CN109878492B - Method and device for coordinating parking signal - Google Patents

Method and device for coordinating parking signal Download PDF

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Publication number
CN109878492B
CN109878492B CN201910276607.5A CN201910276607A CN109878492B CN 109878492 B CN109878492 B CN 109878492B CN 201910276607 A CN201910276607 A CN 201910276607A CN 109878492 B CN109878492 B CN 109878492B
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parking request
parking
request signal
vehicle
driving mode
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CN109878492A (en
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赵冠雄
武晓华
王华凯
王志坚
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Neolithic Zhiqin (Shenmu) Technology Co.,Ltd.
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Neolix Technologies Co Ltd
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Priority to PCT/CN2020/083432 priority patent/WO2020207366A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features

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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
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  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The embodiment of the application provides a method and a device for coordinating parking signals, which receive at least two parking request signals; selecting a first parking request signal from the at least two parking request signals based on the parking request priority corresponding to each type of parking request signal; acquiring a first driving mode of the vehicle when each parking request signal is received; and when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request signal is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction. Therefore, the received parking request signals are screened according to the request priority and matched with the driving mode of the vehicle, so that the vehicle can be assisted to carry out coordination processing on the parking signals, the probability of signal collision during vehicle running is reduced, and the safety and the reliability of the vehicle are improved.

Description

Method and device for coordinating parking signal
Technical Field
The application relates to the technical field of automobile driving, in particular to a method and a device for coordinating parking signals.
Background
With the continuous progress of science and technology, more and more vehicles have come into the lives of people and become necessities for people to go out. Among them, the unmanned driving technique is more and more emphasized and becomes a leading sheep of the next generation driving technique. However, in order to realize real unmanned driving, a long road is needed, so that the existing unmanned driving technology is matched with a parallel driving mode, a remote control driving mode and the like, a driver does not control a vehicle, a cab, a steering wheel, a brake pedal, an accelerator pedal and other mechanical structures, and the driving intention of the vehicle is generally decided by an unmanned calculation unit, a parallel driving controller or a vehicle remote controller.
For unmanned driving, if parking is performed in an emergency or under the condition required by a passenger, a parking system on a vehicle is generally controlled according to real-time vehicle driving conditions, surrounding environmental factors and received parking signals sent by various control systems of the vehicle. However, for the parking system of the unmanned vehicle, because the parking and parking releasing signal requests of the vehicle are from a plurality of sources, signal collision is easy to occur, the parking system cannot effectively judge in time, and the safety and reliability of the vehicle are low.
Disclosure of Invention
In view of this, the present application provides a method and a device for coordinating a parking signal, which can assist a vehicle in coordinating the parking signal, reduce the probability of occurrence of signal collision, and contribute to improving the safety and reliability of the vehicle.
The embodiment of the application provides a method for coordinating a parking signal, which is applied to a vehicle and comprises the following steps:
receiving at least two parking request signals;
selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than the parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals;
acquiring a driving mode of the vehicle when each parking request signal is received, wherein the driving mode comprises a first driving mode of the vehicle when the first parking request is received;
and when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request signal is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction.
In some embodiments of the present application, after said obtaining a driving mode of the vehicle at the time of reception of each parking request signal, the driving mode including a first driving mode of the vehicle at the time of reception of the first parking request, the tuning method further comprises:
selecting a second parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a second driving mode of the vehicle when the second parking request is received, and a parking request priority of the second parking request signal is higher than parking request priorities of the at least two parking request signals except for the first parking request signal and the second parking request signal, or the second parking request signal is the only parking request signal except for the first parking request signal;
and controlling the vehicle to execute a parking instruction corresponding to the second parking request signal or a corresponding parking releasing instruction.
In some embodiments of the present application, after said obtaining a driving mode of the vehicle at the time of reception of each parking request signal, the driving mode including a first driving mode of the vehicle at the time of reception of the first parking request, the tuning method further comprises:
selecting a third parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a third driving mode of the vehicle when the third parking request is received, and the third parking request signal is selected from parking request signals matching the third driving mode among other parking request signals except the first parking request signal among the at least two parking request signals;
and controlling the vehicle to execute a parking instruction corresponding to the third parking request signal or a corresponding parking releasing instruction.
In the above embodiment, the at least two kinds of parking request signals include:
the parking request signal comprises two or more than two parking request signals of a parking request signal sent by an electric control hydraulic braking system, a parking request signal sent by a vehicle emergency braking system, a parking request signal sent by a remote emergency braking system, a parking request signal sent by a vehicle anti-collision system, a parking request signal sent by an automatic driving control system, a parking request signal sent by a parallel driving control system and a parking request signal sent by a remote driving control system.
In the above embodiment, the parking request priority of the parking request signal sent by the electronically controlled hydraulic brake system is higher than the parking request priority of any one of the parking request signals sent by the vehicle emergency brake system, the remote emergency brake system and the vehicle collision avoidance system respectively;
parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system have the same parking request priority;
the parking request priority of any one of the parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system is higher than that of any one of the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system;
the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system have the same parking request priority.
In some embodiments of the present application, a parking request signal selected from the at least two parking request signals is a parking request signal sent by a vehicle control system corresponding to a driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal matches the driving mode of the vehicle when the selected parking request signal is received; or
And based on the parking request priority corresponding to each type of parking request signal, the parking request signal selected from the at least two types of parking request signals is the parking request priority which is higher than the parking request signal sent by the vehicle control system corresponding to the driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal is matched with the driving mode of the vehicle when the selected parking request signal is received.
In some embodiments of the present application, after controlling the vehicle to execute a parking command corresponding to the first parking request signal request or a corresponding parking release command when the first parking request signal matches a first driving pattern of the vehicle at the time of receiving the first parking request, the tuning method further includes:
when at least one parking request signal is received again, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, the vehicle is controlled to execute a parking instruction corresponding to the at least one parking request signal or a corresponding parking releasing instruction; or
And when a fourth parking request signal which is continuously requested exists in the at least two parking request signals, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, controlling the vehicle to execute a parking instruction corresponding to the fourth parking request signal or a corresponding parking releasing instruction.
The embodiment of this application still provides a coordinating device of parking signal, coordinating device is applied to the vehicle, coordinating device includes:
a receiving module configured to receive at least two kinds of parking request signals;
the parking control device comprises a first selection module, a second selection module and a control module, wherein the first selection module is used for selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, and the parking request priority of the first parking request signal is higher than that of the parking request signals except for the first parking request signal;
an acquisition module configured to acquire a driving mode of the vehicle at the time of receiving each of the parking request signals, the driving mode including a first driving mode of the vehicle at the time of receiving the first parking request;
a first control module configured to control the vehicle to execute a parking instruction corresponding to the first parking request signal request or a corresponding parking release instruction when the first parking request signal matches a first driving mode of the vehicle at the time of receiving the first parking request signal.
In some embodiments of the present application, the coordinating apparatus further comprises:
a second selection module configured to select a second parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a second driving mode of the vehicle when receiving the second parking request, and a parking request priority of the second parking request signal is higher than parking request priorities of other parking request signals except the first parking request signal and the second parking request signal in the at least two parking request signals, or the second parking request signal is a sole parking request signal except the first parking request signal in the at least two parking request signals;
a second control module configured to control the vehicle to execute a parking command corresponding to the second parking request signal request or a corresponding parking release command.
In some embodiments of the present application, the coordinating apparatus further comprises:
a third selecting module, configured to select a third parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a third driving mode of the vehicle when the third parking request is received, and the third parking request signal is selected from parking request signals other than the first parking request signal and matching the third driving mode;
and the third control module is used for controlling the vehicle to execute a parking instruction corresponding to the third parking request signal or a corresponding parking releasing instruction.
In the above embodiment, the at least two kinds of parking request signals include:
the parking request signal comprises two or more than two parking request signals of a parking request signal sent by an electric control hydraulic braking system, a parking request signal sent by a vehicle emergency braking system, a parking request signal sent by a remote emergency braking system, a parking request signal sent by a vehicle anti-collision system, a parking request signal sent by an automatic driving control system, a parking request signal sent by a parallel driving control system and a parking request signal sent by a remote driving control system.
In the above embodiment, the parking request priority of the parking request signal sent by the electronically controlled hydraulic brake system is higher than the parking request priority of any one of the parking request signals sent by the vehicle emergency brake system, the remote emergency brake system and the vehicle collision avoidance system respectively;
parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system have the same parking request priority;
the parking request priority of any one of the parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system is higher than that of any one of the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system;
the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote control driving control system have the same parking request priority.
In some embodiments of the present application, a parking request signal selected from the at least two parking request signals is a parking request signal sent by a vehicle control system corresponding to a driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal matches the driving mode of the vehicle when the selected parking request signal is received; or
And based on the parking request priority corresponding to each type of parking request signal, the parking request signal selected from the at least two types of parking request signals is the parking request priority which is higher than the parking request signal sent by the vehicle control system corresponding to the driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal is matched with the driving mode of the vehicle when the selected parking request signal is received.
In some embodiments of the present application, the coordinating apparatus further comprises a fourth control module configured to:
when at least one parking request signal is received again, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, the vehicle is controlled to execute a parking instruction corresponding to the at least one parking request signal or a corresponding parking releasing instruction; or
And when a fourth parking request signal which is continuously requested exists in the at least two parking request signals, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, controlling the vehicle to execute a parking instruction corresponding to the fourth parking request signal or a corresponding parking releasing instruction.
An embodiment of the present application further provides an electronic device, where the electronic device includes: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine readable instructions when executed by the processor performing the steps of the method of coordinating a parking signal as described above.
Embodiments of the present application also provide a computer-readable storage medium, having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method for coordinating a parking signal as described above.
The method and the device for coordinating the parking signals receive at least two parking request signals; selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than the parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals; acquiring a driving mode of the vehicle when each parking request signal is received, wherein the driving mode comprises a first driving mode of the vehicle when the first parking request is received; and when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request signal is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction. Therefore, the received parking request signals are screened according to the request priority and matched with the driving mode of the vehicle, so that the vehicle can be assisted to carry out coordination processing on the parking signals, the probability of signal collision during vehicle running is reduced, and the safety and the reliability of the vehicle are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a diagram of a system architecture in one possible application scenario;
fig. 2 is a flowchart of a method for coordinating a parking signal according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an overall vehicle control system of the vehicle shown in FIG. 1;
fig. 4 is a flowchart of a method for coordinating a parking signal according to another embodiment of the present application;
fig. 5 is one of structural diagrams of a coordinating apparatus for a parking signal according to an embodiment of the present application;
fig. 6 is a second structural diagram of a coordinating apparatus for a parking signal according to an embodiment of the present application;
fig. 7 is a third structural diagram of a coordinating apparatus for a parking signal according to an embodiment of the present application;
fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
First, an application scenario to which the present application is applicable will be described. The method and the device can be applied to a vehicle driving system, and can assist the vehicle to coordinate various parking request signals so as to reduce the probability of signal collision during vehicle driving and contribute to improving the safety and reliability of the vehicle. Referring to fig. 1, fig. 1 is a system architecture diagram in a possible application scenario. As shown in fig. 1, the system includes a coordinating device for parking signals and a vehicle, the coordinating device may be installed on the vehicle, such as in a central control platform of the vehicle, and may be installed in a central control system of the vehicle in an embedded manner, and may be in communication connection with a complete vehicle control system of the vehicle and various auxiliary control systems, the coordinating device may be in communication connection with the complete vehicle control system of the vehicle, and after a parking request signal is received by the complete vehicle control system, the auxiliary complete vehicle control system screens the received parking request signal according to a request priority, and matches the received parking request signal with a driving mode of the vehicle, so as to assist the vehicle in coordinating the parking request signal, reduce a probability of signal collision during vehicle driving, and help to improve safety and reliability of the vehicle. In the above example, the coordination device is directly connected to the entire vehicle control system, and the entire vehicle control system obtains the received parking request signal to perform coordination such as screening, but not limited thereto, in other examples, the coordination device may also be connected to the entire vehicle control system through a background server such as an application server, and after the entire vehicle system receives the parking request signal, the coordination device may obtain the parking request signal received by the entire vehicle system through the background server, and assist the entire vehicle system in coordinating the parking request information.
It is found through research that for unmanned driving, if parking is performed in an emergency or under the condition required by a passenger, the parking system on the vehicle generally performs control according to the real-time vehicle driving condition, the surrounding environmental factors and the received parking signals sent by each control system of the vehicle. However, for the parking system of the unmanned vehicle, because the parking and parking releasing signal requests of the vehicle are from a plurality of sources, signal collision is easy to occur, the parking system cannot effectively judge in time, and the safety and reliability of the vehicle are low.
Based on this, the embodiment of the application provides a method and a device for coordinating a parking signal, which can assist a vehicle in coordinating the parking signal, reduce the probability of signal collision during vehicle driving, and contribute to improving the safety and reliability of the vehicle.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for coordinating a parking signal according to an embodiment of the present disclosure. The coordination method is applied to a vehicle, and as shown in fig. 2, the coordination method for the parking signal provided by the embodiment of the application comprises the following steps:
step 201, at least two parking request signals are received.
In the application, CAN set up whole car operation control system in the vehicle to unmanned vehicle, as shown in fig. 3, fig. 3 is the structure schematic diagram of the whole car control system of the vehicle shown in fig. 1, and the whole car control system of vehicle includes whole car controller, and respectively with automatically controlled hydraulic braking system, vehicle emergency braking system, long-range emergency braking system, the system transmission of preventing collision of vehicle, automatic driving control system, parallel driving control system and the remote control driving control system that whole car controller connects to above-mentioned each system CAN communicate with whole car controller through the CAN bus, if communicate with whole car controller through a CAN bus, or communicate with whole car controller system through two CAN buses or even many CAN buses for the driving mode of vehicle when acquireing each kind of parking request signal and receiving. In addition, the system can also comprise a battery control system, a motor controller, an electronic parking control system and other functional systems which are connected with the vehicle control unit. The vehicle control unit CAN receive parking request signals of the automatic driving control system, the parallel driving control system, the remote control driving control system and the like, controls the functions of power supply and power off, vehicle control state, energy management, braking, parking, driving, light management and the like of the vehicle through a network bus CAN or a hard wire according to the corresponding parking request signals, and effectively controls the vehicle to execute a parking instruction corresponding to the parking request signals or a corresponding parking releasing instruction through the parking instruction selection, the driving mode acquisition and the instant and continuous operation determined by matching.
In the present application, the coordination device for coordinating the parking signal may be connected to the vehicle controller, and after the vehicle controller receives the parking request signal, obtain the parking request signal from the vehicle controller to assist the vehicle control system in processing and coordinating the parking request signal, and feed back the processing result and the coordination result to the vehicle controller, or directly connected to each system through a CAN bus, and directly receive the parking request signal from each system, and feed back the result to the vehicle controller after processing each parking request information. In the present embodiment, for convenience of description, only the example in which the coordinating device directly receives the parking request signal from each system and processes the signal will be described.
The receiving of at least two parking request signals may be the receiving of the at least two parking request signals by the coordination apparatus at the same time, or the receiving of the at least two parking request signals may be the receiving of the at least two parking request signals in a certain period.
In some embodiments of the present application, the at least two parking request signals include:
the parking request signal comprises two or more than two parking request signals of a parking request signal sent by an electric control hydraulic braking system, a parking request signal sent by a vehicle emergency braking system, a parking request signal sent by a remote emergency braking system, a parking request signal sent by a vehicle anti-collision system, a parking request signal sent by an automatic driving control system, a parking request signal sent by a parallel driving control system and a parking request signal sent by a remote driving control system.
The various parking request signals may be immediate signals, i.e., end after request, or continuous signals, i.e., continuous requests are made when the request signals are not responded.
Step 202, selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than the parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals.
In this step, after the coordinating device receives the at least two parking request signals, the coordinating device may extract information of each parking request signal, so as to extract parking request information carried in each parking request signal, the coordinating device may determine a parking request priority corresponding to each parking request signal from the parking request information of each parking request signal, and then the coordinating device may select a first parking request signal from the at least two parking request signals according to the parking request priority corresponding to each parking request signal.
Wherein the first parking request signal has a higher parking request priority than parking request priorities of parking request signals other than the first parking request signal among the at least two types of parking request signals.
Specifically, the parking request priority of the parking request signal sent by the electrically controlled hydraulic brake system is higher than that of any one of the parking request signals respectively sent by the vehicle emergency brake system, the remote emergency brake system and the vehicle anti-collision system.
The parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system have the same parking request priority.
The parking request priority of any one of the parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system is higher than that of any one of the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system.
The parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system have the same parking request priority.
And step 203, acquiring the driving mode of the vehicle when each parking request signal is received.
In this step, the coordination apparatus may monitor the driving mode of the vehicle in real time, so as to determine the driving mode of the vehicle when the coordination apparatus receives the at least two parking request signals, and thus obtain the driving mode of the vehicle when each parking request signal is received.
The driving mode of the vehicle may refer to that the vehicle is in a manual driving mode, an unmanned driving mode, a parallel driving mode, a remote control driving mode, and the like.
Wherein the driving mode comprises a first driving mode of the vehicle upon receiving the first parking request.
When the driving mode of the vehicle is obtained, one condition is that the driving mode of the vehicle is kept consistent and is not changed when the at least two parking request signals are received, and another condition is that the driving mode of the vehicle may be changed in the time difference due to the time difference existing when the parking request signals sent by different systems are received when the at least two parking request signals are received, namely, when a part of the parking request signals are received, the vehicle is in one driving mode, and when another part of the parking request signals are continuously received, the vehicle is in another driving mode, so that the driving mode of the vehicle when each parking request signal is received needs to be determined.
And 204, when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction.
In this step, the coordinating means may determine whether or not the parking control is required in accordance with the first parking request signal or the parking release control is required by matching the first parking request signal with the first driving mode after the first driving mode of the vehicle is acquired in response to the selection of the first parking request signal based on the parking request priority of each parking request signal, and the coordinating means may determine that the first parking request signal matches the first driving mode, may regard the first parking request signal as an effective signal that can be executed, and may then control the vehicle to execute the parking command corresponding to the first parking request signal in accordance with the first parking request signal, or executing a parking release instruction corresponding to the first parking request signal, and further controlling the vehicle to park or release the parking.
In the embodiment of the present application, in the determining process of whether the first parking request signal matches the first driving mode and the determining process of whether the other received parking request signals match the driving mode of the vehicle when the parking request signal is received, that is, in the process of determining that the parking request signal selected from the at least two parking request signals matches the driving mode of the vehicle when the parking request signal is received, the parking request signal selected from the at least two parking request signals may be the parking request signal sent by the vehicle control system corresponding to the driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal matches the driving mode of the vehicle when the selected parking request signal is received.
Alternatively, the parking request signal selected from the at least two parking request signals may be a parking request priority having a higher parking request signal than the parking request signal sent by the vehicle control system corresponding to the driving mode of the vehicle when the selected parking request signal is received, based on the parking request priority corresponding to each parking request signal, so as to determine that the selected parking request signal matches the driving mode of the vehicle when the selected parking request signal is received.
Accordingly, if the first parking request signal is a parking request signal issued by a vehicle control system corresponding to the first driving mode, it may be determined that the first parking request signal matches the first driving mode.
Alternatively, based on the parking request priority corresponding to each type of parking request signal, if the first parking request signal is a parking request priority having a higher parking request signal than the parking request signal issued by the vehicle control system corresponding to the first driving mode of the vehicle at the time of receiving the first parking request signal, it may be determined that the first parking request signal matches the first driving mode.
The vehicle control system corresponding to the driving mode of the vehicle may refer to a control system that controls the vehicle to be in a certain driving mode, for example, the vehicle is in an automatic driving mode, and the control system that controls the vehicle to be in the automatic driving mode is an automatic driving control system, and the automatic driving control system may send a parking request signal; it may also refer to a control system that may be used in a certain driving mode of the vehicle, such as a parking request signal from an electronically controlled hydraulic brake system, a vehicle emergency brake system, etc. that may be used in either an autonomous or a remote driving mode.
According to the method for coordinating the parking signals, at least two parking request signals are received; selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than the parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals; acquiring a driving mode of the vehicle when each parking request signal is received, wherein the driving mode comprises a first driving mode of the vehicle when the first parking request is received; and when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request signal is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction.
Therefore, the received parking request signals are screened according to the request priority and matched with the driving mode of the vehicle, so that the vehicle can be assisted to carry out coordination processing on the parking signals, the probability of signal collision during vehicle running is reduced, and the safety and the reliability of the vehicle are improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for coordinating a parking signal according to another embodiment of the present application. The coordination method is applied to a vehicle, and as shown in fig. 4, the coordination method for the parking signal provided by the embodiment of the application comprises the following steps:
step 401, at least two parking request signals are received.
And 402, selecting a first parking request signal from the at least two parking request signals based on the parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than the parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals.
And step 403, acquiring the driving mode of the vehicle when each parking request signal is received, wherein the driving mode comprises a first driving mode of the vehicle when the first parking request is received.
And step 404, when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request signal is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction.
The descriptions of step 401 to step 404 may refer to the descriptions of step 201 to step 204, and the same technical effects may be achieved, which are not described again.
Step 405, selecting a second parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode.
In this step, if the coordinating device determines that the first parking request signal does not match the first driving mode when the first parking request signal matches the first driving mode, the coordinating device may further screen the received parking request signals to select a second parking request signal from the at least two parking request signals.
Wherein the driving modes further include a second driving mode of the vehicle when receiving the second parking request, a parking request priority of the second parking request signal is higher than a parking request priority of the at least two parking request signals excluding the first parking request signal and the second parking request signal, or the second parking request signal is the only parking request signal excluding the first parking request signal.
The driving modes may further include a second driving mode of the vehicle when receiving the second parking request, so that after the second parking request signal is selected, the coordination device may further match the second parking request signal with the second driving mode to determine whether the parking control is required according to the second parking request signal or the parking release control is required.
In some embodiments, the first driving mode and the second driving mode may be the same driving mode or different driving modes.
And step 406, controlling the vehicle to execute a parking instruction corresponding to the second parking request signal or a corresponding parking releasing instruction.
In this step, after the coordinating device selects the second parking request signal, the coordinating device may control the vehicle to execute a parking instruction corresponding to the second parking request signal or a corresponding parking release instruction according to the second parking request signal, so as to control the vehicle to park or release from parking.
Further, after selecting the second parking request signal, the coordinating device may further perform matching processing on the second parking request signal to detect whether the second parking request signal matches the second driving mode of the vehicle when receiving the second departure request signal, and if so, may control the vehicle to execute a parking instruction corresponding to the second parking request signal or a corresponding parking release instruction.
In some embodiments of the present application, after step 403, the tuning method comprises:
selecting a third parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode; and controlling the vehicle to execute a parking instruction corresponding to the third parking request signal or a corresponding parking release instruction.
In this step, if the coordinating device matches the first parking request signal with the first driving mode and determines that the first parking request signal is not matched with the first driving mode, the coordinating device may further screen the received parking request signals to select a third parking request signal from the at least two parking request signals, and then control the vehicle to execute a parking instruction corresponding to the third parking request signal or a corresponding parking release instruction according to the third parking request signal, so as to control the vehicle to park or release the parking.
Wherein the driving modes further include a third driving mode of the vehicle when receiving the third parking request, and the third parking request signal is selected from among the at least two parking request signals except the first parking request signal, a parking request signal matching the third driving mode.
In some embodiments, the first driving mode and the third driving mode may be the same driving mode or different driving modes.
In some embodiments of the present application, after step 404, the tuning method comprises:
and when at least one parking request signal is received again, controlling the vehicle to execute a parking instruction corresponding to the at least one parking request signal or a corresponding parking releasing instruction after controlling the vehicle to maintain the vehicle state corresponding to the first parking request signal for a preset time period.
In this step, when the coordinating device receives at least one parking request signal again after the coordinating device controls the vehicle to execute the first parking request signal, the coordinating device may control the vehicle to execute a parking command corresponding to the at least one parking request signal or a corresponding parking release command after controlling the vehicle to maintain the vehicle state corresponding to the first parking request signal for a preset time period.
For example, because the command of the remote controller only has two states of parking and parking release, in order to avoid the situation that the vehicle cannot be parked or the parking cannot be released due to mutual interference of signals, for example, if an emergency brake button on the vehicle is pressed to request parking, after the vehicle is parked, the remote controller requests to release parking, the vehicle will respond to the parking request of the emergency stop button again after the parking release action is executed, so that the parking cannot be released, signal collision occurs, in order to avoid this phenomenon, when the vehicle responds to the parking or parking release request each time, only a parking or parking release request is sent to the control system for a period of time, that is, the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a period of time, then the vehicle is changed into a no-action request, and only after the jump request signal is detected again, and then corresponding parking or parking releasing request commands are sent, so that the signal conflict of the condition can be avoided.
Therefore, the situation that the vehicle is confused due to the reciprocating change of the signals or the collision of the signals in front and at back can be avoided.
Alternatively, in some embodiments of the present application, after step 404, the tuning method includes:
and when a fourth parking request signal which is continuously requested exists in the at least two parking request signals, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, controlling the vehicle to execute a parking instruction corresponding to the fourth parking request signal or a corresponding parking releasing instruction.
In this step, after the coordination apparatus controls the vehicle to execute the first parking request signal, if there is a continuously requested fourth parking request signal in the at least two parking request signals, in order to avoid signal collision caused by the vehicle immediately executing the command of the fourth parking request signal, the coordination apparatus may control the vehicle to execute a parking command corresponding to the fourth parking request signal or a corresponding parking release command after the vehicle maintains the vehicle state corresponding to the first parking request signal for a preset time period.
According to the method for coordinating the parking signals, at least two parking request signals are received; selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than the parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals; acquiring a driving mode of the vehicle when each parking request signal is received, wherein the driving mode comprises a first driving mode of the vehicle when the first parking request is received; when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request signal is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction; selecting a second parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a second driving mode of the vehicle when the second parking request is received, and a parking request priority of the second parking request signal is higher than parking request priorities of the at least two parking request signals except for the first parking request signal and the second parking request signal, or the second parking request signal is the only parking request signal except for the first parking request signal; and controlling the vehicle to execute a parking instruction corresponding to the second parking request signal or a corresponding parking releasing instruction.
Therefore, the received parking request signals are screened according to the request priority and matched with the driving mode of the vehicle, and when the parking request signals screened preferentially do not meet the requirements, the signals can be continuously matched until the executable request signals are matched, so that the vehicle can be assisted to carry out coordination processing on the parking signals, the probability of signal collision during vehicle running is reduced, and the safety and the reliability of the vehicle are improved.
Please refer to fig. 5, fig. 5 is a first structural diagram of a coordinating apparatus for a parking signal according to an embodiment of the present application, fig. 6 is a second structural diagram of the coordinating apparatus for a parking signal according to an embodiment of the present application, and fig. 7 is a third structural diagram of the coordinating apparatus for a parking signal according to an embodiment of the present application. The tuning apparatus 500 provided in the embodiment of the present application is applied to a vehicle. As shown in fig. 5, the tuning apparatus 500 includes:
a receiving module 510 configured to receive at least two parking request signals.
A first selecting module 520 configured to select a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals.
An obtaining module 530 configured for obtaining driving modes of the vehicle upon receiving each of the parking request signals, the driving modes including a first driving mode of the vehicle upon receiving the first parking request.
A first control module 540 configured to control the vehicle to execute a parking command corresponding to the first parking request signal request or a corresponding parking release command when the first parking request signal matches a first driving mode of the vehicle at the time of receiving the first parking request signal.
In some embodiments of the present application, as shown in fig. 6, the coordination apparatus 500 includes:
a second selecting module 550 configured to select a second parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a second driving mode of the vehicle when the second parking request is received, and a parking request priority of the second parking request signal is higher than parking request priorities of parking request signals other than the first parking request signal and the second parking request signal of the at least two parking request signals, or the second parking request signal is a sole parking request signal of the at least two parking request signals other than the first parking request signal.
A second control module 560 configured to control the vehicle to execute a parking command corresponding to the second parking request signal request or a corresponding parking release command.
In some embodiments of the present application, as shown in fig. 6, the coordination apparatus 500 includes:
a third selecting module 570 configured to select a third parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a third driving mode of the vehicle when the third parking request is received, and the third parking request signal is selected from parking request signals other than the first parking request signal and matching the third driving mode.
A third control module 580 for controlling the vehicle to execute a parking command or a corresponding release parking command corresponding to the third parking request signal.
In the above embodiment, the at least two kinds of parking request signals include:
the parking request signal comprises two or more than two parking request signals of a parking request signal sent by an electric control hydraulic braking system, a parking request signal sent by a vehicle emergency braking system, a parking request signal sent by a remote emergency braking system, a parking request signal sent by a vehicle anti-collision system, a parking request signal sent by an automatic driving control system, a parking request signal sent by a parallel driving control system and a parking request signal sent by a remote driving control system.
In the above embodiment, the parking request priority of the parking request signal transmitted by the electronically controlled hydraulic brake system is higher than the parking request priority of any one of the parking request signals respectively transmitted by the vehicle emergency brake system, the remote emergency brake system and the vehicle collision avoidance system.
The parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system have the same parking request priority.
The parking request priority of any one of the parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system is higher than that of any one of the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system.
The parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote control driving control system have the same parking request priority.
In some embodiments of the present application, a parking request signal selected from the at least two parking request signals is a parking request signal sent by a vehicle control system corresponding to a driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal matches the driving mode of the vehicle when the selected parking request signal is received; or
And based on the parking request priority corresponding to each type of parking request signal, the parking request signal selected from the at least two types of parking request signals is the parking request priority which is higher than the parking request signal sent by the vehicle control system corresponding to the driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal is matched with the driving mode of the vehicle when the selected parking request signal is received.
In some embodiments of the present application, as shown in fig. 7, the coordinating apparatus 500 further includes a fourth control module 590, and the fourth control module 590 is configured to:
when at least one parking request signal is received again, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, the vehicle is controlled to execute a parking instruction corresponding to the at least one parking request signal or a corresponding parking releasing instruction;
or, when a fourth parking request signal which is continuously requested is selected from the at least two parking request signals, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, the vehicle is controlled to execute a parking instruction corresponding to the fourth parking request signal or a corresponding parking releasing instruction.
The tuning apparatus 500 in this embodiment can implement the steps of the method for tuning the parking signal shown in fig. 2 and 4, and achieve the same technical effects, which are not described herein again.
The coordinating device for the parking signals provided by the embodiment of the application receives at least two parking request signals; selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than the parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals; acquiring a driving mode of the vehicle when each parking request signal is received, wherein the driving mode comprises a first driving mode of the vehicle when the first parking request is received; and when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request signal is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction.
Therefore, the received parking request signals are screened according to the request priority and matched with the driving mode of the vehicle, so that the vehicle can be assisted to carry out coordination processing on the parking signals, the probability of signal collision during vehicle running is reduced, and the safety and the reliability of the vehicle are improved.
Referring to fig. 8, fig. 8 is a structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 8, the electronic device 800 includes a processor 810, a memory 820, and a bus 830.
The memory 820 stores machine-readable instructions executable by the processor 810, when the electronic device 800 runs, the processor 810 and the memory 820 communicate through the bus 830, and when the machine-readable instructions are executed by the processor 810, the steps of the method for coordinating a parking signal in the method embodiment shown in fig. 2 and fig. 4 may be executed.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for coordinating a parking signal in the method embodiments shown in fig. 2 and fig. 4 may be executed.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (14)

1. A method for coordinating a parking signal, the method being applied to a vehicle, the method comprising:
receiving at least two parking request signals;
selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, wherein the parking request priority of the first parking request signal is higher than the parking request priorities of other parking request signals except the first parking request signal in the at least two parking request signals;
acquiring a driving mode of the vehicle when each parking request signal is received, wherein the driving mode comprises a first driving mode of the vehicle when the first parking request is received;
when the first parking request signal is matched with a first driving mode of the vehicle when the first parking request signal is received, controlling the vehicle to execute a parking instruction corresponding to the first parking request signal or a corresponding parking releasing instruction;
the at least two parking request signals include:
the parking request signal comprises two or more than two parking request signals of a parking request signal sent by an electric control hydraulic braking system, a parking request signal sent by a vehicle emergency braking system, a parking request signal sent by a remote emergency braking system, a parking request signal sent by a vehicle anti-collision system, a parking request signal sent by an automatic driving control system, a parking request signal sent by a parallel driving control system and a parking request signal sent by a remote driving control system.
2. The coordination method according to claim 1, wherein, after said obtaining a driving mode of the vehicle at the time of reception of each parking request signal, the driving mode including a first driving mode of the vehicle at the time of reception of the first parking request, the coordination method further comprises:
selecting a second parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a second driving mode of the vehicle when the second parking request is received, and a parking request priority of the second parking request signal is higher than parking request priorities of the at least two parking request signals except for the first parking request signal and the second parking request signal, or the second parking request signal is the only parking request signal except for the first parking request signal;
and controlling the vehicle to execute a parking instruction corresponding to the second parking request signal or a corresponding parking releasing instruction.
3. The coordination method according to claim 1, wherein, after said obtaining a driving mode of the vehicle at the time of reception of each parking request signal, the driving mode including a first driving mode of the vehicle at the time of reception of the first parking request, the coordination method further comprises:
selecting a third parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a third driving mode of the vehicle when the third parking request is received, and the third parking request signal is selected from parking request signals matching the third driving mode among other parking request signals except the first parking request signal among the at least two parking request signals;
and controlling the vehicle to execute a parking instruction corresponding to the third parking request signal or a corresponding parking releasing instruction.
4. The coordination method according to claim 1, wherein a parking request priority of a parking request signal transmitted by the electronically controlled hydraulic brake system is higher than a parking request priority of any one of parking request signals respectively transmitted by the vehicle emergency brake system, the remote emergency brake system, and the vehicle collision avoidance system;
parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system have the same parking request priority;
the parking request priority of any one of the parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system is higher than that of any one of the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system;
the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system have the same parking request priority.
5. The coordination method according to any one of claims 1 to 4, characterized in that the parking request signal selected from the at least two parking request signals is a parking request signal issued by a vehicle control system corresponding to the driving mode of the vehicle at the time of receiving the selected parking request signal, to determine that the selected parking request signal matches the driving mode of the vehicle at the time of receiving the selected parking request signal; or
And based on the parking request priority corresponding to each type of parking request signal, the parking request signal selected from the at least two types of parking request signals is the parking request priority which is higher than the parking request signal sent by the vehicle control system corresponding to the driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal is matched with the driving mode of the vehicle when the selected parking request signal is received.
6. The coordination method according to claim 1, characterized in that after controlling the vehicle to execute a parking command corresponding to the first parking request signal request or a corresponding parking release command when the first parking request signal matches a first driving pattern of the vehicle at the time of receiving the first parking request, the coordination method further comprises:
when at least one parking request signal is received again, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, the vehicle is controlled to execute a parking instruction corresponding to the at least one parking request signal or a corresponding parking releasing instruction; or
And when a fourth parking request signal which is continuously requested exists in the at least two parking request signals, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, controlling the vehicle to execute a parking instruction corresponding to the fourth parking request signal or a corresponding parking releasing instruction.
7. A coordinating device for a parking signal, the coordinating device being applied to a vehicle, the coordinating device comprising:
a receiving module configured to receive at least two kinds of parking request signals;
the parking control device comprises a first selection module, a second selection module and a control module, wherein the first selection module is used for selecting a first parking request signal from the at least two parking request signals based on a parking request priority corresponding to each type of parking request signal, and the parking request priority of the first parking request signal is higher than that of the parking request signals except for the first parking request signal;
an acquisition module configured to acquire a driving mode of the vehicle at the time of receiving each of the parking request signals, the driving mode including a first driving mode of the vehicle at the time of receiving the first parking request;
a first control module configured to control the vehicle to execute a parking instruction corresponding to the first parking request signal request or a corresponding parking release instruction when the first parking request signal matches a first driving mode of the vehicle at the time of receiving the first parking request signal;
the at least two parking request signals include:
the parking request signal comprises two or more than two parking request signals of a parking request signal sent by an electric control hydraulic braking system, a parking request signal sent by a vehicle emergency braking system, a parking request signal sent by a remote emergency braking system, a parking request signal sent by a vehicle anti-collision system, a parking request signal sent by an automatic driving control system, a parking request signal sent by a parallel driving control system and a parking request signal sent by a remote driving control system.
8. The tuning apparatus of claim 7, wherein the tuning apparatus further comprises:
a second selection module configured to select a second parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a second driving mode of the vehicle when receiving the second parking request, and a parking request priority of the second parking request signal is higher than parking request priorities of other parking request signals except the first parking request signal and the second parking request signal in the at least two parking request signals, or the second parking request signal is a sole parking request signal except the first parking request signal in the at least two parking request signals;
a second control module configured to control the vehicle to execute a parking command corresponding to the second parking request signal request or a corresponding parking release command.
9. The tuning apparatus of claim 7, wherein the tuning apparatus further comprises:
a third selecting module, configured to select a third parking request signal from the at least two parking request signals when the first parking request signal does not match the first driving mode, wherein the driving modes further include a third driving mode of the vehicle when the third parking request is received, and the third parking request signal is selected from parking request signals other than the first parking request signal and matching the third driving mode;
and the third control module is used for controlling the vehicle to execute a parking instruction corresponding to the third parking request signal or a corresponding parking releasing instruction.
10. The coordination device according to claim 7, wherein a parking request priority of a parking request signal transmitted by the electronically controlled hydraulic brake system is higher than a parking request priority of any one of parking request signals respectively transmitted by the vehicle emergency brake system, the remote emergency brake system, and the vehicle collision avoidance system;
parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system have the same parking request priority;
the parking request priority of any one of the parking request signals respectively sent by the vehicle emergency braking system, the remote emergency braking system and the vehicle anti-collision system is higher than that of any one of the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote driving control system;
the parking request signals respectively sent by the automatic driving control system, the parallel driving control system and the remote control driving control system have the same parking request priority.
11. The coordinating device of any one of claims 7 to 10, wherein the selected parking request signal from the at least two parking request signals is a parking request signal issued by a vehicle control system corresponding to the driving mode of the vehicle at the time of receiving the selected parking request signal to determine that the selected parking request signal matches the driving mode of the vehicle at the time of receiving the selected parking request signal; or
And based on the parking request priority corresponding to each type of parking request signal, the parking request signal selected from the at least two types of parking request signals is the parking request priority which is higher than the parking request signal sent by the vehicle control system corresponding to the driving mode of the vehicle when the selected parking request signal is received, so as to determine that the selected parking request signal is matched with the driving mode of the vehicle when the selected parking request signal is received.
12. The tuning apparatus of claim 7, further comprising a fourth control module configured to:
when at least one parking request signal is received again, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, the vehicle is controlled to execute a parking instruction corresponding to the at least one parking request signal or a corresponding parking releasing instruction; or
And when a fourth parking request signal which is continuously requested exists in the at least two parking request signals, after the vehicle is controlled to maintain the vehicle state corresponding to the first parking request signal for a preset time period, controlling the vehicle to execute a parking instruction corresponding to the fourth parking request signal or a corresponding parking releasing instruction.
13. An electronic device, characterized in that the electronic device comprises: processor, memory and bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when an electronic device is running, the machine readable instructions when executed by the processor performing the method of coordinating a parking signal according to any of claims 1 to 6.
14. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, performs the method of coordinating a parking signal according to any one of claims 1 to 6.
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