Parking control method, device, vehicle and storage medium for a vehicle

Abstract

The present application relates to the technical field of vehicles, and particularly relates to a parking control method, device, vehicle and storage medium for a vehicle. The method includes: when the vehicle is parked, detecting the current parking working condition of the vehicle; when it is detected that the current parking working condition is a pre-parking working condition, collecting the actual parking duration of the vehicle; and if the actual parking duration is greater than a preset duration, using an electronic parking brake controller (EPB) to control the vehicle to park, otherwise using an electronic stability program (ESP) of the vehicle body to control the vehicle to park. Thereby, the problems that directly using the EPB to control the electronic parking actuator to park not only increases the parking time, but also increases the cost and has low practicability, etc. are solved. By utilizing the parking interface between the ESP of the vehicle body and the EPB, and adopting CAN signal transmission, the control strategy is optimized, so that the vehicle starts more smoothly, makes less noise and the parking function is safer.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a parking control method, device, vehicle and storage medium for a vehicle. Background Art

[0002] With the increase in the number of automobiles, traffic accidents are common, which causes great damage to social resources. In order to increase the safety of driving, autonomous driving technology has emerged.

[0003] In the related art, when in the autonomous driving mode, when parking for a long time or exiting the autonomous driving, the electronic parking brake is actively pulled up for the driver. The autonomous driving control module controls the third hard wire to transmit the parking and release control signals to the electronic parking brake controller, and finally the electronic parking brake controller controls the electronic parking brake actuator to complete the parking and release actions.

[0004] However, directly using the EPB (Electrical Park Brake) to control the electronic parking brake actuator for parking not only increases the parking time and cost but also has low practicability. Summary of the Invention

[0005] The present application provides a parking control method, device, vehicle and storage medium for a vehicle to solve the problems such as increasing the parking time, cost and low practicability when directly using the EPB electronic parking brake actuator for parking.

[0006] The first aspect embodiment of the present application provides a parking control method for a vehicle, including the following steps:

[0007] When the vehicle parks, detect the current parking working condition of the vehicle;

[0008] When it is detected that the current parking working condition is a pre-parking working condition, collect the actual parking duration of the vehicle; and

[0009] If the actual parking duration is greater than a preset duration, use the electronic parking brake controller EPB to control the vehicle to park, otherwise use the ESP (Electronic Stability Program) to control the vehicle to park.

[0010] According to an embodiment of the present invention, when using the ESP to control the vehicle to park, it further includes:

[0011] Detect the actual state of the vehicle;

[0012] When it is detected that the actual state meets the ESP exit condition, switch to the EPB to control the vehicle to park.

[0013] According to an embodiment of the present invention, when using the ESP to control the vehicle to park, it further includes:

[0014] Obtain the brake pedal opening, accelerator pedal opening and the EPB state of the vehicle;

[0015] If the brake pedal opening, or the accelerator pedal opening, or the EPB state does not meet the autopilot condition, control the vehicle to exit the pre-parking condition and control the vehicle based on the user's control instruction.

[0016] According to an embodiment of the present invention, when it is detected that the current parking condition is a pre-parking condition, it further includes:

[0017] Obtain the slope value of the road where the vehicle is currently located;

[0018] Calculate the target hydraulic pressure when the vehicle parks according to the slope value;

[0019] Perform pressure-boosting braking on the vehicle based on the target hydraulic pressure to control the vehicle to park.

[0020] According to an embodiment of the present invention, before performing pressure-boosting braking on the vehicle based on the target hydraulic pressure, it further includes:

[0021] Judge whether the vehicle's Electronic Stability Program (ESP) fails based on the target hydraulic pressure;

[0022] If it is determined that the ESP fails, use the EPB to control the vehicle to park.

[0023] According to the vehicle parking control method of the embodiment of the present application, when the vehicle parks, detect the current parking condition of the vehicle; if the current parking condition is a pre-parking condition, collect the actual parking duration of the vehicle; and if the actual parking duration is greater than the preset duration, use the Electronic Parking Brake (EPB) controller to control the vehicle to park, otherwise use the Electronic Stability Program (ESP) of the vehicle body to control the vehicle to park. Thereby, the problems that directly using the EPB to control the electronic parking actuator to park not only increases the parking time, but also increases the cost and has low practicability, etc. are solved. By using the parking interface of the Electronic Stability Program (ESP) of the vehicle body and the Electronic Parking Brake (EPB), and transmitting through the Controller Area Network (CAN) signal, the control strategy is optimized, so that the vehicle starts more smoothly, makes less noise and the parking function is safer.

[0024] An embodiment of the second aspect of the present application provides a vehicle parking control device, including: a detection module, configured to detect the current parking condition of the vehicle when the vehicle parks;

[0025] A collection module, configured to collect the actual parking duration of the vehicle when it is detected that the current parking condition is a pre-parking condition; and

[0026] A control module, configured to, if the actual parking duration is greater than a preset duration, control the vehicle to park by using an electronic parking brake controller (EPB); otherwise, control the vehicle to park by using an electronic stability program (ESP).

[0027] According to an embodiment of the present invention, when using the ESP to control the vehicle to park, the control module is further configured to:

[0028] Detect the actual state of the vehicle;

[0029] When it is detected that the actual state meets the ESP exit condition, switch to using the EPB to control the vehicle to park.

[0030] According to an embodiment of the present invention, when using the ESP to control the vehicle to park, the control module is further configured to:

[0031] Obtain the brake pedal opening, the accelerator pedal opening, and the EPB state of the vehicle;

[0032] If the brake pedal opening, or the accelerator pedal opening, or the EPB state does not meet the autonomous driving condition, control the vehicle to exit the pre-parking condition and control the vehicle based on the user's control instruction.

[0033] According to an embodiment of the present invention, when it is detected that the current parking condition is a pre-parking condition, the control module is further configured to:

[0034] Obtain the slope value of the road where the vehicle is currently located;

[0035] Calculate the target hydraulic pressure when the vehicle parks according to the slope value;

[0036] Perform pressurized braking on the vehicle based on the target hydraulic pressure to control the vehicle to park.

[0037] According to an embodiment of the present invention, before performing pressurized braking on the vehicle based on the target hydraulic pressure, the control module is further configured to:

[0038] Judge whether the electronic stability program (ESP) of the vehicle fails based on the target hydraulic pressure;

[0039] If it is determined that the ESP fails, use the EPB to control the vehicle to park.

[0040] The parking control device of a vehicle according to an embodiment of the present application detects the current parking condition of the vehicle when the vehicle parks; if the current parking condition is a pre-parking condition, it collects the actual parking duration of the vehicle; and if the actual parking duration is greater than a preset duration, it uses the electronic parking brake controller (EPB) to control the vehicle to park, otherwise it uses the electronic stability program (ESP) of the vehicle body to control the vehicle to park. Thus, the problems that directly using the EPB to control the electronic parking actuator to park not only increases the parking time, but also increases the cost and has low practicability, etc. are solved. By using the parking interface between the ESP of the vehicle body and the EPB, and adopting CAN signal transmission, the control strategy is optimized, so that the vehicle starts more smoothly, makes less noise and the parking function is safer.

[0041] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the parking control method of the vehicle as described in the above embodiment.

[0042] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to be used to implement the parking control method of the vehicle as described in the above embodiment.

[0043] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0044] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0045] Figure 1 is a flowchart of a parking control method for a vehicle according to an embodiment of the present application;

[0046] Figure 2 is a system control block diagram of a request for a parking control strategy according to an embodiment of the present application;

[0047] Figure 3 is a control flowchart of a request for a parking control strategy under normal circumstances according to an embodiment of the present application;

[0048] Figure 4 is a control flowchart of a request for a parking control strategy when abnormally exiting the automatic driving according to an embodiment of the present application;

[0049] Figure 5 is a control flowchart of a request for a parking control strategy when normally switching to manual driving according to an embodiment of the present application;

[0050] Figure 6 It is a control flow chart of a requested parking control strategy in the case of ESP failure provided according to an embodiment of the present application;

[0051] Figure 7 It is an example diagram of a parking control device of a vehicle according to an embodiment of the present application;

[0052] Figure 8 It is a schematic structural diagram of a vehicle provided according to an embodiment of the present application. Detailed implementation manners

[0053] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0054] The parking control method, device, vehicle and storage medium of the vehicle according to the embodiment of the present application will be described below with reference to the accompanying drawings. In view of the problems mentioned in the above background technology that directly using the EPB to control the electronic parking actuator for parking not only increases the parking time, but also increases the cost and has low practicability, the present application provides a parking control method for a vehicle. In this method, when the vehicle parks, the current parking working condition of the vehicle is detected; if the current parking working condition is the pre-parking working condition, the actual parking duration of the vehicle is collected; and if the actual parking duration is greater than the preset duration, the electronic parking controller EPB is used to control the vehicle to park, otherwise the electronic stability program ESP of the vehicle body is used to control the vehicle to park. Thus, the problems that directly using the EPB to control the electronic parking actuator for parking not only increases the parking time, but also increases the cost and has low practicability, etc. are solved. By using the parking interface between the electronic stability program ESP of the vehicle body and the electronic parking controller EPB and adopting CAN signal transmission, the control strategy is optimized, so that the vehicle starts more smoothly, makes less noise and the parking function is safer.

[0055] Specifically, Figure 1 It is a schematic flow chart of a parking control method for a vehicle provided according to an embodiment of the present application.

[0056] In this embodiment, as Figure 2 shown, the control system involved in the parking control method of the embodiment of the present application includes: an automatic driving control module, an electronic stability program ESP of the vehicle body, an electronic parking controller EPB, and a parking actuator.

[0057] Among them, the Electronic Stability Program (ESP) of the vehicle body detects the driving conditions of the vehicle through sensors, determines whether the vehicle is in an out-of-control state, and assists the vehicle to resume normal driving through cooperation with the braking system; the Electronic Parking Brake (EPB) controller can automatically apply the parking brake after the engine is turned off to prevent accidental release; the Autopilot Control Module, the Electronic Stability Program (ESP) of the vehicle body, and the Electronic Parking Brake (EPB) controller interact through CAN bus signals, and the Electronic Parking Brake (EPB) controller and the parking actuator transmit signals through hard wires.

[0058] As Figure 1 shown, the parking control method of this vehicle includes the following steps:

[0059] In step S101, when the vehicle is parked, the current parking condition of the vehicle is detected.

[0060] Specifically, the vehicle parking condition can be the vehicle pre-parking condition and the parking condition. The pre-parking condition is the condition when the vehicle is already parked before entering the parking condition, and the parking condition is the condition when the vehicle parks for a long time.

[0061] In step S102, when it is detected that the current parking condition is the pre-parking condition, the actual parking duration of the vehicle is collected.

[0062] In step S103, if the actual parking duration is greater than the preset duration, the Electronic Parking Brake (EPB) controller is used to control the vehicle to park, otherwise the Electronic Stability Program (ESP) of the vehicle body is used to control the vehicle to park.

[0063] Specifically, the preset duration can be the duration set when the vehicle leaves the factory, the duration preset by the user, or the duration obtained through a limited number of computer simulations, and no specific limitation is made here. It should be noted that ESP is a short-time parking controller, and the vehicle is only parked by the EPB when the parking duration of the vehicle exceeds the preset duration. Therefore, when ESP detects that the parking duration of the vehicle in the autopilot mode is greater than the preset duration, the Electronic Parking Brake (EPB) controller is used to control the vehicle to park. If ESP detects that the parking duration of the vehicle in the autopilot mode does not exceed the preset duration, the Electronic Stability Program (ESP) of the vehicle body is used to control the vehicle to park.

[0064] For example, the preset duration can be set to 3 minutes. When ESP detects that the parking duration of the vehicle in the autopilot mode is greater than 3 minutes, a parking command will be sent to the EPB electronic parking controller, and then the EPB will control the electronic parking actuator to complete the parking by pulling up, that is, the Electronic Parking Brake (EPB) controller is used to control the vehicle to park. If ESP detects that the parking duration of the vehicle in the autopilot mode does not exceed 3 minutes, the Electronic Stability Program (ESP) of the vehicle body is used to control the vehicle to park.

[0065] Thus, when the vehicle is parked, the current parking condition of the vehicle is detected; if the current parking condition is the pre-parking condition, the actual parking duration of the vehicle is collected; and if the actual parking duration is greater than the preset duration, the electronic parking brake controller EPB is used to control the vehicle to park, otherwise the electronic stability program ESP of the vehicle body is used to control the vehicle to park. Thus, the problems that directly using the EPB to control the electronic parking actuator to park not only increases the parking time, but also increases the cost and has low practicability are solved. By using the parking interface between the electronic stability program ESP of the vehicle body and the electronic parking brake controller EPB and adopting CAN signal transmission, the control strategy is optimized, so that the vehicle starts more smoothly, makes less noise and the parking function is safer.

[0066] Further, in some embodiments, when it is detected that the current parking condition is the pre-parking condition, it further includes: obtaining the gradient value of the road where the vehicle is currently located; calculating the target hydraulic pressure when the vehicle is parked according to the gradient value; and performing pressure boosting braking on the vehicle based on the target hydraulic pressure to control the vehicle to park.

[0067] Specifically, when the ESP detects that the current parking condition of the vehicle is the pre-parking condition, the autonomous driving module sends a pressure holding request to the ESP. The ESP calculates the target hydraulic pressure required for current parking according to the gradient of the vehicle, and applies hydraulic pressure to the four-wheel brake calipers through active pressure boosting to ensure vehicle parking. And, after applying hydraulic pressure to the four-wheel brake calipers through active pressure boosting to ensure vehicle parking, if the ESP detects that the vehicle has stopped in the autonomous driving mode for more than 3 minutes, it will send a parking instruction to the EPB electronic parking brake controller, and then the EPB will control the electronic parking actuator, and the EPB will pull up to complete parking.

[0068] As Figure 3 shown, the control flow chart under normal circumstances of the parking control strategy includes the following steps:

[0069] S301, Autonomous driving is enabled.

[0070] S302, The autonomous driving module requests pressure holding.

[0071] S303, The ESP calculates the hydraulic pressure and performs pressure holding parking.

[0072] S304, Determine whether the pressure holding time is greater than 3 minutes. If so, execute step S305; otherwise, execute step S303.

[0073] S305, The ESP requests the EPB to pull up.

[0074] S306, The EPB pulls up to complete parking, and the EPB status is: EPB_ActuatorSts = 0x1 - Applied.

[0075] S307, the pressure - maintaining request of the automatic driving module exits.

[0076] Further, in some embodiments, when using ESP to control the vehicle to park, it further includes: detecting the actual state of the vehicle; when it is detected that the actual state meets the ESP exit condition, switching to EPB to control the vehicle to park.

[0077] Specifically, in the automatic driving mode, the automatic driving control module sends a pressure - maintaining request to ESP. During the pressure - maintaining process of ESP, if there are operations other than the user stepping on the brake, stepping on the accelerator or pulling the handbrake (such as unbuckling the seat belt, opening the car door, etc.), the automatic driving control module detects the corresponding signal, resulting in the active (abnormal) exit of the automatic driving mode. At the same time of exiting, the automatic driving control module will request ESP to pull up EPB. Then ESP will send a parking instruction to the EPB electronic parking controller, and the EPB electronic parking controller will control the electronic parking actuator to act, and EPB pulls up to complete parking.

[0078] As Figure 4 shown, the control flow chart in the case of abnormal exit of the request parking control strategy from automatic driving includes the following steps:

[0079] S401, Automatic driving is enabled.

[0080] S402, The automatic driving module requests pressure - maintaining.

[0081] S403, ESP calculates the hydraulic pressure and performs pressure - maintaining parking.

[0082] S404, Determine whether the pressure - maintaining time is greater than 3 minutes. If so, execute step S407; otherwise, execute step S405.

[0083] S405, Determine whether the automatic driving exits abnormally. If so, execute S406; otherwise, execute S403.

[0084] S406, The automatic driving module requests EPB to pull up EPB.

[0085] S407, ESP requests EPB to pull up.

[0086] S408, EPB pulls up to complete parking, and the EPB status is: EPB_ActuatorSts = 0x1 - Applied.

[0087] S409, The pressure - maintaining request of the automatic driving module exits.

[0088] Further, in some embodiments, when using the ESP to control the vehicle to park, it further includes: obtaining the brake pedal opening, the accelerator pedal opening, and the EPB status of the vehicle; if the brake pedal opening, or the accelerator pedal opening, or the EPB status does not meet the autopilot conditions, then control the vehicle to exit the pre-parking condition and control the vehicle based on the user's control instruction.

[0089] Specifically, in the autopilot mode, the autopilot control module sends a pressure-holding request to the ESP. During the ESP pressure-holding process, when the driver steps on the brake, steps on the accelerator, or operates the EPB switch, the autopilot control module obtains the brake pedal opening, the accelerator pedal opening, and the EPB status. If the brake pedal opening, or the accelerator pedal opening, or the EPB status does not meet the autopilot conditions, at this time, control the vehicle to exit the autopilot mode, and the vehicle is taken over by the user, and the vehicle is controlled based on the user's control instruction.

[0090] Such as Figure 5 shown, the control flow chart for the normal switching of the requested parking control strategy to manual driving includes the following steps:

[0091] S501, Autopilot is turned on.

[0092] S502, The autopilot module requests pressure holding.

[0093] S503, The ESP calculates the hydraulic pressure and performs pressure-holding parking.

[0094] S504, Determine whether the pressure-holding time is greater than 3 minutes. If so, execute step S507; otherwise, execute step S505.

[0095] S505, Determine whether the driver steps on the brake / accelerator / pulls the handbrake. If so, execute S506; otherwise, execute S503.

[0096] S506, Exit the autopilot mode and hand it over to the user, and jump to step S509.

[0097] S507, The ESP requests the EPB to be pulled up.

[0098] S508, The EPB is pulled up, and parking is completed. The EPB status is: EPB_ActuatorSts = 0x1 - Applied.

[0099] S509, The autopilot module exits the pressure-holding request.

[0100] Further, in some embodiments, before pressurizing and braking the vehicle based on the target hydraulic pressure, it further includes: determining whether the vehicle's Electronic Stability Program (ESP) fails based on the target hydraulic pressure; if it is determined that the ESP fails, then use the EPB to control the vehicle to park.

[0101] Specifically, when using ESP to control vehicle parking, the autonomous driving control module sends a pressure holding request to ESP. If ESP does not execute the pressure holding parking instruction and the autonomous driving control module detects that ESP has no response, it will determine that the ESP pressure holding state is unavailable, that is, the ESP exit condition is met. The autonomous driving control module will directly send a parking instruction to the EPB electronic parking controller, and then the EPB electronic parking controller will control the electronic parking actuator. The EPB is pulled up to complete parking, making the parking function safer.

[0102] As Figure 6 shown, the control flow chart of the requested parking control strategy in the case of ESP failure includes the following steps:

[0103] S601, Autonomous driving is enabled.

[0104] S602, The autonomous driving module requests pressure holding.

[0105] S603, Determine whether ESP pressure holding is available. If so, execute step S604; otherwise, execute S607.

[0106] S604, ESP calculates the hydraulic pressure and performs pressure holding parking.

[0107] S605, Determine whether the pressure holding time is greater than 3 minutes. If so, execute S606; otherwise, execute S604.

[0108] S606, ESP requests the EPB to be pulled up and jumps to execute step S608.

[0109] S607, The autonomous driving module requests the EPB to park with pressure holding.

[0110] S608, The EPB is pulled up to complete parking, and the EPB status is: EPB_ActuatorSts = 0x1 - Applied.

[0111] S609, The autonomous driving module requests to exit with pressure holding.

[0112] According to the parking control method of a vehicle according to an embodiment of the present application, when the vehicle is parked, the current parking condition of the vehicle is detected; if the current parking condition is a pre-parking condition, the actual parking duration of the vehicle is collected; and if the actual parking duration is greater than a preset duration, the electronic parking brake controller EPB is used to control the vehicle to park, otherwise the electronic stability program ESP of the vehicle body is used to control the vehicle to park. Thereby, the problems that directly using the EPB to control the electronic parking actuator to park not only increases the parking time, but also increases the cost and has low practicability, etc. are solved. By using the parking interface between the electronic stability program ESP of the vehicle body and the electronic parking brake controller EPB, and adopting CAN signal transmission, the control strategy is optimized, so that the vehicle starts more smoothly, makes less noise and the parking function is safer.

[0113] Next, a parking control device for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0114] Figure 7 It is a block diagram of a parking control device for a vehicle according to an embodiment of the present application.

[0115] As Figure 7 shown, the parking control device 10 of the vehicle includes: a detection module 100, a collection module 200, and a control module 300.

[0116] Among them, the detection module 100 is used to detect the current parking condition of the vehicle when the vehicle is parked;

[0117] The collection module 200 is used to collect the actual parking duration of the vehicle when it is detected that the current parking condition is a pre-parking condition; and

[0118] The control module 300 is used to use the electronic parking brake controller EPB to control the vehicle to park if the actual parking duration is greater than a preset duration, otherwise use the electronic stability program ESP of the vehicle body to control the vehicle to park.

[0119] Furthermore, in some embodiments, when using the ESP to control the vehicle to park, the control module is further used for:

[0120] Detect the actual state of the vehicle;

[0121] When it is detected that the actual state meets the ESP exit condition, switch to the EPB to control the vehicle to park.

[0122] Furthermore, in some embodiments, when using the ESP to control the vehicle to park, the control module is further used for:

[0123] Obtain the brake pedal opening, the accelerator pedal opening and the EPB state of the vehicle;

[0124] If the brake pedal opening, or the accelerator pedal opening, or the EPB status does not meet the conditions for autonomous driving, the vehicle is controlled to exit the pre-parking condition, and the vehicle is controlled based on the user's control instruction.

[0125] Further, in some embodiments, when it is detected that the current parking condition is the pre-parking condition, the control module is further configured to:

[0126] Obtain the slope value of the road where the vehicle is currently located;

[0127] Calculate the target hydraulic pressure when the vehicle parks according to the slope value;

[0128] Perform boost braking on the vehicle based on the target hydraulic pressure to control the vehicle to park.

[0129] Further, in some embodiments, before performing boost braking on the vehicle based on the target hydraulic pressure, the control module is further configured to:

[0130] Judge whether the Electronic Stability Program (ESP) of the vehicle body fails based on the target hydraulic pressure;

[0131] If it is determined that the ESP fails, use the EPB to control the vehicle to park.

[0132] According to the parking control device of the vehicle in the embodiments of the present application, when the vehicle parks, the current parking condition of the vehicle is detected; when the current parking condition is the pre-parking condition, the actual parking duration of the vehicle is collected; and if the actual parking duration is greater than the preset duration, the Electronic Parking Brake (EPB) controller is used to control the vehicle to park, otherwise the Electronic Stability Program (ESP) of the vehicle body is used to control the vehicle to park. Thus, the problems that directly using the EPB to control the electronic parking actuator to park not only increases the parking time, but also increases the cost and has low practicability, etc. are solved. By using the parking interface of the Electronic Stability Program (ESP) of the vehicle body and the Electronic Parking Brake (EPB), and adopting CAN signal transmission, the control strategy is optimized, so that the vehicle starts more smoothly, makes less noise and the parking function is safer.

[0133] Figure 8 The structural schematic diagram of the vehicle provided by the embodiments of the present application. The vehicle may include:

[0134] A memory 801, a processor 802, and a computer program stored on the memory 801 and executable on the processor 802.

[0135] When the processor 802 executes the program, it implements the vehicle parking control method provided in the above embodiments.

[0136] Further, the vehicle further includes:

[0137] A communication interface 803 for communication between the memory 801 and the processor 802.

[0138] A memory 801 for storing a computer program that can run on a processor 802.

[0139] The memory 801 may include a high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0140] If the memory 801, the processor 802, and the communication interface 803 are implemented independently, the communication interface 803, the memory 801, and the processor 802 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity in representation, Figure 8 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0141] Optionally, in a specific implementation, if the memory 801, the processor 802, and the communication interface 803 are integrated on a single chip, the memory 801, the processor 802, and the communication interface 803 can communicate with each other via an internal interface.

[0142] The processor 802 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0143] This embodiment also provides a computer-readable storage medium, on which a computer program is stored, and characterized in that when the program is executed by a processor, the parking control method of the vehicle as described above is implemented.

[0144] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0145] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0146] Any process or method description in a flowchart or described in other ways herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logic function or process. And the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a manner that is not shown or discussed, including in a substantially simultaneous manner according to the involved functions or in a reverse order, which should be understood by those skilled in the technical field to which the embodiments of this application belong.

[0147] It should be understood that each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0148] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method for implementing the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

Claims

1. A parking control method for a vehicle, characterized in that, It includes the following steps: When the vehicle is parked, detect the current parking condition of the vehicle; When it is detected that the current parking condition is the pre-parking condition, collect the actual parking duration of the vehicle; And If the actual parking duration is greater than the preset duration, use the electronic parking brake controller EPB to control the vehicle to park; otherwise, use the electronic stability program ESP of the vehicle body to control the vehicle to park; Wherein, when it is detected that the current parking condition is the pre-parking condition, it further includes: obtaining the slope value of the road where the vehicle is currently located; calculating the target hydraulic pressure when the vehicle parks according to the slope value; and performing boost braking on the vehicle based on the target hydraulic pressure to control the vehicle to park; Before performing boost braking on the vehicle based on the target hydraulic pressure, it further includes: judging whether the electronic stability program ESP of the vehicle body fails based on the target hydraulic pressure; if it is determined that the ESP fails, use the EPB to control the vehicle to park; When using the ESP to control the vehicle to park, it further includes: detecting the actual state of the vehicle; when it is detected that the actual state meets the ESP exit condition, switch to the EPB to control the vehicle to park; In the autonomous driving mode, the autonomous driving control module sends a pressure maintenance request to the ESP. During the pressure maintenance process of the ESP, if there is an operation other than the user stepping on the brake, stepping on the accelerator or pulling the handbrake, the autonomous driving control module detects the corresponding signal, resulting in the active exit of the autonomous driving mode. At the same time of the exit, the autonomous driving control module requests the ESP to pull up the EPB. The ESP sends a parking instruction to the EPB electronic parking brake controller, and then the EPB electronic parking brake controller controls the electronic parking actuator to act, and the EPB pulls up to complete the parking.

2. The method according to claim 1, wherein When using the ESP to control the vehicle to park, it further includes: Obtaining the brake pedal opening, the accelerator pedal opening and the EPB state of the vehicle; If the brake pedal opening, or the accelerator pedal opening, or the EPB state does not meet the autonomous driving conditions, control the vehicle to exit the pre-parking condition and control the vehicle based on the user's control instruction.

3. A parking control device for a vehicle, characterized in that, It includes: A detection module, used to detect the current parking condition of the vehicle when the vehicle is parked; A collection module, used to collect the actual parking duration of the vehicle when it is detected that the current parking condition is the pre-parking condition; And A control module, used to use the electronic parking brake controller EPB to control the vehicle to park if the actual parking duration is greater than the preset duration, otherwise use the electronic stability program ESP of the vehicle body to control the vehicle to park; Wherein, when it is detected that the current parking condition is the pre-parking condition, the control module is further used to: obtain the slope value of the road where the vehicle is currently located; calculate the target hydraulic pressure when the vehicle parks according to the slope value; and perform boost braking on the vehicle based on the target hydraulic pressure to control the vehicle to park; Before supercharging and braking the vehicle based on the target hydraulic pressure, the control module is further configured to: determine whether the Electronic Stability Program (ESP) of the vehicle fails based on the target hydraulic pressure; if it is determined that the ESP fails, use the Electric Parking Brake (EPB) to park the vehicle. When using the ESP to park the vehicle, the control module is further configured to: detect the actual state of the vehicle; when it is detected that the actual state meets the ESP exit condition, switch to using the EPB to park the vehicle. In the autonomous driving mode, the autonomous driving control module sends a pressure maintenance request to the ESP. During the pressure maintenance process of the ESP, if there is an operation other than the user stepping on the brake, stepping on the accelerator, or pulling the handbrake, and the autonomous driving control module detects the corresponding signal, which causes the autonomous driving mode to actively exit. At the same time as the exit, the autonomous driving control module requests the ESP to pull up the EPB. The ESP sends a parking instruction to the EPB electronic parking controller, and then the EPB electronic parking controller controls the electronic parking actuator to act, and the EPB pulls up to complete parking.

4. The device according to claim 3, characterized in that, When using the ESP to park the vehicle, the control module is further configured to: Obtain the brake pedal opening, the accelerator pedal opening, and the EPB status of the vehicle. If the brake pedal opening, or the accelerator pedal opening, or the EPB status does not meet the autonomous driving conditions, control the vehicle to exit the pre-parking working condition and control the vehicle based on the user's control instruction.

5. A vehicle, characterized in that, Comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the vehicle parking control method according to any one of claims 1-2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to be used to implement the vehicle parking control method according to any one of claims 1-2.

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