CN-121989918-A - Intelligent driving safety control method, device and equipment

CN121989918ACN 121989918 ACN121989918 ACN 121989918ACN-121989918-A

Abstract

The application discloses an intelligent driving safety control method, device and equipment, and relates to the technical field of intelligent driving, wherein the method comprises the steps of determining the current driving stage of a target vehicle based on the current distance between the target vehicle and a target parking position and the current speed of the target vehicle; the method comprises the steps of determining a reliable state of a current running path of a target vehicle based on a preset running path, performing running control on the target vehicle based on a first safety constraint parameter corresponding to a cruising stage when the running stage is the cruising stage and the reliable state is an effective state so as to prolong fault tolerance time in unexpected steering, and performing parking control on the target vehicle based on a second safety constraint parameter corresponding to a parking stage when the running stage is the parking stage and the reliable state is the effective state so as to shorten braking distance in unexpected acceleration.

Inventors

WANG WEI
LUO TIEPING
ZHANG JINGWEI
Chen Denglinjun

Assignees

东风汽车集团股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260319

Claims (10)

1. An intelligent driving safety control method is characterized by comprising the following steps: Determining a driving stage of a target vehicle based on a current distance between the target vehicle and a target parking position and a current speed of the target vehicle, wherein the driving stage comprises a cruising stage or a parking stage; Determining a trusted state of a current travel path of the target vehicle based on a preset travel path, wherein the preset travel path is a travel path from a starting position to the target parking position, which is recorded by the target vehicle in a memory learning stage, and the trusted state comprises a valid state or an invalid state; When the driving stage is the cruising stage and the trusted state is the effective state, driving control is carried out on the target vehicle based on a first safety constraint parameter corresponding to the cruising stage so as to prolong the fault tolerance time in unexpected steering; And when the driving stage is the parking stage and the trusted state is the effective state, parking control is performed on the target vehicle based on a second safety constraint parameter corresponding to the parking stage so as to shorten the braking distance when unexpected acceleration is performed.
2. The method of claim 1, wherein the determining a current phase of travel of the target vehicle based on a current distance between the target vehicle and a target park location and a current vehicle speed of the target vehicle comprises: When the current distance is greater than or equal to a preset distance threshold or the current vehicle speed is greater than or equal to a preset vehicle speed threshold, determining that the driving stage is the cruising stage; And when the current distance is smaller than the preset distance threshold value and the current vehicle speed is smaller than the preset vehicle speed threshold value, determining the driving stage to be the parking stage.
3. The method according to claim 1 or 2, further comprising: setting a state zone bit for identifying the driving stage, wherein a first preset value is used for identifying the cruising stage, and a second preset value is used for identifying the parking stage; initializing the value of the state zone bit to the first preset value after the target vehicle starts the memory parking function; And after the driving stage is determined to be the cruising stage or the parking stage, updating the value of the state zone bit to be the first preset value or the second preset value corresponding to the determined driving stage.
4. The method of claim 1, wherein the determining the trusted status of the current travel path of the target vehicle based on the preset travel path comprises: acquiring preset characteristic information of at least one path characteristic point from the preset running path, wherein the path characteristic point is a key position point which is recorded in the memory learning stage and used for representing the preset running path; Acquiring actual characteristic information corresponding to the at least one path characteristic point, which is passed by the target vehicle after the target vehicle starts to run from the starting position; matching and matching the actual characteristic information with the corresponding preset characteristic information to obtain a matching result; And determining the credible state of the current driving path based on the matching result.
5. The method according to claim 1, wherein the running control of the target vehicle based on the first safety constraint parameter corresponding to the cruise phase includes: Determining a preset acceleration upper limit, a preset steering angle upper limit, a preset vehicle speed upper limit and a preset angular rate upper limit allowed by the cruising stage based on the first safety constraint parameter; Acquiring a request control parameter for controlling the running of the target vehicle, wherein the request control parameter comprises a request acceleration, a request steering angle, a request vehicle speed and a request steering angle rate; when the request acceleration is greater than a preset acceleration upper limit, or the request steering angle is greater than a preset steering angle upper limit, or the request vehicle speed is greater than a preset vehicle speed upper limit, or the request steering angle rate is greater than a preset angle rate upper limit, corresponding request parameters exceeding the preset acceleration upper limit, the preset steering angle upper limit, the preset vehicle speed upper limit or the preset angle rate upper limit are adjusted to be not greater than a preset upper limit value defined by the first safety constraint parameter.
6. The method according to claim 4, further comprising, after the determining the trusted status of the current travel path of the target vehicle based on the preset travel path: and when the trusted state is an invalid state, closing the automatic parking function of the target vehicle.
7. The method according to claim 3, characterized by, after the parking control of the target vehicle based on the second security constraint parameter corresponding to the parking phase when the driving phase is the parking phase and the trusted state is the valid state, further comprising: determining a parameter consistency state based on the current speed of the target vehicle and the state flag bit; And when the parameter consistency state indicates that the current vehicle speed is greater than a preset vehicle speed upper limit corresponding to the parking stage and the state zone bit identifies the parking stage, performing fault degradation processing on the target vehicle.
8. The method as recited in claim 1, further comprising: Acquiring an opening signal of a brake pedal; Determining the current opening of the brake pedal based on the opening signal; and when the current opening is larger than a preset opening threshold, controlling the target vehicle to perform braking operation, and keeping the memory parking function in an activated state.
9. An intelligent driving safety control device, characterized by comprising: a driving stage determining unit, configured to determine a driving stage in which a target vehicle is currently located based on a current distance between the target vehicle and a target parking position and a current vehicle speed of the target vehicle, where the driving stage includes a cruising stage or a parking stage; A trusted state determining unit, configured to determine a trusted state of a current travel path of the target vehicle based on a preset travel path, where the preset travel path is a travel path from a start position to the target parking position, recorded in a memory learning stage, of the target vehicle, and the trusted state includes an effective state or an invalid state; A driving stage control unit, configured to perform driving control on the target vehicle based on a first safety constraint parameter corresponding to the cruising stage when the driving stage is the cruising stage and the trusted state is the valid state, so as to prolong a fault tolerance time when steering is not expected; And the parking stage control unit is used for performing parking control on the target vehicle based on a second safety constraint parameter corresponding to the parking stage when the driving stage is the parking stage and the trusted state is the effective state so as to shorten the braking distance when unexpected acceleration is performed.
10. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor is adapted to implement the steps of the intelligent driving safety control method according to any one of claims 1 to 8 when executing the computer program stored in the memory.

Description

Intelligent driving safety control method, device and equipment Technical Field The application relates to the technical field of intelligent driving, in particular to an intelligent driving safety control method, device and equipment. Background In recent years, a memory parking (Home-Zone PARKING ASSIST, HPA) function has been gradually applied to the field of intelligent driving as an expansion of an automatic parking technology. The function typically includes a cruise phase from a starting point to a target parking space area, and a park entry phase after a parking space is reached. In practical application, there is an inherent difference between the speed and steering of the vehicle in the cruise phase and the parking phase. However, the current method has difficulty in adapting the safety control constraint matched with the vehicle according to the judgment of the actual stage of the vehicle during the whole travel from cruising to parking. This lack of adaptation to the safety control strategy can lead to unexpected control behavior of the vehicle during driving or switching, constituting a safety risk. Therefore, an intelligent driving safety control method is needed to solve the above-mentioned safety risk problem possibly caused by lack of accurate identification of driving stage and dynamic adaptation of corresponding safety constraint. Disclosure of Invention In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the application is not intended to limit the critical and essential features of the claimed subject matter, nor is it intended to be used to determine the scope of the claimed subject matter. The application aims to solve the problems of miscontrol and potential safety hazards caused by different requirements on vehicle control in the cruising and parking stages and lack of path safety verification in switching in the memory parking function. The method comprises the steps of obtaining a pre-recorded preset running path, combining the real-time distance between a vehicle and a target position and the vehicle speed, dynamically determining the reliable state of the running stage and the path, and controlling the vehicle according to safety constraint parameters matched with a cruising stage or a parking stage only when the path is effective on the basis. Therefore, the staged and verifiable safety cooperative control in the full-automatic parking process is realized, and the capacity of the system for coping with unexpected faults and the safety of the parking process are improved. In a first aspect, the present application provides an intelligent driving safety control method, including: Determining a driving stage of a target vehicle based on a current distance between the target vehicle and a target parking position and a current speed of the target vehicle, wherein the driving stage comprises a cruising stage or a parking stage; Determining a trusted state of a current travel path of the target vehicle based on a preset travel path, wherein the preset travel path is a travel path from a starting position to the target parking position, which is recorded by the target vehicle in a memory learning stage, and the trusted state comprises a valid state or an invalid state; When the driving stage is the cruising stage and the trusted state is the effective state, driving control is carried out on the target vehicle based on a first safety constraint parameter corresponding to the cruising stage so as to prolong the fault tolerance time in unexpected steering; And when the driving stage is the parking stage and the trusted state is the effective state, parking control is performed on the target vehicle based on a second safety constraint parameter corresponding to the parking stage so as to shorten the braking distance when unexpected acceleration is performed. In some embodiments, the determining a driving stage in which the target vehicle is currently located based on a current distance between the target vehicle and a target parking position and a current vehicle speed of the target vehicle includes: When the current distance is greater than or equal to a preset distance threshold or the current vehicle speed is greater than or equal to a preset vehicle speed threshold, determining that the driving stage is the cruising stage; And when the current distance is smaller than the preset distance threshold value and the current vehicle speed is smaller than the preset vehicle speed threshold value, determining the driving stage to be the parking stage. In some embodiments, further comprising: setting a state zone bit for identifying the driving stage, wherein a first preset value is used for identifying the cruising stage, and a second preset value is used for identifying the parking stage; initializing the value of the state zone bit to the first preset value after the target vehicle st