Automatic parking control method, device, equipment and storage medium

Abstract

The application relates to the technical field of automatic parking, and discloses an automatic parking control method, device, equipment and storage medium, the method comprising the following steps: when the speed parameter and gear of a target vehicle meet the starting conditions of a starting mode, adjusting the hydraulic pressure of a brake system and the driving torque of a driving system according to a preset control strategy; obtaining a first vehicle speed of the target vehicle after the hydraulic pressure and the driving torque are adjusted in real time; when the first vehicle speed is greater than or equal to a vehicle speed threshold A, controlling the target vehicle to enter an acceleration closed-loop mode; obtaining a second vehicle speed of the target vehicle in the acceleration closed-loop mode in real time, and when the second vehicle speed is less than a vehicle speed threshold B, controlling the target vehicle to enter a parking mode and building pressure on the brake system of the target vehicle; in the above manner, the rationality of controlling automatic parking can be improved, and the safety hazard of vehicle back sliding caused by driving device failure can be avoided.

Description

Technical Field

[0001] This invention relates to the field of automatic parking technology, and more particularly to control methods, devices, equipment, and storage media for automatic parking. Background Technology

[0002] In recent years, intelligent automatic parking technology has been developing continuously, providing drivers with unprecedented convenience in parking. Automatic parking is mainly divided into three stages: obstacle recognition, path planning, and vehicle control. However, for special locations, such as parking spaces planned on sloping roads or with obstacles like speed bumps in front of them, the current common technical solution to enable the vehicle to smoothly climb the slope or pass through the speed bumps and other obstacles to park in the planned space is to continue increasing the driving torque on the basis of the current driving torque, attempting to reach the planned location through the obstacle. However, this does not take into account that the drive device may fail during the process of increasing the driving torque, making it unable to continue providing driving force to the vehicle. Even if the driver is in the car, there may be a situation of untimely response or slow brake fluid pressure response, causing the vehicle to roll back and creating a safety hazard.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a control method, device, equipment, and storage medium for automatic parking, aiming to solve the technical problems of sudden rollback and inability to exit automatic parking in a timely manner when controlling a vehicle to perform automatic parking.

[0005] To achieve the above objectives, the present invention provides an automatic parking control method, the automatic parking control method comprising the following steps:

[0006] When the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, the hydraulic pressure of the braking system and the driving torque of the drive system are adjusted according to the preset control strategy.

[0007] Real-time acquisition of the first vehicle speed of the target vehicle after adjusting the hydraulic pressure and driving torque;

[0008] When the first vehicle speed is greater than or equal to the vehicle speed threshold A, the target vehicle is controlled to enter the acceleration closed-loop mode;

[0009] The second vehicle speed of the target vehicle is acquired in real time under the acceleration closed-loop mode. If the second vehicle speed is less than the vehicle speed threshold B, the target vehicle is controlled to enter the parking mode and pressure is built up in the braking system of the target vehicle.

[0010] Optionally, when the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, adjusting the hydraulic pressure of the braking system and the driving torque of the drive system according to a preset control strategy includes:

[0011] Obtain the changes in driving torque and hydraulic pressure within the target period;

[0012] When the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, the driving torque of the drive system is increased according to the change in driving torque through a preset control strategy.

[0013] The hydraulic pressure of the braking system is reduced according to the preset control strategy based on the change in hydraulic pressure.

[0014] Optionally, after controlling the target vehicle to enter parking mode, the method further includes:

[0015] Obtain the entry time of the target vehicle into the acceleration closed-loop mode;

[0016] After the target vehicle enters the parking mode from the acceleration closed-loop mode, the automatic parking is controlled according to the entry time and the target acceleration command.

[0017] Optionally, controlling the automatic parking based on the entry time and target acceleration command includes:

[0018] Step 1: Receive the target acceleration command sent by the upper-layer module; determine whether the target acceleration command is greater than a preset acceleration threshold and whether the entry time is less than a first preset time; if the target acceleration command is greater than the preset acceleration threshold and the entry time is less than the first preset time, then it is identified that a preset situation 1 has occurred, and step 2 is executed.

[0019] Step 2: If the target vehicle meets the starting conditions at the current moment, control the target vehicle to enter the starting mode. If the target vehicle starts successfully, proceed to Step 3.

[0020] Step 3: After the target vehicle enters the acceleration closed-loop mode, it re-enters the parking mode within the first preset time, then return to Step 1;

[0021] If the number of times the preset scenario 1 occurs reaches a predetermined number, it is determined that the target vehicle has encountered an obstacle and cannot pass through.

[0022] Optionally, after controlling the target vehicle to enter the start-up mode, the method further includes:

[0023] When performing step two, if the target vehicle's speed is less than the speed threshold A within the second preset time after entering the start mode, it is determined that the target vehicle has encountered an obstacle and cannot pass through it, and a target warning message is generated.

[0024] The target device displays the target warning information to remind the driver to take over the vehicle and manually park it.

[0025] Optionally, after acquiring the first vehicle speed of the target vehicle in real time after adjusting the hydraulic pressure and driving torque, the method further includes:

[0026] If the first vehicle speed is less than the vehicle speed threshold A within a second preset time period, it is determined that the target vehicle has encountered an obstacle and cannot pass through it, and a target warning message is generated.

[0027] The target device displays the target warning information to remind the driver to take over the vehicle and manually park it.

[0028] Furthermore, to achieve the above objectives, the present invention also proposes an automatic parking control device, the automatic parking control device comprising:

[0029] The adjustment module is used to adjust the hydraulic pressure of the braking system and the driving torque of the drive system according to a preset control strategy when the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode.

[0030] The acquisition module is used to acquire the first vehicle speed of the target vehicle in real time after adjusting the hydraulic pressure and driving torque;

[0031] The control module is used to control the target vehicle to enter the acceleration closed-loop mode when the first vehicle speed is greater than or equal to the vehicle speed threshold A.

[0032] The control module is also used to acquire the second vehicle speed of the target vehicle in real time under the acceleration closed-loop mode. If the second vehicle speed is less than the vehicle speed threshold B, the control module controls the target vehicle to enter the parking mode and builds pressure on the braking system of the target vehicle.

[0033] Furthermore, to achieve the above objectives, the present invention also proposes an automatic parking control device, the automatic parking control device comprising: a memory, a processor, and an automatic parking control program stored in the memory and executable on the processor, the automatic parking control program being configured to implement the automatic parking control method as described above.

[0034] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing an automatic parking control program, which, when executed by a processor, implements the automatic parking control method as described above.

[0035] The automatic parking control method proposed in this invention adjusts the hydraulic pressure of the braking system and the driving torque of the drive system according to a preset control strategy when the target vehicle's speed parameters and gear position meet the starting conditions of the starting mode. It then acquires the first speed of the target vehicle after adjusting the hydraulic pressure and driving torque in real time. When the first speed is greater than or equal to a speed threshold A, the target vehicle is controlled to enter an acceleration closed-loop mode. The second speed of the target vehicle in the acceleration closed-loop mode is acquired in real time. If the second speed is less than a speed threshold B, the target vehicle is controlled to enter a parking mode, and pressure is built up in the target vehicle's braking system. Through this method, when the target vehicle meets the starting conditions, the hydraulic pressure and driving torque are adjusted according to the preset control strategy. During the adjustment process, the first speed of the target vehicle is acquired in real time. When the first speed is less than speed threshold A and the second speed is less than speed threshold B, the target vehicle is controlled to enter a parking mode, and pressure is built up in the braking system. This improves the rationality of automatic parking control and avoids the safety hazard of vehicle rollback due to drive device failure. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the automatic parking control device in the hardware operating environment involved in the embodiments of the present invention;

[0037] Figure 2 This is a flowchart illustrating the first embodiment of the automatic parking control method of the present invention;

[0038] Figure 3 This is a flowchart illustrating the second embodiment of the automatic parking control method of the present invention;

[0039] Figure 4 This is a flowchart illustrating the third embodiment of the automatic parking control method of the present invention;

[0040] Figure 5 This is a schematic diagram of a parking scenario according to an embodiment of the automatic parking control method of the present invention;

[0041] Figure 6 This is a functional module diagram of the first embodiment of the automatic parking control device of the present invention.

[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0044] Reference Figure 1 , Figure 1This is a schematic diagram of the control device structure for automatic parking in the hardware operating environment of the embodiment of the present invention.

[0045] like Figure 1 As shown, the control device for automatic parking may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0046] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the control equipment for automatic parking, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0047] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an automatic parking control program.

[0048] exist Figure 1 In the control device for automatic parking shown, the network interface 1004 is mainly used for data communication with the network integrated platform workstation; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the control device for automatic parking of the present invention can be set in the control device for automatic parking. The control device for automatic parking calls the control program for automatic parking stored in the memory 1005 through the processor 1001 and executes the control method for automatic parking provided in the embodiment of the present invention.

[0049] Based on the above hardware structure, an embodiment of the automatic parking control method of the present invention is proposed.

[0050] Reference Figure 2 , Figure 2This is a flowchart illustrating the first embodiment of the automatic parking control method of the present invention.

[0051] In the first embodiment, the automatic parking control method includes the following steps:

[0052] Step S10: When the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, the hydraulic pressure of the braking system and the driving torque of the drive system are adjusted according to the preset control strategy.

[0053] It should be noted that the execution subject in this embodiment is the automatic parking control device, but it can also be other devices that can achieve the same or similar functions, such as a vehicle controller. This embodiment does not limit this, and in this embodiment, the vehicle controller is used as an example for explanation.

[0054] It should be understood that speed parameters refer to speed-related parameters of the target vehicle during the parking preparation process. These speed parameters include vehicle speed and acceleration. Gear refers to the gear that the target vehicle is in when parking, which can be R, D, L, S, M, P, or N. The starting conditions for the start mode are: vehicle speed is 0, the target vehicle is in D, R, L, or S gear, and the target acceleration command is greater than a preset acceleration threshold, which can be 0.005g. When the target vehicle meets the starting conditions, the current hydraulic pressure and driving torque are adjusted according to the preset control strategy so that the target vehicle can start successfully.

[0055] It is understandable that the preset control strategy refers to the control strategy of adjusting hydraulic pressure and driving torque. Specifically, it reduces the resistance of the target vehicle's start-up by decreasing the current hydraulic pressure and increases the power of the target vehicle's start-up by increasing the driving torque.

[0056] Step S20: Real-time acquisition of the first vehicle speed of the target vehicle after adjusting the hydraulic pressure and driving torque.

[0057] It is understandable that the first vehicle speed refers to the speed of the target vehicle after adjusting the hydraulic pressure and driving torque. This first vehicle speed can be obtained in real time by the speed sensor set on the target vehicle. After adjusting the hydraulic pressure and driving torque, it is determined whether the adjusted hydraulic pressure is 0. If so, the timing module Start_tick starts timing and continues to increase the driving torque of the drive system.

[0058] Furthermore, after step S20, the method further includes: if the first vehicle speed is less than the vehicle speed threshold A within a second preset time period, determining that the target vehicle has encountered an obstacle and cannot pass through it, and generating target warning information; displaying the target warning information through the target device to remind the driver to take over the vehicle and manually park it.

[0059] It should be understood that when the hydraulic pressure decreases to 0, if the target vehicle's speed is still less than the speed threshold A, the driving torque of the drive system will still be increased to increase the target vehicle's speed. If the increased speed is greater than the speed threshold A within the second preset time, the target vehicle will be controlled to enter the acceleration closed-loop mode from the starting mode. If the target vehicle's speed is still less than the speed threshold A after the second preset time, it will be determined that the target vehicle cannot pass the obstacle. The second preset time refers to the time marked as the starting time when the hydraulic pressure is 0, which can be marked as 3 seconds.

[0060] Understandably, the target warning message refers to the information that alerts the driver to take over the vehicle for parking. This target warning message is: "The vehicle has encountered an obstacle and cannot pass through it. Please take over the vehicle and manually complete the following parking operation!"

[0061] Step S30: When the first vehicle speed is greater than or equal to the vehicle speed threshold A, control the target vehicle to enter the acceleration closed-loop mode.

[0062] Understandably, the vehicle speed threshold A refers to the speed threshold for determining whether the target vehicle has successfully started. This vehicle speed threshold A can be 0.6 km / h. When the first vehicle of the target vehicle is greater than or equal to the vehicle speed threshold A, it indicates that the target vehicle has successfully started. At this time, it is necessary to control the target vehicle to enter the acceleration closed-loop mode from the starting mode.

[0063] Step S40: In real time, the second vehicle speed of the target vehicle under the acceleration closed-loop mode is acquired. If the second vehicle speed is less than the vehicle speed threshold B, the target vehicle is controlled to enter the parking mode, and pressure is built up on the braking system of the target vehicle.

[0064] It should be understood that the second vehicle speed refers to the speed of the target vehicle in the acceleration closed-loop mode. This second vehicle speed can also be obtained in real time by the speed sensor set on the target vehicle. The preset threshold B refers to the speed threshold at which the target vehicle is considered to be stationary. The preset threshold B can be calibrated. In this embodiment, 0.1 km / h is used as an example. For example, when the speed of the target vehicle is less than the preset threshold B, the target vehicle is considered to be stationary.

[0065] Understandably, when the second speed of the target vehicle is less than the speed threshold B, the target vehicle is controlled to enter the parking mode from the acceleration closed-loop mode. At this time, pressure is also applied to the braking system to stop the target vehicle at the current position, thereby preventing the vehicle from rolling away when the drive device fails.

[0066] This embodiment adjusts the hydraulic pressure of the braking system and the driving torque of the drive system according to a preset control strategy when the target vehicle's speed parameters and gear position meet the starting conditions of the starting mode. It then acquires the first speed of the target vehicle after adjusting the hydraulic pressure and driving torque in real time. When the first speed is greater than or equal to a speed threshold A, the target vehicle is controlled to enter an acceleration closed-loop mode. The second speed of the target vehicle in the acceleration closed-loop mode is acquired in real time. If the second speed is less than a speed threshold B, the target vehicle is controlled to enter a parking mode, and pressure is built into the target vehicle's braking system. Through this method, when the target vehicle meets the starting conditions, the hydraulic pressure and driving torque are adjusted according to a preset control strategy. During the adjustment process, the first speed of the target vehicle is acquired in real time. When the first speed is less than speed threshold A and the second speed is less than speed threshold B, the target vehicle is controlled to enter a parking mode, and pressure is built into the braking system. This improves the rationality of automatic parking control and avoids the safety hazard of the vehicle rolling backward due to drive device failure.

[0067] In one embodiment, such as Figure 3 The second embodiment of the automatic parking control method of the present invention, based on the first embodiment, includes step S10, which includes:

[0068] Step S101: Obtain the change in driving torque and hydraulic pressure within the target cycle.

[0069] It should be understood that the change in driving torque refers to the increase in driving torque within the target period. Similarly, the change in hydraulic pressure refers to the decrease in hydraulic pressure within the target period. In order to reduce damage to the vehicle and improve the user's driving experience, the increase in driving torque and the decrease in hydraulic torque need to be performed gradually. The change in driving torque can be 1 NM.

[0070] Step S102: When the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, the driving torque of the drive system is increased according to the change in driving torque through a preset control strategy.

[0071] It is understandable that the preset control strategy refers to the control strategy of increasing the driving torque of the drive system or decreasing the hydraulic pressure of the braking system. When it is determined that the speed parameters and gear of the target vehicle meet the starting conditions, the driving torque is increased according to the change in driving torque through the preset control strategy.

[0072] It should be understood that before adjusting the hydraulic pressure of the braking system and the driving torque of the drive system, it is necessary to determine whether the target vehicle's speed is at the target speed threshold, whether the acceleration is greater than the target acceleration threshold, and whether the gear is the target gear. If all three conditions are met, it indicates that the target vehicle meets the starting conditions for entering the start mode from the parking mode. The target speed threshold is 0, the target acceleration can be 0.005g, and the target gear can be R, D, L, or S.

[0073] Step S103: Reduce the hydraulic pressure of the braking system according to the hydraulic pressure change using the preset control strategy.

[0074] It should be understood that after obtaining the hydraulic pressure change, the current hydraulic pressure is gradually reduced according to the hydraulic pressure change through a preset control strategy, so that the speed of the target vehicle increases and automatic parking can continue.

[0075] This embodiment acquires the changes in driving torque and hydraulic pressure within a target period. When the target vehicle's speed parameters and gear meet the starting conditions of the starting mode, the driving torque of the drive system is increased according to the changes in driving torque using a preset control strategy. The hydraulic pressure of the braking system is decreased according to the changes in hydraulic pressure using the same preset control strategy. Since this embodiment controls the target vehicle to enter the starting mode from the parking mode when the target vehicle's speed parameters and gear meet the starting conditions, and then increases the driving torque according to the changes in driving torque and decreases the hydraulic pressure according to the changes in hydraulic pressure using a preset control strategy, the vehicle can avoid rolling backward and accurately determine whether the vehicle can pass through obstacles.

[0076] In one embodiment, such as Figure 4 The third embodiment of the automatic parking control method of the present invention, based on the first embodiment, further includes the following after step S40:

[0077] Step S401: Obtain the entry time of the target vehicle into the acceleration closed-loop mode.

[0078] It is understandable that the entry time is the time the target vehicle operates in the acceleration closed-loop mode. The time from the target vehicle entering to exiting the acceleration closed-loop mode is timed by a timing module, which can be a Block_tmr. The timing module starts working when the target vehicle enters the acceleration closed-loop mode and stops working when the target vehicle enters the parking mode, thus obtaining the entry time of the target vehicle into the acceleration closed-loop mode.

[0079] Step S402: After the target vehicle enters the parking mode from the acceleration closed-loop mode, the automatic parking is controlled according to the entry time and the target acceleration command.

[0080] It should be understood that the target acceleration command refers to the acceleration command sent by the upper-level module. This upper-level module is a module used by the automatic parking function, including but not limited to cameras, radar, etc., for perception, decision-making, and sending control commands. The control of automatic parking based on the entry time and the target acceleration command includes exiting the automatic parking mode and continuing to park according to the automatic parking process.

[0081] Further, step S402 includes: Step 1, receiving a target acceleration command sent by the upper-layer module; determining whether the target acceleration command is greater than a preset acceleration threshold and whether the entry time is less than a first preset time; if the target acceleration command is greater than the preset acceleration threshold and the entry time is less than the first preset time, then it is identified that a preset situation 1 has occurred, and step 2 is executed; Step 2, if the target vehicle meets the starting conditions at the current moment, then the target vehicle is controlled to enter the starting mode; if the target vehicle starts successfully, then step 3 is executed; Step 3, after the target vehicle enters the acceleration closed-loop mode, it re-enters the parking mode within a first preset time, then returns to step 1; if the number of times the preset situation 1 occurs reaches a predetermined number, then it is determined that the target vehicle has encountered an obstacle and cannot pass through.

[0082] Understandably, if the entry time is longer than the first preset time, the target vehicle will still be controlled to continue parking according to the automatic parking process. The first preset time can be 2 seconds. The preset scenario one refers to the situation where the target vehicle encounters an obstacle. When scenario one occurs, the target vehicle will attempt to pass through the obstacle by restarting.

[0083] It should be understood that after obtaining the entry time of the target vehicle from the acceleration closed-loop mode to the parking mode, it is determined whether the target acceleration command is greater than the preset acceleration threshold and whether the entry time is less than the first preset time. The preset acceleration threshold can be 0. If both conditions are met, the count of the Block_count module is incremented by 1. Then, it is determined whether the target vehicle meets the starting conditions. If so, the target vehicle is controlled to enter the starting mode from the parking mode. If the target vehicle starts successfully, the target vehicle is controlled to enter the acceleration closed-loop mode from the starting mode. If the target vehicle enters the parking mode again from the acceleration closed-loop mode within the first preset time, step one is executed again. At this time, the count of the Block_count module is incremented by 1 again, and the loop continues in this manner. Each time the loop is repeated, the count of the Block_count module is incremented by 1. When the number of occurrences of the preset situation reaches the predetermined number, that is, the count in the Block_count module is the preset number, it is determined that the target vehicle has encountered an obstacle and cannot pass through. At this time, it is still necessary to remind the driver to take over the vehicle and manually park through the target warning information.

[0084] Furthermore, after controlling the target vehicle to enter the start mode, the method further includes: when performing step two, if the vehicle speed is less than the vehicle speed threshold A within a second preset time after the target vehicle enters the start mode, it is determined that the target vehicle has encountered an obstacle and cannot pass through, and a target warning message is generated; the target warning message is displayed through the target device to remind the driver to take over the vehicle and manually park it.

[0085] Understandably, if the target vehicle's speed is less than the speed threshold A within the second preset time period during the second step of the process, it is determined that the target vehicle has encountered an obstacle and cannot pass through. At this time, the automatic parking mode will be exited, and the driver will be reminded to take over the vehicle and perform manual parking through the target warning information.

[0086] It should be understood that, reference Figure 5 , Figure 5 This is a schematic diagram of a parking scenario, using a ramp parking scenario as an example. Specifically, the target vehicle is parking in the right direction, and the parking space is set on a ramp. According to existing parking technology, this ramp would be mistaken for multiple consecutive ramps, and the vehicle would repeatedly attempt to pass if it could not pass. In this embodiment, hydraulic pressure is first applied when the target vehicle's speed is less than the speed threshold B, allowing the target vehicle to stop at the current position. This avoids the vehicle rolling down the ramp due to drive device failure. Then, if the vehicle repeatedly starts and stops and returns from the acceleration closed-loop mode to the parking mode a preset number of times, it will stop attempting and determine that the target vehicle cannot pass the obstacle. The automatic parking mode will be exited in time, and the driver will take over the vehicle and perform manual parking.

[0087] This embodiment obtains the entry time of the target vehicle into the acceleration closed-loop mode; after the target vehicle enters the parking mode from the acceleration closed-loop mode, it controls automatic parking according to the entry time and the target acceleration command; since this embodiment determines whether the entry time is less than a first preset time and whether the target acceleration command is greater than a preset acceleration threshold after the target vehicle enters the parking mode from the acceleration closed-loop mode, if so, it promptly exits the automatic parking mode and the driver takes over manual parking; if it determines that the entry time is greater than the first preset time, it continues to park according to the automatic parking process, thereby determining the optimal parking method and improving the user's driving experience.

[0088] Furthermore, this embodiment of the invention also proposes a storage medium storing an automatic parking control program, which, when executed by a processor, implements the steps of the automatic parking control method described above.

[0089] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0090] In addition, refer to Figure 6 The present invention also proposes an automatic parking control device, the automatic parking control device comprising:

[0091] The adjustment module 10 is used to adjust the hydraulic pressure of the braking system and the driving torque of the drive system according to a preset control strategy when the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode.

[0092] The acquisition module 20 is used to acquire the first vehicle speed of the target vehicle in real time after adjusting the hydraulic pressure and driving torque.

[0093] The control module 30 is used to control the target vehicle to enter the acceleration closed-loop mode when the first vehicle speed is greater than or equal to the vehicle speed threshold A.

[0094] The control module 40 is used to acquire the second vehicle speed of the target vehicle in real time under the acceleration closed-loop mode. When the second vehicle speed is less than the vehicle speed threshold B, the control module 40 controls the target vehicle to enter the parking mode and builds pressure on the braking system of the target vehicle.

[0095] This embodiment adjusts the hydraulic pressure of the braking system and the driving torque of the drive system according to a preset control strategy when the target vehicle's speed parameters and gear position meet the starting conditions of the starting mode. It then acquires the first speed of the target vehicle after adjusting the hydraulic pressure and driving torque in real time. When the first speed is greater than or equal to a speed threshold A, the target vehicle is controlled to enter an acceleration closed-loop mode. The second speed of the target vehicle in the acceleration closed-loop mode is acquired in real time. If the second speed is less than a speed threshold B, the target vehicle is controlled to enter a parking mode, and pressure is built into the target vehicle's braking system. Through this method, when the target vehicle meets the starting conditions, the hydraulic pressure and driving torque are adjusted according to a preset control strategy. During the adjustment process, the first speed of the target vehicle is acquired in real time. When the first speed is less than speed threshold A and the second speed is less than speed threshold B, the target vehicle is controlled to enter a parking mode, and pressure is built into the braking system. This improves the rationality of automatic parking control and avoids the safety hazard of the vehicle rolling backward due to drive device failure.

[0096] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0097] In addition, for technical details not described in detail in this embodiment, please refer to the automatic parking control method provided in any embodiment of the present invention, which will not be repeated here.

[0098] In one embodiment, the adjustment module 10 is further configured to acquire the change in driving torque and the change in hydraulic pressure within the target cycle; when the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, the driving torque of the drive system is increased according to the change in driving torque through a preset control strategy; and the hydraulic pressure of the braking system is decreased according to the change in hydraulic pressure through the preset control strategy.

[0099] In one embodiment, the acquisition module 20 is further configured to, within a second preset time period, if the first vehicle speed is less than the vehicle speed threshold A, determine that the target vehicle has encountered an obstacle and cannot pass through it, and generate target warning information; and display the target warning information through the target device to remind the driver to take over the vehicle and manually park it.

[0100] In one embodiment, the control module 30 is further configured to acquire the entry time of the target vehicle into the acceleration closed-loop mode; and after the target vehicle enters the parking mode from the acceleration closed-loop mode, control the automatic parking according to the entry time and the target acceleration command.

[0101] In one embodiment, the control module 30 further includes the following steps: Step 1: receiving a target acceleration command sent by the upper-layer module; determining whether the target acceleration command is greater than a preset acceleration threshold and whether the entry time is less than a first preset time; if the target acceleration command is greater than the preset acceleration threshold and the entry time is less than the first preset time, then a preset situation 1 is identified, and Step 2 is executed; Step 2: if the target vehicle meets the starting conditions at the current moment, then the target vehicle is controlled to enter the starting mode; if the target vehicle starts successfully, then Step 3 is executed; Step 3: after the target vehicle enters the acceleration closed-loop mode, it re-enters the parking mode within a first preset time, then returns to Step 1; if the number of times the preset situation 1 occurs reaches a predetermined number, then it is determined that the target vehicle has encountered an obstacle and cannot pass through.

[0102] In one embodiment, the control module 30 is further configured to, when performing step two, if the target vehicle's speed is less than the speed threshold A within a second preset time after entering the starting mode, determine that the target vehicle has encountered an obstacle and cannot pass through, and generate target warning information; display the target warning information through the target device to remind the driver to take over the vehicle and manually park it.

[0103] Other embodiments or implementation methods of the automatic parking control device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0104] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0105] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, all-in-one platform workstation, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0107] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A control method for automatic parking, characterized in that, The automatic parking control method includes the following steps: When the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, the hydraulic pressure of the braking system and the driving torque of the drive system are adjusted according to the preset control strategy. Real-time acquisition of the first vehicle speed of the target vehicle after adjusting the hydraulic pressure and driving torque; When the first vehicle speed is greater than or equal to the vehicle speed threshold A, the target vehicle is controlled to enter the acceleration closed-loop mode; The second vehicle speed of the target vehicle is acquired in real time under the acceleration closed-loop mode. If the second vehicle speed is less than the vehicle speed threshold B, the target vehicle is controlled to enter the parking mode and pressure is applied to the braking system of the target vehicle. The preset threshold B refers to the speed threshold at which the target vehicle is considered to be stationary. After controlling the target vehicle to enter parking mode, the method further includes: Obtain the entry time of the target vehicle into the acceleration closed-loop mode; After the target vehicle enters the parking mode from the acceleration closed-loop mode, the following steps are performed; Step 1: Receive the target acceleration command sent by the upper-layer module; if the acceleration value corresponding to the target acceleration command is greater than the preset acceleration threshold and the entry time is less than the first preset time, then it is identified as a preset situation 1 has occurred, and Step 2 is executed. Step 2: If the target vehicle meets the starting conditions at the current moment, control the target vehicle to enter the starting mode. If the target vehicle starts successfully, proceed to Step 3. Step 3: After the target vehicle enters the acceleration closed-loop mode, it re-enters the parking mode within the first preset time, then return to Step 1; If the number of times the preset scenario 1 occurs reaches a predetermined number, it is determined that the target vehicle has encountered an obstacle and cannot pass through.

2. The automatic parking control method as described in claim 1, characterized in that, When the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, the hydraulic pressure of the braking system and the driving torque of the drive system are adjusted according to a preset control strategy, including: Obtain the changes in driving torque and hydraulic pressure within the target period; When the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode, the driving torque of the drive system is increased according to the change in driving torque through a preset control strategy. The hydraulic pressure of the braking system is reduced according to the preset control strategy based on the change in hydraulic pressure.

3. The automatic parking control method as described in claim 1, characterized in that, After controlling the target vehicle to enter the start-up mode, the method further includes: When performing step two, if the target vehicle's speed is less than the speed threshold A within the second preset time after entering the start mode, it is determined that the target vehicle has encountered an obstacle and cannot pass through it, and a target warning message is generated. The target device displays the target warning information to remind the driver to take over the vehicle and manually park it.

4. The automatic parking control method according to any one of claims 1 to 3, characterized in that, After acquiring the first vehicle speed of the target vehicle in real time after adjusting the hydraulic pressure and driving torque, the method further includes: If the first vehicle speed is less than the vehicle speed threshold A within a second preset time period, it is determined that the target vehicle has encountered an obstacle and cannot pass through it, and a target warning message is generated. The target device displays the target warning information to remind the driver to take over the vehicle and manually park it.

5. A control device for automatic parking, characterized in that, The automatic parking control device includes: The adjustment module is used to adjust the hydraulic pressure of the braking system and the driving torque of the drive system according to a preset control strategy when the speed parameters and gear of the target vehicle meet the starting conditions of the starting mode. The acquisition module is used to acquire the first vehicle speed of the target vehicle in real time after adjusting the hydraulic pressure and driving torque; The control module is used to control the target vehicle to enter the acceleration closed-loop mode when the first vehicle speed is greater than or equal to the vehicle speed threshold A. The control module is also used to acquire the second vehicle speed of the target vehicle in real time under the acceleration closed-loop mode. When the second vehicle speed is less than the vehicle speed threshold B, the target vehicle is controlled to enter the parking mode and pressure is applied to the braking system of the target vehicle. The preset threshold B refers to the speed threshold at which the target vehicle is considered to be stationary. The control module is further configured to acquire the entry time of the target vehicle into the acceleration closed-loop mode; after the target vehicle enters the parking mode from the acceleration closed-loop mode, the following steps are executed: Step 1, receiving a target acceleration command sent by the upper-layer module; if the acceleration value corresponding to the target acceleration command is greater than a preset acceleration threshold and the entry time is less than a first preset time, then it is identified that a preset situation 1 has occurred, and Step 2 is executed; Step 2, if the target vehicle meets the starting conditions at the current moment, then the target vehicle is controlled to enter the starting mode; if the target vehicle starts successfully, then Step 3 is executed; Step 3, after the target vehicle enters the acceleration closed-loop mode, it re-enters the parking mode within a first preset time, then returns to Step 1; if the number of times the preset situation 1 occurs reaches a predetermined number, then it is determined that the target vehicle has encountered an obstacle and cannot pass through.

6. A control device for automatic parking, characterized in that, The automatic parking control device includes: a memory, a processor, and an automatic parking control program stored in the memory and executable on the processor, wherein the automatic parking control program is configured to implement the automatic parking control method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores an automatic parking control program, which, when executed by a processor, implements the automatic parking control method as described in any one of claims 1 to 4.

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