CN112256003B - Method for guaranteeing safety of remote control parking process - Google Patents
Method for guaranteeing safety of remote control parking process Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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Abstract
The invention relates to the technical field of vehicle safety, discloses a method for guaranteeing safety of a remote control parking process, and provides a remote control parking safety system, which comprises the following steps: the system comprises a vehicle end, a safety unit and a brake unit, wherein the vehicle end is provided with the safety unit, and the safety unit comprises a verification question bank and a safety arbitration module; the method comprises a remote control parking step, a random parameter generation step, a safety unit calculation step, a mobile phone end calculation step, a safety verification step and a braking step, wherein a driver starts the remote control parking function of a vehicle through the mobile phone end, verifies a question bank, generates a random parameter and sends the random parameter to a safety arbitration module and a safety program of the mobile phone end; and the safety arbitration module checks the correctness and the real-time property of the calculation result from the mobile phone terminal according to the calculation result of the safety unit, and controls the vehicle to brake through the braking unit when the calculation result is inconsistent or the real-time property does not meet the preset time requirement.
Description
Technical Field
The invention relates to the technical field of vehicle safety, in particular to a method for guaranteeing safety of a remote control parking process.
Background
With the development of the vehicle driving assistance function, more and more vehicles are equipped with a remote parking function. The remote control parking vehicle owner is through cell-phone APP or bluetooth key start function of parking, and the driver can be at the parking stall closely control vehicle. The mobile phone APP can start and stop the parking function.
In order to ensure safety and reliability, the mobile phone and the vehicle section are required to be in a communication state all the time, and it is ensured that a driver can control the vehicle to enter a safety state through a safety switch on the APP under an emergency condition, otherwise, some vehicle collision and child rolling accidents can be caused. This is a driving assistance function that requires the association of ginseng and the driver needs to be the final line of defense for vehicle safety.
However, when the mobile phone APP is stuck or the program runs away, it cannot be ensured that the driver can effectively and timely enter the vehicle into the safe state in the running state of the vehicle, so that great potential safety hazards exist.
Disclosure of Invention
The invention aims to provide a method for guaranteeing safety in a remote control parking process, which has the advantage that a remote control parking system can automatically enter a safe state in a state that a mobile phone end is stuck or a program runs off.
In order to achieve the above purpose, the basic scheme of the invention is as follows: a method of securing a remote controlled parking process, providing a remote controlled parking safety system comprising:
the system comprises a vehicle end, a remote control parking function and a remote control parking function, wherein the vehicle end is configured with the remote control parking function; the vehicle end is provided with a safety unit and a brake unit, the safety unit comprises an authentication question bank and a safety arbitration module, the brake unit comprises a brake control module, the authentication question bank stores random parameters a, b, c, d, e and f, the authentication question bank is provided with a generating function for generating random parameter values, the generating function is RANDBETWEEN (0, 9), and the generated random parameter values are sequentially assigned to a, b, c, d, e and f;
the security arbitration module is configured with a security verification policy, the security verification policy is configured with a security verification algorithm, the security verification algorithm comprises a security verification formula, and the security verification formula is as follows:
F＝1+a·2 1 +b·2 2 +c·2 3 +d·2 4 +e·2 5 +f·2 6
the safety verification formula can calculate to obtain a verification result F0 according to random parameters generated by a verification question bank;
the mobile phone end is used for starting or closing the remote control parking function of the vehicle;
the mobile phone end is configured with a basic program and a safety program, the basic program is used for obtaining a driver instruction and starting or closing a remote control parking function of the vehicle, and when the remote control parking function is started, the basic program can receive vehicle state information from the vehicle end; the safety program is used for information interaction with a safety unit at a vehicle end, a safety verification formula from the safety unit is stored in the safety program, the safety program can receive random parameters a, b, c, d, e and F from a verification question bank, a calculation result F1 is obtained by calculation according to the stored safety verification formula, and the calculation result F1 is sent to a safety arbitration module;
the safety arbitration module is also provided with a safety check strategy, the safety check strategy is used for checking the correctness and the real-time property of a calculation result from the mobile phone end, and when F0= F1 and the time T of the safety arbitration module receiving the F1 is less than 1s, the remote control parking function of the vehicle is continuously started; when F0 is not equal to F1 or the time T when the safety arbitration module receives F1 is not less than 1s, the safety arbitration module sends an emergency braking command to a braking unit of a vehicle end;
the method comprises the following steps:
remote control parking: a driver inputs a parking instruction to the mobile phone end, the mobile phone end sends the parking instruction to the vehicle end, and the vehicle end starts a remote control parking function;
a random parameter generation step: the verification question bank generates random parameter values according to a generating function RANDBETWEEN (0, 9), assigns the random parameter values to a, b, c, d, e and f in sequence, and sends the random parameter values to a security arbitration module and a security program of a mobile phone end;
a safety unit calculation step: a safety arbitration module of the safety unit receives random parameters a, b, c, d, e and F from the verification question bank and calculates according to a safety verification formula to obtain a calculation result F0;
calculating at the mobile phone end: the security program receives random parameters a, b, c, d, e and F from the verification question bank, calculates according to a stored security verification formula to obtain a calculation result F1, and sends the calculation result F1 to the security arbitration module;
a safety verification step: the safety verification strategy in the safety arbitration module verifies the correctness and the real-time performance of the calculation result from the mobile phone terminal, and when F0= F1 and the time T of the safety arbitration module receiving the F1 is less than 1s, the remote control parking function of the vehicle is continuously started; when F0 is not equal to F1 or the time T when the safety arbitration module receives F1 is not less than 1s, the safety arbitration module sends an emergency braking command to a braking unit of a vehicle end.
Braking: the braking unit receives an emergency braking command from the safety arbitration module, and the braking control module controls the vehicle to brake.
Further, the random parameter a is provided with a first influence factor, the first influence factor is tire pressure of a wheel, a first influence strategy is configured in the verification question bank, the first influence strategy is configured with a first influence algorithm, the first influence algorithm includes a first influence formula, and the first influence formula is as follows:
wherein α is a first weight parameter, p 0 For an initial time T of each time period 0 Of the wheel, p 1 For the end time T of each time period 1 The tire pressure value of the wheel.
Further, the random parameter b is provided with a second influence factor, the second influence factor is a vehicle body inclination angle, a second influence strategy is configured in the verification question bank, a second influence algorithm is configured in the second influence strategy, the second influence algorithm comprises a second influence formula, and the second influence formula is as follows:
wherein β is a second weight parameter, s 0 For an initial time T of each time period 0 Value of the angle of inclination of the vehicle body, s 1 For the end time T of each time period 1 The body inclination angle value of (a).
Further, the random parameter c is provided with a third influence factor, the third influence factor is a vehicle trip, a third influence strategy is configured in the verification question bank, the third influence strategy is configured with a third influence algorithm, the third influence algorithm includes a third influence formula, and the third influence formula is as follows:
wherein γ is a third weight parameter, x 0 For an initial time T of each time period 0 Vehicle travel value of x 1 For the end time T of each time period 1 The vehicle trip value of (1).
Further, the random parameter d is provided with a fourth influence factor, the fourth influence factor is a wheel steering angle, a fourth influence strategy is configured in the verification question bank, a fourth influence algorithm is configured in the fourth influence strategy, the fourth influence algorithm includes a fourth influence formula, and the fourth influence formula is as follows:
d＝δ∑θ i
wherein δ is a fourth weight parameter, Σ θ i For each time T in the same time period i Is measured by the average of the wheel steering angle values of (a).
Further, the random parameter e is provided with a fifth influence factor, the fifth influence factor is a vehicle speed, a fifth influence strategy is configured in the verification question bank, the fifth influence strategy is configured with a fifth influence algorithm, the fifth influence algorithm includes a fifth influence formula, and the fifth influence formula is as follows:
wherein ε is a fifth weight parameter, v 0 For an initial time T of each time period 0 Vehicle speed value of v 1 For the end time T of each time period 1 The vehicle speed value, ∑ v i Each time T in the same time period i Is calculated as an average value of the vehicle speed values of (1).
Further, the random parameter f is provided with a sixth influence factor, the sixth influence factor is a distance between the vehicle and an adjacent vehicle, a sixth influence strategy is configured in the verification question bank, a sixth influence algorithm is configured in the sixth influence strategy, the sixth influence algorithm includes a sixth influence formula, and the sixth influence formula is as follows:
wherein λ is a sixth weight parameter, y 0i For an initial time T of each time period 0 The distance value of the head of the vehicle from the adjacent vehicle, y 0j For an initial time T of each time period 0 The distance value between the tail of the vehicle and the adjacent vehicle; y is 1i For the end time T of each time period 1 The distance value of the head of the vehicle from the adjacent vehicle, y 1j For the end time T of each time period 1 The distance value between the tail of the vehicle and the adjacent vehicle.
Furthermore, the generation period of the random parameter value of the verification question bank is 0.45 s-0.5 s.
Further, the safety arbitration module is configured with a safety vehicle speed monitoring strategy, the safety vehicle speed monitoring strategy comprises a safety vehicle speed threshold value, and when the parking speed of the automobile is detected to be greater than the safety vehicle speed threshold value in the remote control parking process, the safety arbitration module sends an emergency braking command to a braking unit of the automobile end.
Further, the safe vehicle speed threshold is set to be 3 km/h-5 km/h.
Compared with the prior art, the scheme has the beneficial effects that:
1. in the remote control parking process, the generation periods of random parameter values can be preset for the verification question bank according to different parking environments, and in each continuous generation period, the verification question bank sends the generated random parameter values to the safety arbitration module and the safety program of the mobile phone end; the safety verification strategy verifies the correctness and the real-time performance of a calculation result F0 of the safety unit and a calculation result F1 from the mobile phone terminal, and when F0= F1 and the time T of the safety arbitration module receiving F1 is less than 1s, the remote control parking function of the vehicle is continuously started; when F0 ≠ F1 or the time T that the safety arbitration module receives F1 is greater than or equal to 1s, the mobile phone APP jamming or program running and flying situation occurs at the mobile phone end, at the moment, the safety arbitration module can send an emergency braking command to a braking unit of the vehicle end, the braking unit receives the emergency braking command from the safety arbitration module, the brake control module controls the vehicle to brake, and the vehicle can timely and autonomously enter a safety state.
2. The authentication question bank stores random parameters a, b, c, d, e and f, and the security arbitration module is configured with a security authentication formula associated with the random parameters: f =1 a.2 1 +b·2 2 +c·2 3 +d·2 4 +e·2 5 +f·2 6 The weights of a, b, c, d, e and F to the calculation result F are expressed in the safety verification formula, the weight proportion of the random parameters a, b, c, d, e and F is gradually increased, the influence of vehicle body data and the influence of environmental factors can be involved in the remote control parking process, and different influence factors are respectively set according to the weight proportion of the random parameters.
3. Preferably selecting six influence factors, namely tire pressure of wheels, vehicle body inclination angle, vehicle travel, wheel steering angle, vehicle speed and distance between the vehicle and an adjacent vehicle, from the vehicle body data influence factors and the environment factor influence factors, respectively setting the six influence factors into random parameters, distributing the influence factors into the random parameters a, b, c, d, e and f according to weight proportion, updating the influence factors a, b, c, d, e and f according to influence strategies configured in a verification question bank, wherein the influence formula in each influence strategy corresponds to the time T of each time period i The random parameters a, b, c, d, e and f are correlated with each other, so that the timely effectiveness of the random parameters a, b, c, d, e and f is ensured, and the safety of the vehicle in the remote control parking process can be further improved.
Drawings
FIG. 1 is a schematic diagram of a remote parking security system according to the present invention;
FIG. 2 is a flow chart illustrating the steps of the method of the present invention.
Reference numerals in the drawings of the specification include: the system comprises a vehicle end 1, a safety unit 2, a brake unit 3, a basic program 4, a safety program 5, an authentication question bank 6, a safety arbitration module 7 and a brake control module 8.
Detailed Description
The invention will be described in further detail by means of specific embodiments with reference to the accompanying drawings:
example (b):
a method for securing a remote parking process, as shown in fig. 1, provides a remote parking safety system, comprising:
the vehicle end 1 is provided with a remote control parking function; the vehicle end 1 is provided with a safety unit 2 and a brake unit 3, the safety unit 2 comprises an authentication question bank 6 and a safety arbitration module 7, the brake unit 3 comprises a brake control module 8, the authentication question bank 6 stores random parameters a, b, c, d, e and f, the authentication question bank 6 is provided with a generation function for generating random parameter values, the generation period of the random parameter values of the authentication question bank 6 is 0.5s, the generation function is RANDBETWEEN (0, 9), and the generated random parameter values are sequentially assigned to a, b, c, d, e and f;
the random parameter a is provided with a first influence factor, the first influence factor is the tire pressure of the wheel, a first influence strategy is configured in the verification question bank, a first influence algorithm is configured in the first influence strategy, the first influence algorithm comprises a first influence formula, and the first influence formula is as follows:
where α is a first weight parameter, p 0 For an initial time T of each time period 0 Of the wheel, p 1 For the end time T of each time period 1 The tire pressure value of the wheel.
The random parameter b is provided with a second influence factor, the second influence factor is an inclination angle of the vehicle body, a second influence strategy is configured in the verification question bank, a second influence algorithm is configured in the second influence strategy, the second influence algorithm comprises a second influence formula, and the second influence formula is as follows:
where β is a second weight parameter, s 0 For an initial time T of each time period 0 Value of the angle of inclination of the vehicle body, s 1 For the end time T of each time period 1 The body inclination angle value of (a).
The random parameter c is provided with a third influence factor, the third influence factor is a vehicle travel, a third influence strategy is configured in the verification question bank, a third influence algorithm is configured in the third influence strategy, the third influence algorithm comprises a third influence formula, and the third influence formula is as follows:
wherein γ is a third weight parameter, x 0 For an initial time T of each time period 0 Vehicle travel value of x 1 For the end time T of each time period 1 The vehicle trip value of (1).
The random parameter d is provided with a fourth influence factor, the fourth influence factor is a wheel steering angle, a fourth influence strategy is configured in the verification question bank, a fourth influence algorithm is configured in the fourth influence strategy, the fourth influence algorithm comprises a fourth influence formula, and the fourth influence formula is as follows:
d＝δ∑θ i
where δ is a fourth weight parameter, Σ θ i For each time T in the same time period i Is measured by the average of the wheel steering angle values of (a).
The random parameter e is provided with a fifth influence factor, the fifth influence factor is the vehicle speed, a fifth influence strategy is configured in the verification question bank, a fifth influence algorithm is configured in the fifth influence strategy, the fifth influence algorithm comprises a fifth influence formula, and the fifth influence formula is as follows:
wherein ε isFive weight parameters, v 0 For an initial time T of each time period 0 Vehicle speed value of v 1 For the end time T of each time period 1 The vehicle speed value, ∑ v i Each time T in the same time period i Is calculated as an average value of the vehicle speed values of (1).
The random parameter f is provided with a sixth influence factor, the sixth influence factor is the distance between the vehicle and the adjacent vehicle, a sixth influence strategy is configured in the verification question bank, a sixth influence algorithm is configured in the sixth influence strategy, the sixth influence algorithm comprises a sixth influence formula, and the sixth influence formula is as follows:
wherein λ is a sixth weight parameter, y 0i For an initial time T of each time period 0 The distance value of the head of the vehicle from the adjacent vehicle, y 0j For an initial time T of each time period 0 The distance value between the tail of the vehicle and the adjacent vehicle; y is 1i For the end time T of each time period 1 The distance value of the head of the vehicle from the adjacent vehicle, y 1j For the end time T of each time period 1 The distance value between the tail of the vehicle and the adjacent vehicle.
The safety arbitration module 7 is configured with a safety verification strategy, the safety verification strategy is configured with a safety verification algorithm, the safety verification algorithm comprises a safety verification formula, and the safety verification formula is as follows:
F＝1+a·2 1 +b·2 2 +c·2 3 +d·2 4 +e·2 5 +f·2 6
the safety verification formula can calculate a verification result F0 according to random parameters generated by the verification question bank 6;
the mobile phone end is used for starting or closing the remote control parking function of the vehicle;
the mobile phone end is provided with a basic program 4 and a safety program 5, the basic program 4 is used for obtaining a driver instruction and starting or closing a remote control parking function of the vehicle, and when the remote control parking function is started, the basic program 4 can receive vehicle state information from the vehicle end 1; the safety program 5 is used for information interaction with the safety unit 2 of the vehicle end 1, the safety program 5 stores a safety verification formula from the safety unit 2, the safety program 5 can receive random parameters a, b, c, d, e and F from the verification question bank 6, calculate according to the stored safety verification formula to obtain a calculation result F1, and send the calculation result F1 to the safety arbitration module 7;
the safety arbitration module 7 is also configured with a safety check strategy, the safety check strategy is used for checking the correctness and the real-time performance of the calculation result from the mobile phone end, and when F0= F1 and the time T of the safety arbitration module 7 receiving the F1 is less than 1s, the remote control parking function of the vehicle is continuously started; when F0 is not equal to F1 or the time T of the safety arbitration module 7 receiving F1 is more than or equal to 1s, the safety arbitration module 7 sends an emergency braking command to the braking unit 3 of the vehicle end 1;
the safety arbitration module 7 is also configured with a safety vehicle speed monitoring strategy, the safety vehicle speed monitoring strategy comprises a safety vehicle speed threshold value, the safety vehicle speed threshold value is set to be 3km/h, and in the remote control parking process, when the parking speed of the automobile is detected to be greater than the safety vehicle speed threshold value, the safety arbitration module 7 sends an emergency braking command to the braking unit 3 of the vehicle end 1.
As shown in fig. 2, the method comprises the following steps:
remote control parking step: a driver inputs a parking instruction to a mobile phone end, the mobile phone end sends the parking instruction to a vehicle end 1, and the vehicle end 1 starts a remote control parking function;
a random parameter generation step: the verification question bank 6 generates random parameter values according to a generating function RANDBETWEEN (0, 9), gives the random parameter values a, b, c, d, e and f in sequence, and sends the random parameter values to the security arbitration module 7 and the security program 5 of the mobile phone end;
the safety unit 2 calculating step: the safety arbitration module 7 of the safety unit 2 receives the random parameters a, b, c, d, e and F from the verification question bank 6 and calculates according to a safety verification formula to obtain a calculation result F0;
calculating at the mobile phone end: the security program 5 receives the random parameters a, b, c, d, e and F from the verification question bank 6, calculates according to a stored security verification formula to obtain a calculation result F1, and sends the calculation result F1 to the security arbitration module 7;
a safety verification step: the safety verification strategy in the safety arbitration module 7 verifies the correctness and the real-time performance of the calculation result from the mobile phone terminal, and when F0= F1 and the time T of the safety arbitration module 7 receiving the F1 is less than 1s, the remote control parking function of the vehicle is continuously started; when F0 ≠ F1 or the time T when the safety arbitration module 7 receives F1 is greater than or equal to 1s, the safety arbitration module 7 sends an emergency braking command to the braking unit 3 of the vehicle end 1.
Braking: the brake unit 3 receives an emergency braking command from the safety arbitration module 7, and the brake braking module controls the vehicle to brake.
The specific implementation mode of the scheme is as follows:
the driver inputs a parking instruction to the mobile phone end, the mobile phone end sends the parking instruction to the vehicle end 1, the vehicle end 1 starts a remote control parking function, the parking speed of the vehicle is limited to be below 3km/h and about 0.83m/s, random parameter values generated by the question bank 6 are verified, the random parameter values are given to a, b, c, d, e and f in sequence, and the random parameters are sent to the safety arbitration module 7 and the safety program 5 of the mobile phone end.
The generation period of the random parameter values of the verification question bank 6 is set to be 0.5s, the time of calculation and logic arbitration is considered, the whole process needs about 1s, namely the moving distance of the vehicle in the safety verification process is about 0.83m, and the actual moving distance is roughly estimated to be about 1m after the brake delay is considered. Considering that the safety awareness distance of a driver is 0.8-1.0m (namely the distance when the driver feels that the situation is dangerous and needs to autonomously control the vehicle to stop), the distances between the front wheels and the rear wheels of the vehicle are respectively more than 0.3m away from the front bumper and the rear bumper, so the actual safety distance is more than 1.1 m. Verification is performed with a period of 0.5s, and the risk of crushing can be avoided in terms of time.
The safety arbitration module 7 of the safety unit 2 receives the random parameters a, b, c, d, e and F from the verification question bank 6 and calculates according to a safety verification formula to obtain a calculation result F0; meanwhile, the security program 5 of the mobile phone end receives the random parameters a, b, c, d, e and F from the verification question bank 6, calculates according to a stored security verification formula to obtain a calculation result F1, and sends the calculation result F1 to the security arbitration module 7; the safety verification strategy in the safety arbitration module 7 verifies the correctness and the real-time performance of the calculation result from the mobile phone terminal, and when F0= F1 and the time T of the safety arbitration module 7 receiving the F1 is less than 1s, the remote control parking function of the vehicle is continuously started; when F0 is not equal to F1 or the time T that the safety arbitration module 7 receives F1 is more than or equal to 1s, the safety arbitration module 7 sends an emergency braking command to the braking unit 3 of the vehicle end 1, and the braking unit 3 receives the emergency braking command from the safety arbitration module 7 and controls the vehicle to brake, so that the safety of the vehicle in a remote control parking state is ensured.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. A method for guaranteeing safety of a remote control parking process is characterized by comprising the following steps: there is provided a remote controlled parking safety system, comprising:
the system comprises a vehicle end, a remote control parking function and a parking control unit, wherein the vehicle end is configured with the remote control parking function; the vehicle end is provided with a safety unit and a brake unit, the safety unit comprises an authentication question bank and a safety arbitration module, the brake unit comprises a brake control module, the authentication question bank stores random parameters a, b, c, d, e and f, the authentication question bank is provided with a generating function for generating random parameter values, the generating function is RANDBETWEEN (0, 9), and the generated random parameter values are sequentially assigned to a, b, c, d, e and f;
the security arbitration module is configured with a security verification policy, the security verification policy is configured with a security verification algorithm, the security verification algorithm comprises a security verification formula, and the security verification formula is as follows:
F＝1+a·2 1 +b·2 2 +c·2 3 +d·2 4 +e·2 5 +f·2 6
the safety verification formula can calculate to obtain a verification result F0 according to random parameters generated by a verification question bank;
the mobile phone end is used for starting or closing the remote control parking function of the vehicle;
the mobile phone end is configured with a basic program and a safety program, the basic program is used for obtaining a driver instruction and starting or closing a remote control parking function of the vehicle, and when the remote control parking function is started, the basic program can receive vehicle state information from the vehicle end; the safety program is used for information interaction with a safety unit at a vehicle end, a safety verification formula from the safety unit is stored in the safety program, the safety program can receive random parameters a, b, c, d, e and F from a verification question bank, a calculation result F1 is obtained by calculation according to the stored safety verification formula, and the calculation result F1 is sent to a safety arbitration module;
the safety arbitration module is also provided with a safety check strategy, the safety check strategy is used for checking the correctness and the real-time performance of a calculation result from the mobile phone terminal, and when F0= F1 and the time T of the safety arbitration module receiving the F1 is less than 1s, the remote control parking function of the vehicle is continuously started; when F0 is not equal to F1 or the time T when the safety arbitration module receives F1 is more than or equal to 1s, the safety arbitration module sends an emergency braking command to a braking unit of a vehicle end, and the braking control module controls the vehicle to brake;
the method comprises the following steps:
remote control parking: a driver inputs a parking instruction to a mobile phone end, the mobile phone end sends the parking instruction to a vehicle end, and the vehicle end starts a remote control parking function;
a random parameter generation step: the verification question bank generates random parameter values according to a generating function RANDBETWEEN (0, 9), gives the random parameter values to a, b, c, d, e and f in sequence, and sends the random parameter values to a security arbitration module and a security program of a mobile phone end;
a safety unit calculation step: a safety arbitration module of the safety unit receives random parameters a, b, c, d, e and F from a verification question bank and calculates a calculation result F0 according to a safety verification formula;
calculating at the mobile phone end: the safety program receives random parameters a, b, c, d, e and F from the verification question bank, calculates according to a stored safety verification formula to obtain a calculation result F1, and sends the calculation result F1 to the safety arbitration module;
a safety verification step: the safety verification strategy in the safety arbitration module verifies the correctness and the real-time performance of the calculation result from the mobile phone terminal, and when F0= F1 and the time T of the safety arbitration module receiving the F1 is less than 1s, the remote control parking function of the vehicle is continuously started; when F0 is not equal to F1 or the time T of the safety arbitration module receiving F1 is more than or equal to 1s, the safety arbitration module sends an emergency braking command to a braking unit of a vehicle end;
braking: the braking unit receives an emergency braking command from the safety arbitration module, and the braking control module controls the vehicle to brake;
the random parameter a is provided with a first influence factor, the first influence factor is the tire pressure of the wheel, the verification question bank is configured with a first influence strategy, the first influence strategy is configured with a first influence algorithm, the first influence algorithm comprises a first influence formula, and the first influence formula is as follows:
wherein α is a first weight parameter, p 0 For an initial time T of each time period 0 Of the wheel, p 1 For the end time T of each time period 1 The tire pressure value of the wheel.
2. The method for securing a remote parking procedure according to claim 1, wherein: the random parameter b is provided with a second influence factor, the second influence factor is a vehicle body inclination angle, a second influence strategy is configured in the verification question bank, a second influence algorithm is configured in the second influence strategy, the second influence algorithm comprises a second influence formula, and the second influence formula is as follows:
wherein β is a second weight parameter, s 0 For an initial time T of each time period 0 Value of the angle of inclination of the vehicle body, s 1 For the end time T of each time period 1 The body inclination angle value of (a).
3. The method for securing a remote parking procedure according to claim 1, wherein: the random parameter c is provided with a third influence factor, the third influence factor is a vehicle travel, a third influence strategy is configured in the verification question bank, a third influence algorithm is configured in the third influence strategy, the third influence algorithm comprises a third influence formula, and the third influence formula is as follows:
wherein γ is a third weight parameter, x 0 For an initial time T of each time period 0 Vehicle travel value of x 1 For the end time T of each time period 1 The vehicle trip value of (1).
4. The method for safeguarding the safety of a remote parking maneuver according to claim 1, wherein: the random parameter d is provided with a fourth influence factor, the fourth influence factor is a wheel steering angle, a fourth influence strategy is configured in the verification question bank, the fourth influence strategy is configured with a fourth influence algorithm, the fourth influence algorithm comprises a fourth influence formula, and the fourth influence formula is as follows:
d＝δ∑θ i
wherein δ is a fourth weight parameter, Σ θ i For each time T in the same time period i Is measured by the average of the wheel steering angle values of (a).
5. The method for securing a remote parking procedure according to claim 1, wherein: the random parameter e is provided with a fifth influence factor, the fifth influence factor is a vehicle speed, a fifth influence strategy is configured in the verification question bank, a fifth influence algorithm is configured in the fifth influence strategy, the fifth influence algorithm comprises a fifth influence formula, and the fifth influence formula is as follows:
wherein ε is a fifth weight parameter, v 0 For an initial time T of each time period 0 Vehicle speed value of v 1 For the end time T of each time period 1 The vehicle speed value, ∑ v i Each time T in the same time period i Is calculated as an average value of the vehicle speed values of (a).
6. The method for securing a remote parking procedure according to claim 1, wherein: the random parameter f is provided with a sixth influence factor, the sixth influence factor is a distance between a vehicle and an adjacent vehicle, a sixth influence strategy is configured in the verification question bank, a sixth influence algorithm is configured in the sixth influence strategy, the sixth influence algorithm comprises a sixth influence formula, and the sixth influence formula is as follows:
wherein λ is a sixth weight parameter, y 0i For an initial time T of each time period 0 The distance value of the head of the vehicle from the adjacent vehicle, y 0j For an initial time T of each time period 0 The distance value between the tail of the vehicle and the adjacent vehicle; y is 1i For the end time T of each time period 1 The distance value of the head of the vehicle from the adjacent vehicle, y 1j For the end time T of each time period 1 The distance value between the tail of the vehicle and the adjacent vehicle.
7. The method for safeguarding the safety of a remote parking maneuver according to claim 1, wherein: the generation period of the random parameter values of the verification question bank is 0.45 s-0.5 s.
8. The method for safeguarding the safety of a remote parking maneuver according to claim 1, wherein: the safety arbitration module is configured with a safety vehicle speed monitoring strategy, the safety vehicle speed monitoring strategy comprises a safety vehicle speed threshold value, and when the parking speed of the automobile is detected to be greater than the safety vehicle speed threshold value in the remote control parking process, the safety arbitration module sends an emergency braking command to a braking unit of the automobile end.
9. The method for securing a remote parking procedure according to claim 8, wherein: the safe vehicle speed threshold is set to be 3 km/h-5 km/h.
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