicle Or corresponding releasing parking instruction.

The emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system are sent respectively Parking request signal in any parking request signal parking Request Priority be above the automatic driving control system, Any in the parking request signal that the parallel Ride Control System and the remote driving control system are sent respectively stays The parking Request Priority of vehicle request signal；

The automatic driving control system, the parallel Ride Control System and remote driving control system difference The parking request signal of transmission has identical parking Request Priority.

In some embodiments of the present application, the device of coordinating further includes the 4th control module, the 4th control mould Block is configured for:

The embodiment of the present application also provides a kind of electronic equipment, and the electronic equipment includes: processor, memory and bus, The memory is stored with the executable machine readable instructions of the processor, when electronic equipment operation, the processor with By the bus communication between the memory, execute when the machine readable instructions are executed by the processor as above-mentioned The step of coordinating method of parking signal.

The embodiment of the present application also provides a kind of computer readable storage medium, stores on the computer readable storage medium There is computer program, the step for coordinating method such as above-mentioned parking signal is executed when the computer program is run by processor Suddenly.

Parking signal provided by the embodiments of the present application coordinates method and coordinates device, receives at least two parkings request letter Number；Based on the corresponding parking Request Priority of every kind of parking request signal, selected from at least two parkings request signal First parking request signal, wherein the parking Request Priority of the first parking request signal is higher than described at least two and stays The parking Request Priority of other parking request signals except the first parking request signal is removed in vehicle request signal；It obtains The driving mode of vehicle when every kind of parking request signal being taken to receive, the driving mode, which is included in, receives the first parking request When vehicle the first driving mode；When the first parking request signal and the vehicle when receiving the first parking request signal The first driving mode match, control the vehicle and execute parking corresponding with the first parking request signal and instruct or right The releasing parking instruction answered.In this way, by being screened to the parking request signal received according to Request Priority, Yi Jiyu The driving mode of vehicle is matched, and vehicle can be assisted to carry out Coordination Treatment to parking signal, reduces signal in vehicle driving Conflict odds, helps to improve the safety and reliability of vehicle.

Detailed description of the invention

Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.

Fig. 1 is the system architecture diagram under a kind of possible application scenarios；

Fig. 2 is the flow chart for coordinating method for the parking signal that one embodiment of the application provides；

Fig. 3 is the structural schematic diagram of the whole-control system of vehicle shown in Fig. 1；

Fig. 4 is the flow chart for coordinating method for the parking signal that another embodiment of the application provides；

Fig. 5 is one of the structure chart for coordinating device for the parking signal that one embodiment of the application provides；

Fig. 6 is the two of the structure chart for coordinating device for the parking signal that one embodiment of the application provides；

Fig. 7 is the three of the structure chart for coordinating device for the parking signal that one embodiment of the application provides；

Fig. 8 is the structure chart for the electronic equipment that one embodiment of the application provides.

Specific embodiment

To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work There are other embodiments, shall fall in the protection scope of this application.

Firstly, the application application scenarios applicatory are introduced.This application can be applied in vehicle driving system, Vehicle can be assisted to coordinate various parking request signals, to reduce signal conflict odds in vehicle driving, Help to improve the safety and reliability of vehicle.Referring to Fig. 1, Fig. 1 is the system architecture under a kind of possible application scenarios Figure.As shown in fig. 1, device and vehicle are coordinated the system comprises parking signal, the device of coordinating can be mounted to On vehicle, can such as it be mounted in the middle control platform of vehicle, and can be and be installed in vehicle in a manner of Embedded In control system, and it can be communicated to connect with the whole-control system of vehicle and various supplementary controlled systems, it is described to coordinate device It can communicate to connect, and after the parking request signal that whole-control system receives, assist with the whole-control system of vehicle Whole-control system screens the parking request signal received according to Request Priority, and the driving mode with vehicle It is matched, vehicle can be assisted to carry out Coordination Treatment to parking request signal, reduce what signal conflict in vehicle driving occurred Probability helps to improve the safety and reliability of vehicle.It is to coordinate device directly and whole-control system in above-mentioned example Connection, and the parking request signal received is obtained by whole-control system and carries out the coordination such as screening, however, it is not limited to this, In other examples, it coordinates device and can also be and connect by background servers such as application servers with whole-control system, and After Full Vehicle System receives parking request signal, coordinating device can be received by background server to obtain Full Vehicle System Parking request signal, and Full Vehicle System is assisted to coordinate parking solicited message.

It has been investigated that for unmanned, if in the case where emergency or passenger are needed into Row parking, generally by the parking system on vehicle according to real-time vehicle driving situation, the environmental factor and reception of surrounding To the parking signal that sends of each control system of vehicle controlled.But the parking for unmanned control vehicle System, due to vehicle parking and release parking request signal source it is more, Yi Fasheng signal conflict, cause parking system without Method is timely and effectively judged that the safety and reliability of vehicle is low.

Based on this, the embodiment of the present application provides a kind of coordinating method and coordinating device for parking signal, can assist vehicle Coordination Treatment is carried out to parking signal, signal conflict odds in vehicle driving is reduced, helps to improve the safety of vehicle Property and reliability.

Please refer to Fig. 2, Fig. 2 is the flow chart for coordinating method for the parking signal that one embodiment of the application provides.Institute The method of coordinating is stated applied in vehicle, as shown in Figure 2, parking signal provided by the embodiments of the present application coordinates method, comprising:

Step 201 receives at least two parking request signals.

In the application, it can be directed to automatic driving vehicle, vehicle operation control system is set in the car, as shown in Figure 3, Fig. 3 is the structural schematic diagram of the whole-control system of vehicle shown in Fig. 1, and the whole-control system of vehicle includes full-vehicle control Device, and the electric control hydraulic braking system, the emergency brake of vehicle system, remote emergency system that are connect respectively with the entire car controller Dynamic system, the transmission of vehicle collision avoidance system, automatic driving control system, parallel Ride Control System and remote driving control system System, and above-mentioned each system can be communicated by CAN bus with entire car controller, such as pass through a CAN bus with it is whole Vehicle controller is communicated, or is communicated by two CAN bus even a plurality of CAN bus with entire car controller system, is used The driving mode of vehicle when obtaining every kind of parking request signal and receiving.In addition, it can include connect with entire car controller The function systems such as battery control system, electric machine controller and electronic parking control system.Entire car controller can receive to be driven automatically The parking request signal of above-mentioned each system such as control system, parallel Ride Control System and remote driving control system is sailed, And power-on and power-off, vehicle control state, energy according to corresponding parking request signal, by network-bus CAN or rigid line to vehicle The functions such as buret reason, braking, parking, driving, driving, light management are controlled, and are obtained by parking instruction selection, driving mode It takes and the determining instant and continuous operation that matches, effectively control vehicle goes to execute parking corresponding with the parking request signal Instruction or corresponding releasing parking instruction.

In this application, device is coordinated for what is coordinated to parking signal, can be and is connect with entire car controller, and After entire car controller receives parking request signal, parking request signal is got from entire car controller, to assist vehicle Control system is handled and is coordinated to parking request signal, and processing result and coordination result are fed back to entire car controller, It is also possible to directly connect with above-mentioned each system by CAN bus, the reception parking request signal directly from each system, and After the processing of each parking solicited message, result is fed back into entire car controller.The application implement in, for ease of description, only with It coordinates for device is directly handled from reception parking request signal in each system and is illustrated.

Wherein, at least two parking request signals are received, the device of coordinating is can be and receives institute in synchronization At least two parking request signals are stated, are also possible within certain period, at least two parkings request signal is received.

In some embodiments of the present application, at least two parkings request signal includes:

For receiving various parking request signals, the signal of instantaneity can be, that is, just terminate after requesting, it can also be with It is the signal for there are continuation requests, i.e., when request signal is not responded, can persistently makes requests.

Step 202 is based on the corresponding parking Request Priority of every kind of parking request signal, asks from least two parking It asks and selects the first parking request signal in signal, wherein the parking Request Priority of the first parking request signal is higher than institute State the parking that other parking request signals except the first parking request signal are removed at least two parking request signals Request Priority.

In the step, coordinated after device receives at least two parkings request signal described, it is described to coordinate dress Information extraction can be carried out to every kind of parking request signal by setting, and be asked to extract the parking carried in every kind of parking request signal Information is sought, the device of coordinating can determine every kind of parking request letter from the parking solicited message of every kind of parking request signal Number corresponding parking Request Priority, it is then described to coordinate device and be asked according to the corresponding parking of every kind of parking request signal Priority is sought, to select the first parking request signal from at least two parkings request signal.

Wherein, the parking Request Priority of the first parking request signal is higher than at least two parkings request signal The middle parking Request Priority for removing other parking request signals except the first parking request signal.

Wherein, for the parking request signal that each control system is sent, the parking that different control systems are sent is requested The parking Request Priority of signal is different, specifically, the parking for the parking request signal that the electric control hydraulic braking system is sent Request Priority is higher than the emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system point The parking Request Priority of any parking request signal in the parking request signal not sent.

The emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system are sent respectively Parking request signal parking Request Priority having the same.

The emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system are sent respectively Parking request signal in any parking request signal parking Request Priority be above the automatic driving control system, Any in the parking request signal that the parallel Ride Control System and the remote driving control system are sent respectively stays The parking Request Priority of vehicle request signal.

The automatic driving control system, the parallel Ride Control System and remote driving control system difference The parking request signal of transmission parking Request Priority having the same is identical.

Step 203, the driving mode for obtaining vehicle when every kind of parking request signal receives.

In the step, the device of coordinating can carry out real-time monitoring to the driving mode of vehicle, may thereby determine that institute The driving mode for coordinating device vehicle when receiving at least two parkings request signal is stated, to receive every kind to get The driving mode of vehicle when parking request signal.

Wherein, the driving mode of vehicle can refer to that vehicle is in pilot steering mode, unmanned mode, drives in parallel Sail mode, remote driving mode etc..

Wherein, the driving mode includes the first driving mode of the vehicle when receiving first parking request.

Wherein, when obtaining the driving mode of vehicle, a kind of situation is when receiving at least two parkings request signal, The driving mode of vehicle is consistent, and is not changed, and there are also a kind of situations, due to receiving at least two parkings request letter Number when, can exist receive homologous ray send parking request signal when there are the time difference, lead to the vehicle within this time difference Driving mode may change, i.e., when can have the parking request signal of receiving portion, vehicle is in a kind of driving mould Formula, and when continuing to another part parking request signal, vehicle is in another middle driving mode, it is thus necessary to determine that connecing The driving mode of vehicle when receiving every kind of parking request signal.

Step 204, when the first parking request signal with when receiving first parking request vehicle first drive The mode of sailing matches, and controls the vehicle and executes parking instruction corresponding with the first parking request signal or corresponding solution Except parking instructs.

In the step, it is described coordinate device selected according to the parking Request Priority of every kind of parking request signal it is described First parking request signal, and get the vehicle when receiving the first parking request signal the first driving mode it Afterwards, the device of coordinating can match the first parking request signal with first driving mode, be sentenced with this It is disconnected whether to need to carry out parking control according to the first parking request signal or carry out releasing parking control, it is described to coordinate dress It sets if judging that the first parking request signal and first driving mode match, it is described to coordinate device Think that the first parking request signal is the useful signal that can be executed, next, the vehicle can be controlled according to institute The first parking request signal is stated, is instructed to execute with parking corresponding to the first parking request signal, or execution and institute The instruction of releasing parking corresponding to the first parking request signal is stated, and then controls the vehicle and carries out parking or release to stay Vehicle.

In the embodiment of the present application, whether match with first driving mode for the first parking request signal Decision process, and whether other parking request signals for receiving drive with vehicle when receiving the parking request signal The process that the mode of sailing matches, i.e., determine the parking request signal selected from at least two parkings request signal with During the driving mode of vehicle matches when receiving the parking request signal, it can be and requested from least two parking The parking request signal selected in signal is that the driving mode of vehicle when receiving the parking request signal selected is corresponding The parking request signal that vehicle control system issues, to determine the parking request signal selected and reception the staying of selecting The driving mode of vehicle matches when vehicle request signal.

Alternatively, can be based on the corresponding parking Request Priority of every kind of parking request signal, stayed from described at least two The parking request signal selected in vehicle request signal is with vehicle when being higher than the reception parking request signal selected The parking Request Priority for the parking request signal that the corresponding vehicle control system of driving mode issues, to determine what this was selected Parking request signal and the driving mode of vehicle when receiving the parking request signal selected match.

Correspondingly, if the first parking request signal is the corresponding vehicle control system hair of first driving mode Parking request signal out can then determine that the first parking request signal matches with first driving mode.

Alternatively, the corresponding parking Request Priority of every kind of parking request signal is based on, if first parking request letter Number for be higher than receive the first parking request signal when vehicle the first driving mode corresponding vehicle control system hair The parking Request Priority of parking request signal out can then determine that the first parking request signal and described first drives Mode matches.

Wherein, the corresponding vehicle control system of the driving mode of vehicle can be the finger control vehicle and drive in certain Control system when mode is sailed, such as vehicle is in automatic driving mode, controls the control that vehicle is in automatic driving mode at this time System processed is automatic driving control system, and automatic driving control system can issue parking request signal；It can also refer to institute When stating vehicle and being in certain driving mode, the control system that can be used in this driving mode, such as no matter in automatic Pilot mould In formula or remote driving mode, the sendings such as electric control hydraulic braking system, emergency brake of vehicle system for can be used are stayed Vehicle request signal.

Parking signal provided by the embodiments of the present application coordinates method, by receiving at least two parking request signals；Base In the corresponding parking Request Priority of every kind of parking request signal, first is selected to stay from at least two parkings request signal Vehicle request signal, wherein the parking Request Priority of the first parking request signal is requested higher than at least two parking The parking Request Priority of other parking request signals except the first parking request signal is removed in signal；Obtain every kind The driving mode of vehicle when parking request signal receives, the driving mode are included in vehicle when receiving first parking request The first driving mode；When the first parking request signal and first of the vehicle when receiving the first parking request signal Driving mode matches, and controls the vehicle and executes parking instruction corresponding with the first parking request signal or corresponding solution Except parking instructs.

In this way, by being screened to the parking request signal received according to Request Priority, and drive with vehicle The mode of sailing is matched, and vehicle can be assisted to carry out Coordination Treatment to parking signal, is reduced signal conflict in vehicle driving and is occurred Probability, help to improve the safety and reliability of vehicle.

Please refer to Fig. 4, Fig. 4 is the flow chart for coordinating method for the parking signal that another embodiment of the application provides. The method of coordinating is applied in vehicle, and as shown in Figure 4, parking signal provided by the embodiments of the present application coordinates method, packet It includes:

Step 401 receives at least two parking request signals.

Step 402 is based on the corresponding parking Request Priority of every kind of parking request signal, asks from least two parking It asks and selects the first parking request signal in signal, wherein the parking Request Priority of the first parking request signal is higher than institute State the parking that other parking request signals except the first parking request signal are removed at least two parking request signals Request Priority.

Step 403, the driving mode for obtaining vehicle when every kind of parking request signal receives, the driving mode, which is included in, to be connect First driving mode of vehicle when receiving first parking request.

Step 404, when the first parking request signal and the of the vehicle when receiving the first parking request signal One driving mode matches, and controls the vehicle and executes parking instruction or corresponding corresponding with the first parking request signal Release parking instruction.

Wherein, wherein the description of step 401 to step 404 is referred to the description of step 201 to step 204, and can be with Reach identical technical effect, this is repeated no more.

Step 405, when the first parking request signal and first driving mode mismatch, from described at least two The second parking request signal is selected in kind parking request signal.

In the step, the device of coordinating is to the first parking request signal and first driving mode progress Match, if judging that the first parking request signal and first driving mode mismatch, the device of coordinating can be right The parking request signal received is further screened, to select second to stay from at least two parkings request signal Vehicle request signal.

Wherein, the driving mode further includes the second driving mode of the vehicle when receiving second parking request, institute The parking Request Priority for stating the second parking request signal, which is higher than in at least two parkings request signal, removes described first The parking Request Priority of other parking request signals except parking request signal and the second parking request signal, or The second parking request signal is to remove except the first parking request signal in at least two parkings request signal Unique parking request signal.

Wherein, the driving mode can also include the second driving mould of the vehicle when receiving second parking request Formula, so that after selecting the second parking request signal, the device of coordinating can further be asked second parking Ask signal to be matched with second driving mode, with this to determine whether need according to the second parking request signal into Row parking controls or carries out to release parking control.

In some embodiments, first driving mode and second driving mode can be same driving mode, It may be different driving modes.

Step 406, the control vehicle execute parking instruction or corresponding corresponding with the second parking request signal Releasing parking instruction.

In the step, for the device of coordinating after selecting the second parking request signal, the device of coordinating can To control the vehicle according to the second parking request signal, stayed to execute with corresponding to the second parking request signal Perhaps corresponding releasing parking instructs and then controls the vehicle progress parking or carries out releasing parking for vehicle instruction.

Further, the device of coordinating, can also be to described second after selecting the second parking request signal Parking request signal carries out matching treatment, goes out vehicle request signal to detect the second parking request signal and receive described second When vehicle the second driving mode whether match, if matching, that is, the vehicle can control to execute and second parking The corresponding parking instruction of request signal or corresponding releasing parking instruction.

In some embodiments of the present application, after step 403, the method for coordinating includes:

When the first parking request signal and first driving mode mismatch, asked from least two parking Seek selection third parking request signal in signal；It controls the vehicle and executes parking corresponding with the third parking request signal Instruction or corresponding releasing parking instruction.

In the step, the device of coordinating is to the first parking request signal and first driving mode progress Match, if judging that the first parking request signal and first driving mode mismatch, the device of coordinating can be right The parking request signal received is further screened, to select third to stay from at least two parkings request signal Then vehicle request signal controls the vehicle according to the third parking request signal, requests to execute with the third parking Perhaps corresponding releasing parking instructs and then controls the vehicle progress parking or solved the instruction of parking corresponding to signal Except parking.

Wherein, the driving mode further includes the third driving mode of the vehicle when receiving third parking request, institute State third parking request signal removed in at least two parkings request signal the first parking request signal it The parking request signal to match in other outer parking request signals with the third driving mode.

In some embodiments, first driving mode and the third driving mode can be same driving mode, It may be different driving modes.

In some embodiments of the present application, after step 404, the method for coordinating includes:

When receiving at least one parking request signal again, maintain to ask with first parking controlling the vehicle After the time for seeking the corresponding vehicle-state preset duration of signal, controls the vehicle and execute and at least one parking request signal pair The parking instruction or corresponding releasing parking instruction answered.

In the step, when it is described coordinate device and control the vehicle and execute the first parking request signal after, the tune Assist device once more when receiving at least one parking request signal, it is described coordinate device and can be controlling the vehicle After the time for maintaining corresponding with the first parking request signal vehicle-state preset duration, controls the vehicle and execute and extremely A kind of few corresponding parking instruction of parking request signal or corresponding releasing parking instruction.

For example, due to the instruction of remote controler only have parking and release parking two states, in order to avoid generate due to Signal interfere with each other cause vehicle can not parking or the case where parking can not be released, for example, if the urgent system on vehicle at this time Dynamic button is pressed, and requests parking, and after vehicle parking, remote controler request releases parking, and vehicle can execute releasing parking After movement, the parking request of scram button is responded again, leads to not release parking, it is this just to will appear signal conflict, in order to This phenomenon is avoided only to send the parking of a period of time to control system when the parking or releasing parking of the every secondary response of vehicle are requested Or solution parking request, i.e., only control vehicle maintains vehicle-state corresponding with the first parking request signal for a period of time, so After switch to attonity request, after the request signal for only detecting jump again, retransmit corresponding parking or release parking and ask Instruction is asked, that is, can avoid the signal conflict of such situation.

This way it is possible to avoid vehicle leads to vehicle confusion due to the reciprocal variation of signal or the signal conflict of front and back Situation.

Alternatively, after step 404, the method for coordinating includes: in some embodiments of the present application

In the step, when it is described coordinate device and control the vehicle and execute the first parking request signal after, if institute The 4th parking request signal for there are continuation requests at least two parking request signals is stated, in order to avoid described in vehicle at once execution The instruction of 4th parking request signal, leads to signal conflict, it is described coordinate device and can control the vehicle maintain and described the After the time of the corresponding vehicle-state preset duration of one parking request signal, then controls the vehicle and execute and the 4th parking The corresponding parking instruction of request signal or corresponding releasing parking instruction.

Parking signal provided by the embodiments of the present application coordinates method, by receiving at least two parking request signals；Base In the corresponding parking Request Priority of every kind of parking request signal, first is selected to stay from at least two parkings request signal Vehicle request signal, wherein the parking Request Priority of the first parking request signal is requested higher than at least two parking The parking Request Priority of other parking request signals except the first parking request signal is removed in signal；Obtain every kind The driving mode of vehicle when parking request signal receives, the driving mode are included in vehicle when receiving first parking request The first driving mode；When the first parking request signal and first of the vehicle when receiving the first parking request signal Driving mode matches, and controls the vehicle and executes parking instruction corresponding with the first parking request signal or corresponding solution Except parking instructs；When the first parking request signal and first driving mode mismatch, stayed from described at least two The second parking request signal is selected in vehicle request signal, wherein the driving mode further includes asking in reception second parking Second driving mode of vehicle when asking, the parking Request Priority of the second parking request signal are higher than described at least two and stay Other parkings except the first parking request signal and the second parking request signal are removed in vehicle request signal to request The parking Request Priority of signal or the second parking request signal are to remove in at least two parkings request signal Unique parking request signal except the first parking request signal；The vehicle is controlled to execute and second parking request The corresponding parking instruction of signal or corresponding releasing parking instruction.

In this way, by being screened to the parking request signal received according to Request Priority, and drive with vehicle The mode of sailing is matched, and when the parking request signal preferentially filtered out is undesirable, can continue signal Match, until matching the request signal that can be executed, vehicle can be assisted to carry out Coordination Treatment to parking signal, reduce vehicle driving Middle signal conflict odds, helps to improve the safety and reliability of vehicle.

Referring to Fig. 5, Fig. 5 is one of the structure chart for coordinating device for the parking signal that one embodiment of the application provides, Fig. 6 Two, Fig. 7 of the structure chart for coordinating device of the parking signal provided for one embodiment of the application provides for one embodiment of the application Parking signal the structure chart for coordinating device three.Device 500 provided by the embodiments of the present application of coordinating is applied in vehicle.Such as Shown in Fig. 5, the device 500 of coordinating includes:

Receiving module 510 is configurable for receiving at least two parking request signals.

First choice module 520 is configurable for based on the corresponding parking Request Priority of every kind of parking request signal, The first parking request signal is selected from at least two parkings request signal, wherein the first parking request signal Parking Request Priority, which is higher than in at least two parkings request signal, removes its except the first parking request signal The parking Request Priority of his parking request signal.

Module 530 is obtained, is configurable for obtaining the driving mode of vehicle when receiving every kind of parking request signal, it is described Driving mode includes the first driving mode of the vehicle when receiving first parking request.

First control module 540 is configurable for staying when the first parking request signal in reception described first The first driving mode of vehicle matches when vehicle request signal, controls the vehicle execution and asks with the first parking request signal Ask corresponding parking instruction or corresponding releasing parking instruction.

In some embodiments of the present application, as shown in Figure 6, the device 500 of coordinating includes:

Second selecting module 550 is configurable for when the first parking request signal and first driving mode When mismatch, the second parking request signal is selected from at least two parkings request signal, wherein the driving mode is also The second driving mode including the vehicle when receiving second parking request, the parking request of the second parking request signal Priority is higher than in at least two parkings request signal except the first parking request signal and second parking are requested The parking Request Priority of other parking request signals except signal or the second parking request signal be it is described at least Unique parking request signal except the first parking request signal is removed in two kinds of parking request signals.

Second control module 560 is configurable for controlling the vehicle execution and asks with the second parking request signal Ask corresponding parking instruction or corresponding releasing parking instruction.

Third selecting module 570 is used for when the first parking request signal and first driving mode mismatch, Third parking request signal is selected from at least two parkings request signal, wherein the driving mode further includes connecing The third driving mode of vehicle, the third parking request signal are selected from described at least two when receiving third parking request Other parking request signals except the first parking request signal are removed in parking request signal and are driven with the third The parking request signal that mode matches.

Third control module 580 executes parking corresponding with the third parking request signal for controlling the vehicle Instruction or corresponding releasing parking instruction.

In the above-described embodiments, the parking Request Priority for the parking request signal that the electric control hydraulic braking system is sent It is stayed higher than what the emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system were sent respectively The parking Request Priority of any parking request signal in vehicle request signal.

In some embodiments of the present application, as shown in Figure 7, the device 500 of coordinating further includes the 4th control module 590, the 4th control module 590 is used for:

When receiving at least one parking request signal again, maintain to ask with first parking controlling the vehicle After the time for seeking the corresponding vehicle-state preset duration of signal, controls the vehicle and execute and at least one parking request signal pair The parking instruction or corresponding releasing parking instruction answered；

Alternatively, being controlled when having the 4th parking request signal of continuation requests in at least two parkings request signal After making the time that the vehicle maintains vehicle-state preset duration corresponding with the first parking request signal, the vehicle is controlled It executes corresponding with the 4th parking request signal parking instruction or corresponding releasing parking instructs.

Device 500 can be realized parking signal shown in Fig. 2 and Fig. 4 to coordinating in the present embodiment coordinates method method The step of, and identical technical effect can be reached, details are not described herein.

Parking signal provided by the embodiments of the present application coordinates device, by receiving at least two parking request signals；Base In the corresponding parking Request Priority of every kind of parking request signal, first is selected to stay from at least two parkings request signal Vehicle request signal, wherein the parking Request Priority of the first parking request signal is requested higher than at least two parking The parking Request Priority of other parking request signals except the first parking request signal is removed in signal；Obtain every kind The driving mode of vehicle when parking request signal receives, the driving mode are included in vehicle when receiving first parking request The first driving mode；When the first parking request signal and first of the vehicle when receiving the first parking request signal Driving mode matches, and controls the vehicle and executes parking instruction corresponding with the first parking request signal or corresponding solution Except parking instructs.

Referring to Fig. 8, Fig. 8 is the structure chart for the electronic equipment that one embodiment of the application provides.As shown in Figure 8, described Electronic equipment 800 includes processor 810, memory 820 and bus 830.

The memory 820 is stored with the executable machine readable instructions of the processor 810, when electronic equipment 800 is transported When row, communicated between the processor 810 and the memory 820 by bus 830, the machine readable instructions are by the place Manage device 810 execute when, can execute the parking signal in the embodiment of the method as shown in above-mentioned Fig. 2 and Fig. 4 coordinate method Step, specific implementation can be found in embodiment of the method, and details are not described herein.

The embodiment of the present application also provides a kind of computer readable storage medium, stores on the computer readable storage medium There is computer program, the implementation of the method as shown in above-mentioned Fig. 2 and Fig. 4 can be executed when the computer program is run by processor The step of coordinating method of parking signal in example, specific implementation can be found in embodiment of the method, and details are not described herein.

It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can To combine or be desirably integrated into another system, or some features can be ignored or not executed.In addition, each in the application Each functional unit in embodiment can integrate in one processing unit, is also possible to each unit and physically exists alone, It can be integrated in one unit with two or more units.

It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words The form of product embodies, which is stored in a storage medium, including some instructions use so that One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit Store up the medium of program code.

Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen It please be described in detail, those skilled in the art should understand that: anyone skilled in the art Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.

Claims

1. a kind of parking signal coordinates method, which is characterized in that the method for coordinating is described to coordinate method packet applied to vehicle It includes:

Receive at least two parking request signals；

Based on the corresponding parking Request Priority of every kind of parking request signal, selected from at least two parkings request signal First parking request signal, wherein the parking Request Priority of the first parking request signal is higher than described at least two and stays The parking Request Priority of other parking request signals except the first parking request signal is removed in vehicle request signal；

The driving mode of vehicle when every kind of parking request signal receives is obtained, the driving mode is included in reception described first and stays First driving mode of vehicle when vehicle is requested；

When the first driving mode phase of the first parking request signal and the vehicle when receiving the first parking request signal Matching, controls the vehicle execution parking instruction corresponding with the first parking request signal or corresponding releasing parking refers to It enables.

2. coordinating method as described in claim 1, which is characterized in that obtain vehicle when every kind of parking request signal receives described Driving mode, the driving mode include receive first parking request when vehicle the first driving mode after, It is described to coordinate method further include:

When the first parking request signal and first driving mode mismatch, request to believe from least two parking The second parking request signal is selected in number, wherein the driving mode further includes the vehicle when receiving second parking request The second driving mode, the parking Request Priority of the second parking request signal is higher than at least two parking request letter Staying for the first parking request signal and other parking request signals except the second parking request signal is removed in number Vehicle Request Priority or the second parking request signal are to remove described first in at least two parkings request signal Unique parking request signal except parking request signal；

3. coordinating method as described in claim 1, which is characterized in that obtain vehicle when every kind of parking request signal receives described Driving mode, the driving mode include receive first parking request when vehicle the first driving mode after, It is described to coordinate method further include:

When the first parking request signal and first driving mode mismatch, request to believe from least two parking Third parking request signal is selected in number, wherein the driving mode further includes the vehicle when receiving third parking request Third driving mode, the third parking request signal removes described in at least two parkings request signal The parking request signal to match in other parking request signals except one parking request signal with the third driving mode；

4. coordinating method as described in claim 1, which is characterized in that at least two parkings request signal includes:

It is parking request signal that parking request signal that electric control hydraulic braking system is sent, emergency brake of vehicle system issue, remote The parking request signal of journey emergency braking system transmission, the parking request signal of vehicle collision avoidance system transmission, automatic Pilot control The parking request signal of parking request signal, the transmission of parallel Ride Control System that system processed is sent and remote driving control system The two or more parking request signal in parking request signal that system is sent.

5. coordinating method as claimed in claim 4, which is characterized in that the parking request that the electric control hydraulic braking system is sent It is anti-that the parking Request Priority of signal is higher than the emergency brake of vehicle system, the remote emergency braking system and the vehicle The parking Request Priority of any parking request signal in the parking request signal that collision system is sent respectively；

What the emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system were sent respectively stays Vehicle request signal parking Request Priority having the same；

What the emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system were sent respectively stays The parking Request Priority of any parking request signal in vehicle request signal is higher than the automatic driving control system, described flat Any parking request in the parking request signal that row Ride Control System and the remote driving control system are sent respectively The parking Request Priority of signal；

The automatic driving control system, the parallel Ride Control System and the remote driving control system are sent respectively Parking request signal parking Request Priority having the same.

6. coordinating method as described in any one of claims 1 to 5, which is characterized in that requested from least two parking The parking request signal selected in signal is that the driving mode of vehicle when receiving the parking request signal selected is corresponding The parking request signal that vehicle control system issues, to determine the parking request signal selected and reception the staying of selecting The driving mode of vehicle matches when vehicle request signal；Or

Based on the corresponding parking Request Priority of every kind of parking request signal, selected from at least two parkings request signal Parking request signal out is the corresponding vehicle of driving mode with vehicle when being higher than the reception parking request signal selected The parking Request Priority for the parking request signal that control system issues, to determine the parking request signal selected and connect The driving mode of vehicle matches when receiving the parking request signal selected.

7. coordinating method as described in claim 1, which is characterized in that described when the first parking request signal and reception When the first driving mode of vehicle matches when first parking is requested, controls the vehicle execution and asked with first parking It is described to coordinate method after asking the corresponding parking instruction of request signal or corresponding releasing parking instruction further include:

When receiving at least one parking request signal again, maintain to believe with first parking request controlling the vehicle After the time of number corresponding vehicle-state preset duration, control the vehicle execute it is corresponding at least one parking request signal Parking instruction or corresponding releasing parking instruction；Or

When having the 4th parking request signal of continuation requests in at least two parkings request signal, the vehicle is being controlled After the time for maintaining vehicle-state preset duration corresponding with the first parking request signal, the vehicle execution and institute are controlled State the corresponding parking instruction of the 4th parking request signal or corresponding releasing parking instruction.

8. a kind of parking signal coordinates device, which is characterized in that the device of coordinating is described to coordinate device packet applied to vehicle It includes:

First choice module, is configurable for based on the corresponding parking Request Priority of every kind of parking request signal, from described The first parking request signal is selected at least two parking request signals, wherein the parking of the first parking request signal is asked Priority is asked to be higher than other parkings removed except the first parking request signal in at least two parkings request signal The parking Request Priority of request signal；

Module is obtained, is configurable for obtaining the driving mode of vehicle when receiving every kind of parking request signal, the driving mould Formula includes the first driving mode of the vehicle when receiving first parking request；

First control module is configurable for believing when the first parking request signal in reception the first parking request Number when vehicle the first driving mode match, control the vehicle execute it is corresponding with the first parking request signal request Parking instruction or corresponding releasing parking instruction.

9. coordinating device as claimed in claim 8, which is characterized in that described to coordinate device further include:

Second selecting module is configurable for mismatching when the first parking request signal and first driving mode When, the second parking request signal is selected from at least two parkings request signal, wherein the driving mode further include Second driving mode of vehicle, the parking Request Priority of the second parking request signal when receiving second parking request Higher than removed in at least two parkings request signal the first parking request signal and the second parking request signal it The parking Request Priority of other outer parking request signals or the second parking request signal are stayed for described at least two Unique parking request signal except the first parking request signal is removed in vehicle request signal；

Second control module, be configurable for controlling the vehicle execute it is corresponding with the second parking request signal request Parking instruction or corresponding releasing parking instruction.

10. coordinating device as claimed in claim 8, which is characterized in that described to coordinate device further include:

Third selecting module, for when the first parking request signal and first driving mode mismatch, from described Third parking request signal is selected at least two parking request signals, wherein the driving mode further includes described in the reception The third driving mode of vehicle when third parking is requested, the third parking request signal are asked selected from least two parking Ask removed in signal other parking request signals except the first parking request signal and with the third driving mode phase Matched parking request signal；

Third control module executes parking corresponding with the third parking request signal for controlling the vehicle and instructs or right The releasing parking instruction answered.

11. coordinating device as claimed in claim 8, which is characterized in that at least two parkings request signal includes:

12. coordinating device as claimed in claim 11, which is characterized in that the parking that the electric control hydraulic braking system is sent is asked The parking Request Priority of signal is asked to be higher than the emergency brake of vehicle system, the remote emergency braking system and the vehicle The parking Request Priority of any parking request signal in the parking request signal that collision avoidance system is sent respectively；

What the emergency brake of vehicle system, the remote emergency braking system and the vehicle collision avoidance system were sent respectively stays The parking Request Priority of any parking request signal in vehicle request signal is above the automatic driving control system, described Any parking in parking request signal that parallel Ride Control System and the remote driving control system are sent respectively is asked Seek the parking Request Priority of signal；

The automatic driving control system, the parallel Ride Control System and the remote driving control system are sent respectively Parking request signal have identical parking Request Priority.

13. coordinating device as described in any one of claim 8 to 12, which is characterized in that asked from least two parking Ask the driving mode that the parking request signal selected in signal is vehicle when receiving the parking request signal selected corresponding The parking request signal that issues of vehicle control system, selected with determining the parking request signal selected and receiving this The driving mode of vehicle matches when parking request signal；Or

14. coordinating device as claimed in claim 8, which is characterized in that the device of coordinating further includes the 4th control module, institute The 4th control module is stated to be configured for:

15. a kind of electronic equipment, which is characterized in that the electronic equipment includes: processor, memory and bus, the storage Device is stored with the executable machine readable instructions of the processor, when electronic equipment operation, the processor and the storage It is executed by the bus communication between device, when the machine readable instructions are executed by the processor as in claim 1 to 7 Described in any item parking signals coordinate method.

16. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium Program executes the tune of the parking signal as described in any one of claims 1 to 7 when the computer program is run by processor Association's method.