Automatic Parking Assist System, Its Control Unit and Control Method

Abstract

The present invention provides an automatic parking assistance system, its control unit and control method. The control unit includes: an acquisition module configured to acquire a first status signal and a second status signal, where the first status signal indicates whether the automatic parking assistance function of the automatic parking assistance system is activated and the duration of the activated state, and the second status signal indicates the validity status of the automatic parking assistance function; a processing module configured to determine that a vehicle in the parking process needs to stop when the first status signal and the second status signal meet the following conditions: (1) the first status signal indicates that the automatic parking assistance function is activated and the duration of the activated state is greater than or equal to a first predetermined duration; and (2) the second status signal indicates that the automatic parking assistance function fails; and a generation module configured to generate a braking instruction when the processing module determines that stopping is required.

Description

Technical Field

[0001] The present invention generally relates to the technical field of automatic parking assistance. Specifically, the present invention relates to an automatic parking assistance system, a control unit for the automatic parking assistance system, and a control method for automatic parking assistance. Background Art

[0002] An automatic parking assist (APA) system is used to assist a vehicle in automatically parking into or out of a parking space. In the prior art, there are many advantages in using an automatic parking assist system to park a vehicle into or out of a parking space. For example, the automatic parking assist system can sense the environment around the vehicle so that the vehicle can avoid obstacles in time during the process of parking into or out of the parking space. For example, the automatic parking assist system can plan a suitable parking route to improve the parking efficiency.

[0003] However, there are still unsolved problems in the existing solutions for using an automatic parking assist system to park a vehicle into or out of a parking space. For example, if the situation where the automatic parking assist system has lost control and has not been discovered in time occurs, at this time, the driver does not step on the brake pedal and the electronic parking brake system in the vehicle is also in a released state, then a collision accident is very likely to occur.

[0004] Therefore, it is desirable to propose a technical solution to solve the above problems in the prior art. Summary of the Invention

[0005] In view of the above problems in the prior art, the present invention aims to provide an improved technical solution for automatic parking assistance, which can improve the safety during the automatic parking assistance process.

[0006] According to an aspect of the present invention, there is provided a control unit for an automatic parking assistance system, including: an acquisition module configured to acquire a first status signal and a second status signal, where the first status signal indicates whether the automatic parking assistance function of the automatic parking assistance system is activated and the duration of the activated state, and the second status signal indicates the effectiveness status of the automatic parking assistance function; a processing module configured to determine that a vehicle in the parking process needs to be braked when the first status signal and the second status signal meet the following conditions: (1) the first status signal indicates that the automatic parking assistance function is activated and the duration of the activated state is greater than or equal to a first predetermined duration; and (2) the second status signal indicates that the automatic parking assistance function fails; and a generation module configured to generate a braking instruction for controlling the vehicle to perform a braking operation when the processing module determines that braking is required.

[0007] According to an embodiment, the acquisition module further acquires the vehicle speed, the relative distance between the vehicle and a potential collision object, and a predetermined safety distance, where the predetermined safety distance represents the safety distance between the vehicle and the potential collision object after the vehicle comes to a stop; the processing module is further configured to, when it is determined that braking is required, calculate a target deceleration for braking control based on the vehicle speed, the relative distance, and the predetermined safety distance; and the generation module is further configured to cause the braking instruction to include the target deceleration so as to control the vehicle to perform a braking control at the target deceleration.

[0008] According to an embodiment, the processing module calculates the target deceleration according to the following formula:

[0009] a = V 2 / [2*(S - D)],

[0010] where a is the target deceleration, V is the vehicle speed when it is determined that the vehicle needs to come to a stop, S is the relative distance between the vehicle and the potential collision object, and D is the predetermined safety distance.

[0011] According to an embodiment, the processing module is further configured to: when the calculated target deceleration is less than or equal to a predetermined lower limit value of the deceleration, update the target deceleration in the braking instruction to the predetermined lower limit value. Optionally, the predetermined lower limit value is 0.5 m / s 2 ; when the calculated target deceleration is greater than or equal to a predetermined upper limit value, update the target deceleration in the braking instruction to the predetermined upper limit value. Optionally, the predetermined upper limit value is 3 m / s 2 ; and when the relative distance between the vehicle and the potential collision object is less than or equal to the predetermined safety distance, update the target deceleration in the braking instruction to the predetermined upper limit value.

[0012] According to an embodiment, when an abnormal signal appears on the vehicle body network of the vehicle, the second state signal enters a state indicating the failure of the automatic parking assist function in response to the abnormal signal, and the abnormal signal represents an abnormal condition caused by a driver's misoperation of the vehicle or a handshake process failure in the vehicle.

[0013] According to an embodiment, the abnormal condition represented by the abnormal signal includes at least one of the following: the driver does not fasten the seat belt; the vehicle door or hood is not closed; the turn signal lamp for indicating the steering of the vehicle to park in or out of a parking space is not operated.

[0014] According to an embodiment, the abnormal condition indicated by the abnormal signal includes at least one of the following: the automatic parking assistance system fails to send a handshake request to the vehicle's stability system within a second predetermined time period; the stability system does not respond to the handshake request of the automatic parking assistance system within a third predetermined time period; the handshake between the automatic parking assistance system and the stability system fails.

[0015] According to an embodiment, the control unit is configured to be part of or communicatively connected to the automatic parking assistance system of the vehicle; or the control unit is configured to be part of or communicatively connected to the electronic parking brake system of the vehicle; or the control unit is configured to be part of or communicatively connected to the stability system of the vehicle.

[0016] According to another aspect of the present invention, there is provided an automatic parking assistance system, including: a detection device for detecting a first state signal, a second state signal, and a vehicle state signal, the first state signal indicating whether the automatic parking assistance function of the automatic parking assistance system is activated and the duration of the activated state, the second state signal indicating the effectiveness state of the automatic parking assistance function, and the vehicle state signal including the vehicle speed and the relative distance between the vehicle and a potential collision object; and a control device communicatively connected to the detection device and the control unit as described above, for generating a braking instruction according to the signals detected by the detection device and sending the braking instruction to the execution system of the vehicle, so that the execution system performs a braking operation based on the braking instruction.

[0017] According to still another aspect of the present invention, there is provided a control method for automatic parking assistance. Optionally, the control method is executed by the control unit and / or the automatic parking assistance system as described above. The control method includes: obtaining a first state signal and a second state signal, the first state signal indicating whether the automatic parking assistance function of the automatic parking assistance system is activated and the duration of the activated state, and the second state signal indicating the effectiveness state of the automatic parking assistance function; when the first state signal and the second state signal meet the following conditions, determining that the vehicle in the parking process needs to be braked: (1) the first state signal indicates that the automatic parking assistance function is activated and the duration of the activated state is greater than or equal to a first predetermined time period; and (2) the second state signal indicates that the automatic parking assistance function fails; and generating a braking instruction to control the vehicle to perform a braking operation when it is determined that braking is required.

[0018] It can be seen that according to the technical solution of the present invention, the failure state of the automatic parking assist function of the vehicle can be actively detected, and the vehicle can be braked in response to the failure state. Moreover, according to the technical solution of the present invention, a target deceleration can be provided for a vehicle that needs to be braked during the parking process to ensure that the vehicle can be braked in time without a collision accident. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic block diagram of an automatic parking assist system according to an embodiment of the present invention.

[0020] Figure 2 is for an embodiment of the present invention Figure 1 in the automatic parking assist system of the control unit schematic block diagram.

[0021] Figure 3 is a flowchart of a control method for automatic parking assist according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The present invention relates to a technical solution for automatic parking assist, which provides a control strategy for the automatic parking assist process of a vehicle. In the present invention, the term "parking" should be understood to include the situation of parking the vehicle into or out of a parking space.

[0023] Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0024] Figure 1 An automatic parking assist system 100 according to an embodiment of the present invention is schematically shown, which mainly includes a detection device 10 and a control device 20. The automatic parking assist system 100 is communicatively connected to an execution system 200 of the vehicle (for example, through a vehicle body network). In the present invention, the automatic parking assist system 100 generates an instruction according to its control strategy and sends the instruction to the execution system 200 for the execution system 200 to execute. The following specifically introduces each device of the automatic parking assist system 100 and the execution system.

[0025] The detection device 10 may include sensors for detecting the vehicle state. The sensors for detecting the vehicle state include, for example, a first sensor for detecting the relative distance between the vehicle and a potential collision object and a second sensor for detecting the vehicle speed.

[0026] In one embodiment, the first sensor may include an ultrasonic sensor. The ultrasonic sensor may include a plurality of ultrasonic sensors (e.g., ultrasonic radars) installed around the vehicle body. The ultrasonic sensors are used to detect distance information, which may include the relative distance between the vehicle and a potential collision object. The plurality of ultrasonic sensors includes, for example, twelve ultrasonic sensors located around the vehicle body. These twelve ultrasonic sensors may be arranged with four at the front side of the vehicle body, four at the rear side, and two each on the left and right sides. The first sensor may further include a photographing device, which may include a plurality of cameras installed on the vehicle. The plurality of cameras includes, for example, four close-range cameras respectively installed around the vehicle body. These four close-range cameras may be arranged with one at the front middle position of the vehicle body, one at the rear middle position, one under the left rearview mirror, and one under the right rearview mirror. The photographing device is used to photograph a video containing the situation around the vehicle and provide the video to the control device 20. In one embodiment, the second sensor may be implemented by means of a vehicle speed sensor in the vehicle's stability system.

[0027] The detection device 10 may detect a first status signal and a second status signal on the vehicle body network. The first status signal indicates whether the automatic parking assistance function of the vehicle's automatic parking assistance system is activated and the duration of the activated state, and the second status signal indicates the effectiveness status of the automatic parking assistance function.

[0028] In one embodiment, the automatic parking assistance function of the vehicle may be activated by pressing a physical button (parking assistance button) inside the vehicle or by pressing an automatic parking button on the central control display screen. When the automatic parking assistance function of the vehicle is activated, a first status signal is generated and transmitted onto the vehicle body network (e.g., CAN, CANFD, Flexray, etc.). The first status signal may be a pulse signal, which has a first level indicating that the automatic parking assistance function is activated and a second level indicating that the automatic parking assistance function is not activated. And, the pulse width of the first level (i.e., the duration of the first level) represents the duration (continuous time) of the automatic parking function in the activated state. In one embodiment, the vehicle's automatic parking assistance system generates a status signal, i.e., the above-mentioned second status signal, based on whether its own automatic parking assistance function is effective and transmits the second status signal onto the vehicle body bus.

[0029] The detection device 10 may further detect an abnormal signal on the vehicle body network, which indicates that an abnormal situation has occurred during the vehicle's parking process. The abnormal situation may be caused by a driver's misoperation of the vehicle or by a handshake failure in the vehicle.

[0030] In one embodiment, the misoperations of the vehicle driver include one or more of the following: (1) the driver does not fasten the seat belt; (2) the vehicle door or cover (e.g., the hood or the trunk lid) is not closed (including the case where it is only ajar but not fully closed); (3) the turn signal is not turned on during the parking process, that is, the turn signal is not used to indicate the parking direction. When a misoperation of the vehicle driver occurs, the body controller generates an abnormal signal and sends the abnormal signal onto the body network.

[0031] In one embodiment, a handshake is performed between the automatic parking assistance system and the stability system of the vehicle via the body network at a predetermined frequency. This handshake process may malfunction, and the malfunctions of the handshake include one or more of the following: (1) the automatic parking assistance system fails to send a handshake request to the stability system within a second predetermined time duration due to its own failure, that is, in this abnormal situation, the detection device 10 fails to detect a handshake signal sent from the automatic parking assistance system 100 to the stability system within the second predetermined time duration; (2) the stability system fails to send a handshake request to the automatic parking assistance system 100 within a third predetermined time duration due to its own failure, that is, in this abnormal situation, the detection device 10 fails to detect a handshake signal sent from the stability system to the automatic parking assistance system 100 within the third predetermined time duration; (3) the automatic parking assistance system 100 fails to perform the handshake with the stability because it fails the detection before the handshake (e.g., the automatic parking assistance system 100 does not complete the detection of power nodes such as the engine, the stability system, and the transmission before the handshake), for example, the handshake request sent by the automatic parking assistance system 100 to the stability system is rejected. In this abnormal situation, the detection device detects an abnormal signal indicating that the handshake request is rejected on the body network.

[0032] It should be understood that the above-mentioned second predetermined time duration can be preset according to experience. The above-mentioned third predetermined time duration can be preset according to experience.

[0033] The control device 20 is communicatively connected to the detection device 10. The control device 20 can determine whether the vehicle needs to be braked during the parking process based on the signal detected by the detection device 10, and generate a braking instruction when it is determined that braking is required. The control device 20 can also calculate a target deceleration when it is determined that braking is required, so that the vehicle can be braked in time without the problem of still colliding although braking maneuvers have been taken. The control device 20 can include a control unit 30, and the control unit 30 provides a control strategy applicable during the parking process. The control unit 30 can be implemented in the form of software or hardware or a combination of software and hardware. The working principle and process of the control unit 30 will be specifically introduced below.

[0034] It should be understood that the control unit 30 can be configured as part of the control device 20 of the automatic parking assistance system 100 or communicatively connected to the control device 20; the control unit 30 can also be configured as part of the electronic parking brake system or communicatively connected to the electronic parking brake system; the control unit 30 can further be configured as part of the stability system or communicatively connected to the stability system. In other words, the control strategy according to the present invention can be set to be included in a suitable electronic control unit in the vehicle in the form of software or hardware or a combination of software and hardware.

[0035] The execution device 200 is communicatively connected to the automatic parking assistance system 100 (for example, the control device 20 of the automatic parking assistance system 100). After receiving a braking instruction from the control device 20, the execution device 200 performs a braking operation in response to the braking instruction so that the vehicle performs braking at a target deceleration. The execution system 200 can be implemented as an electronic parking brake system (EPB), and the electronic parking brake system performs a braking operation in response to the braking instruction. The execution system 200 can also be implemented as a stability system, and the stability system performs a braking operation in response to the braking instruction.

[0036] Figure 2 A control unit 30 according to an embodiment of the present invention is schematically shown, which includes an acquisition module 31, a processing module 32, and a generation module 33. The following specifically introduces each module of the control unit 30.

[0037] The acquisition module 31 is used to acquire information for the processing module 32 to analyze and process, and the information includes signals detected by the detection device 20 and preset parameters.

[0038] The acquisition module 31 can acquire a first status signal and a second status signal. The first status signal indicates whether the automatic parking assistance function of the automatic parking assistance system is activated and the duration of the activated state, and the second status signal indicates the effectiveness status of the automatic parking assistance function. The acquisition module 31 can also acquire a vehicle status signal, and the vehicle status signal includes the speed of the vehicle and the relative distance from a potential collision object. The acquisition module 31 can also acquire preset parameters. The preset parameters include, for example, the distance between the vehicle and a potential collision object (or obstacle) after the vehicle stops (for example, 20 cm or 30 cm), and the range of the deceleration of the vehicle, that is, the predetermined upper limit value of the deceleration (for example, 0.5 m / s^2) and the predetermined lower limit value (for example, 3 m / s^2). The acquisition module 31 can also acquire an abnormal signal, and the abnormal signal indicates that an abnormal condition occurs during the parking process of the vehicle, and the abnormal condition can be caused by a misoperation of the vehicle driver or a handshake failure in the vehicle. Some examples of the abnormal signal can be seen in the above description and will not be repeated here.

[0039] The processing module 32 is used to analyze and process the information acquired by the acquisition module 31.

[0040] The processing module 32 determines whether the automatic parking assist function of the automatic parking assist system 100 is activated based on the first status signal. When it is determined that the automatic parking function is activated, the effectiveness of the automatic parking assist function is determined based on the second status signal. When it is determined that the automatic parking assist function fails, it is further determined based on the first status signal whether the duration for which the automatic parking assist function is in the activated state reaches (is greater than or equal to) a first predetermined duration (for example, 200 ms). When it is determined to be the case, it is determined that the vehicle in the automatic parking process needs to be braked.

[0041] When the processing module 32 determines that braking is required, the generation module 33 generates a braking instruction and transmits the braking instruction to the execution system 200 so that the execution system 200 performs a braking operation.

[0042] It should be understood that no subsequent operations are performed when the processing module 32 determines that the automatic parking assist function is effective.

[0043] It should be understood that the first predetermined duration is set based on experience. Setting this threshold value (i.e., the first predetermined duration) is beneficial because there may be a situation where the driver inadvertently presses or touches the button or switch for activating the automatic parking assist function. In this case, the driver does not intend to activate the automatic parking assist function and does not hold it down for a long time, so the automatic parking assist function is only activated (triggered) briefly and then turned off.

[0044] In one embodiment, the control unit 30 can also calculate a target deceleration and provide the target deceleration to the execution system 200 when braking is required.

[0045] In this embodiment, the processing module 32 calculates the target deceleration based on the vehicle speed, the relative distance between the vehicle and a potential collision object, and a predetermined safety distance. For example, the processing module 32 calculates the target deceleration according to the following formula:

[0046] a = V 2 / [2*(S - D)],

[0047] where a is the target deceleration, V is the vehicle speed when the processing module determines that the vehicle needs to be braked, S is the relative distance between the vehicle and the potential collision object, and D is the relative distance preset between the vehicle and the potential collision object when the vehicle stops braking.

[0048] After the processing module 32 calculates the target deceleration, it further determines whether the calculated target deceleration meets a preset deceleration range, that is, determines whether the calculated target deceleration is within the preset upper limit value of the deceleration (for example, 0.5 m / s2 ) and a predetermined lower limit value (e.g., 3 m / s 2 ). When the calculated target deceleration is less than or equal to the predetermined lower limit value, the processing module 32 determines the target deceleration as the predetermined lower limit value. When the calculated target deceleration is greater than or equal to the predetermined upper limit value, the processing module 32 determines the target deceleration as the predetermined upper limit value.

[0049] It should be understood that the relative distance between the vehicle (the host vehicle) and the potential collision object can include two cases. Based on the vehicle direction signal, the moving direction of the vehicle is judged. When the vehicle moves forward, the relative distance is the relative distance between the front of the vehicle and the potential collision object. When the vehicle moves backward, the relative distance is the relative distance between the rear of the vehicle and the potential collision object.

[0050] When an abnormal condition that causes the automatic parking assist function of the vehicle to fail occurs, the detection device 20 can detect an abnormal signal corresponding to the abnormal condition on the vehicle body network. In other words, once the abnormal condition occurs, a corresponding abnormal signal will be generated and cause the failure of the automatic parking assist function, and at the same time, the second state signal changes to a state indicating the failure of the automatic parking assist function.

[0051] The abnormal conditions indicated by the abnormal signal have been specifically introduced above. For the sake of clarity, a brief summary is given here again.

[0052] The abnormal conditions indicated by the abnormal signal can include at least one of the following: the driver does not fasten the seat belt; the vehicle door or hood is not closed; the turn signal for indicating the steering of the vehicle to park in or out of the parking space is not operated; the automatic parking assist system fails to send a handshake request to the stability system within a second predetermined time period; the stability system does not respond to the handshake request of the automatic parking assist system within a third predetermined time period; and the handshake between the automatic parking assist system and the stability system fails.

[0053] Figure 3 FIG. shows a control method for automatic parking assist according to an embodiment of the present invention. This control method can be executed by the above control unit 30 or by the above automatic parking assist system 100. Therefore, the above related descriptions are equally applicable here. The following refers to Figure 3 to describe the steps of this control method.

[0054] In step S310, the acquisition module 31 acquires signals for the processing module 32 to analyze and process. These signals include the signals detected by the detection device 10 and the preset parameters.

[0055] In step S320, the processing module 32 determines whether the first state signal meets the condition, that is, whether the automatic parking assist function is activated.

[0056] In the case where the determination in step S320 is "No", the method returns to step S310. In the case where the determination in step S320 is "Yes", the method proceeds to step S330.

[0057] In step S330, the processing module 32 determines whether the second status signal meets the condition, that is, whether the automatic parking assist function is effective.

[0058] In the case where the determination in step S330 is "Yes", the method returns to step S310. In the case where the determination in step S330 is "No", the method proceeds to step S340.

[0059] In step S340, the processing module 32 determines whether the duration of the first status signal indicating the activated state of the automatic parking assist function reaches a first predetermined duration.

[0060] In the case where the determination in step S340 is "No", the method returns to step S310. In the case where the determination in step S340 is "Yes", the method proceeds to step S350.

[0061] In step S350, the processing module 32 calculates the target deceleration.

[0062] In step S360, the processing module 32 determines whether the calculated target deceleration is within the predetermined range of deceleration.

[0063] In the case where the determination in step S360 is "No", the method returns to step S370. In step S370, the calculated target deceleration is adjusted to the upper limit value or the lower limit value of the range. And after completing step S370, the method proceeds to step S380.

[0064] In the case where the determination in step S360 is "Yes", the method proceeds to step S380. In step S380, a braking instruction is generated, and the braking instruction includes the calculated target deceleration or the adjusted target deceleration.

[0065] In step S390, the braking instruction is sent to the execution system of the vehicle so that the execution system performs braking control based on the braking instruction.

[0066] Thus, according to the technical solution of the present invention, it is possible to actively obtain the effectiveness of the automatic parking assist function, and take braking measures in a timely manner when it is known that the automatic parking assist function fails, enhancing the safety of the automatic parking process. And, in the case where it is determined that the vehicle in the parking process needs to stop, a target deceleration for braking is provided so that the vehicle can stop in a timely manner, further enhancing the safety of the parking process.

[0067] It should be understood that the terms "having", "including", "comprising", etc. used in the present invention are open-ended terms, indicating the presence of the stated elements or features, without excluding additional elements or features. Unless the context clearly indicates otherwise, the articles "a", "an", and "the" are intended to include the plural as well as the singular forms. Unless otherwise specifically noted, the features of the various embodiments described in the present invention may be combined with each other.

[0068] Although some embodiments have been described above, these embodiments are given by way of example only and are not intended to limit the scope of the present invention. The appended claims and their equivalents are intended to cover all modifications, substitutions, and changes made within the scope and spirit of the present invention.

Claims

1. A control unit for an automatic parking assistance system, comprising: An acquisition module configured to acquire a first status signal and a second status signal, where the first status signal indicates whether the automatic parking assistance function of the automatic parking assistance system is activated and the duration of the activated state, and the second status signal indicates the effectiveness status of the automatic parking assistance function; A processing module configured to determine that a vehicle in the parking process needs to stop when the first status signal and the second status signal meet the following conditions: (1) the first status signal indicates that the automatic parking assistance function is activated and the duration of the activated state is greater than or equal to a first predetermined duration; and (2) the second status signal indicates that the automatic parking assistance function fails; And A generation module configured to generate a braking instruction for controlling the vehicle to perform a braking operation when the processing module determines that braking is required, Wherein, when an abnormal signal appears on the vehicle body network of the vehicle, the second status signal enters a state indicating the failure of the automatic parking assistance function in response to the abnormal signal, and the abnormal signal indicates at least one of the following abnormal conditions: - The driver is not wearing a seat belt; - The vehicle door or cover is not closed; - The turn signal for indicating the steering of the vehicle to park in or out of the parking space is not operated; - The automatic parking assistance system fails to send a handshake request to the stability system within a second predetermined duration; - The stability system does not respond to the handshake request of the automatic parking assistance system within a third predetermined duration; and the handshake between the automatic parking assistance system and the stability system fails.

2. The control unit according to claim 1, wherein, The acquisition module further acquires the vehicle speed, the relative distance between the vehicle and a potential collision object, and a predetermined safety distance, where the predetermined safety distance represents the safety distance between the vehicle and the potential collision object after braking; The processing module is further configured to calculate a target deceleration for the braking operation based on the vehicle speed, relative distance, and predetermined safety distance when determining that braking is required; and The generation module is further configured to make the braking instruction include the target deceleration so as to control the vehicle to perform the braking operation at the target deceleration.

3. The control unit according to claim 2, wherein The processing module calculates the target deceleration according to the following formula: a = V 2 / [2*(S - D)], Where a is the target deceleration, V is the vehicle speed when it is determined that the vehicle needs to stop, S is the relative distance between the vehicle and the potential collision object, and D is the predetermined safety distance.

4. The control unit according to claim 2, wherein, The processing module is further configured to: When the calculated target deceleration is less than or equal to a predetermined lower limit value of the deceleration, update the target deceleration in the braking instruction to the predetermined lower limit value; When the calculated target deceleration is greater than or equal to a predetermined upper limit value, update the target deceleration in the braking instruction to the predetermined upper limit value; and And When the relative distance between the vehicle and the potential collision object is less than or equal to the predetermined safety distance, update the target deceleration in the braking instruction to the predetermined upper limit value.

5. The control unit according to claim 4, wherein, The predetermined lower limit value is 0.5 m / s 2 .

6. The control unit according to claim 4, wherein The predetermined upper limit value is 3 m / s 2 .

7. The control unit according to claim 1, wherein, The first predetermined duration is associated with the duration of the driver's intention to activate the automatic parking assistance function by long - pressing a key or button of the automatic parking assistance function.

8. The control unit according to claim 1, wherein, the control unit is configured to be part of or communicatively connected to the automatic parking assistance system of the vehicle; or the control unit is configured to be part of or communicatively connected to the electronic parking brake system of the vehicle; or the control unit is configured to be part of or communicatively connected to the stability system of the vehicle.

9. An automatic parking assistance system, comprising: a detection device for detecting a first status signal, a second status signal, and a vehicle status signal, where the first status signal indicates whether the automatic parking assistance function of the automatic parking assistance system is activated and the duration of the activated state, the second status signal indicates the effectiveness status of the automatic parking assistance function, and the vehicle status signal includes the vehicle speed and the relative distance between the vehicle and a potential collision object; and a control device communicatively connected to the detection device and the control unit according to any one of claims 1 - 8, for generating a braking instruction based on the signals detected by the detection device and sending the braking instruction to the execution system of the vehicle, so that the execution system performs a braking operation based on the braking instruction, wherein, when an abnormal signal appears on the vehicle body network, the second status signal enters a state indicating the failure of the automatic parking assistance function in response to the abnormal signal, and the abnormal signal represents at least one of the following abnormal conditions: - The driver is not wearing a seat belt; - The vehicle door or cover is not closed; - The turn signal for indicating the steering of the vehicle to park in or out of a parking space is not operated; - The automatic parking assistance system fails to send a handshake request to the stability system within a second predetermined duration; - The stability system does not respond to the handshake request of the automatic parking assistance system within a third predetermined duration; and the handshake between the automatic parking assistance system and the stability system fails.

10. A control method for automatic parking assistance, which is executed by the control unit according to any one of claims 1 - 8 and / or the automatic parking assistance system according to claim 9, and the control method includes: acquiring a first status signal and a second status signal, where the first status signal indicates whether the automatic parking assistance function of the automatic parking assistance system is activated and the duration of the activated state, and the second status signal indicates the effectiveness status of the automatic parking assistance function; when the first status signal and the second status signal meet the following conditions, it is determined that the vehicle in the parking process needs to be braked: (1) the first status signal indicates that the automatic parking assistance function is activated and the duration of the activated state is greater than or equal to the first predetermined duration; and (2) the second status signal indicates the failure of the automatic parking assistance function; and when it is determined that braking is required, generating a braking instruction for controlling the vehicle to perform a braking operation. Wherein, when an abnormal signal appears on the vehicle body network of the vehicle, the second status signal enters a state indicating the failure of the automatic parking assist function in response to the abnormal signal, and the abnormal signal represents at least one of the following abnormal conditions: - The driver is not wearing a seat belt; - The vehicle door or hood is not closed; - The turn signal for indicating the steering of the vehicle to park in or out of the parking space is not operated; - The automatic parking assist system fails to send a handshake request to the stability system within a second predetermined time period; - The stability system does not respond to the handshake request of the automatic parking assist system within a third predetermined time period; and the handshake between the automatic parking assist system and the stability system fails.

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