A method, system, readable storage medium and vehicle for automatic hill hold

Abstract

The application discloses a kind of slope automatic parking method, system, readable storage medium and vehicle, the method includes when detecting that vehicle needs to carry out slope parking, control electronic stability control system keeps brake pressure, to make vehicle control in situ;Control electronic parking brake system is automatically parked to the vehicle, and whether the vehicle is parked is detected in real time;When detecting that the vehicle is parked, control the electronic stability control system releases the brake pressure.The application solves the problem that vehicle is easily slipped in prior art when carrying out slope automatic parking.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to an automatic parking method, system, readable storage medium, and vehicle for use on ramps. Background Technology

[0002] With the widespread popularity of automobiles, users are paying increasing attention to aspects such as vehicle safety and intelligence, ease of operation and comfort. Currently, automatic transmission vehicles account for a larger and larger share of the market. Automatic transmission vehicles have a mechanical lock-up mechanism inside their transmissions. When the gear is shifted into Park (P), the mechanical lock-up mechanism locks the output shaft to prevent the drive wheels from rolling, thus giving the vehicle a certain degree of parking capability.

[0003] Currently, most vehicles are equipped with safety devices such as Electronic Stability Control (ESC) and Electronic Parking Brake (EPB), enabling both short-term and long-term parking. Some vehicles also have a Parking Brake (P) function, meaning that when the driver shifts into Park, the EPB automatically engages the parking brake.

[0004] In the existing technology, when a vehicle is parked on a slope and the gear is put into P, the EPB needs a certain amount of time to complete the parking process. If the brake pedal is released before the EPB completes the parking process, the vehicle will roll down the slope, posing a risk of rolling downhill. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an automatic parking method, system, readable storage medium and vehicle for ramps, which aims to solve the problem of vehicle slippage during automatic parking on ramps in the prior art.

[0006] The embodiments of the present invention are implemented as follows:

[0007] An automatic parking method for ramps, the method comprising:

[0008] When the system detects that the vehicle needs to be parked on a slope, it controls the electronic stability control system to maintain braking pressure so that the vehicle is kept in place.

[0009] The electronic parking brake system is controlled to automatically park the vehicle and the vehicle is monitored in real time to determine whether parking is complete.

[0010] Once the vehicle has completed parking, the electronic stability control system is controlled to release the braking pressure.

[0011] Furthermore, in the above-mentioned automatic hill-start assist method, before the step of controlling the electronic stability control system to maintain braking pressure so as to keep the vehicle in place when hill-start assist is detected, the method further includes:

[0012] The system acquires the vehicle's brake pedal status, vehicle speed, and gear position signal, and determines whether the vehicle needs to perform hill parking based on the brake pedal status, vehicle speed, and gear position signal.

[0013] Furthermore, in the above-mentioned automatic hill-start assist method, the step of acquiring the vehicle's brake pedal state, vehicle speed, and gear signal, and determining whether the vehicle needs to perform hill-start assist based on the brake pedal state, vehicle speed, and gear signal includes:

[0014] Determine whether the brake pedal is in a depressed state;

[0015] If so, determine whether the vehicle is stationary based on the vehicle speed;

[0016] If so, determine whether the gear is in the preset gear based on the gear position signal;

[0017] If so, it is determined that the vehicle needs to be parked on a slope.

[0018] Furthermore, in the above-mentioned automatic hill-start assist method, before the step of controlling the electronic stability control system to maintain braking pressure so as to keep the vehicle in place when hill-start assist is detected, the method further includes:

[0019] Determine whether the electronic stability control system and electronic parking brake system are in the preset state;

[0020] If so, then the step of controlling the electronic stability control system to maintain braking pressure so that the vehicle is kept in place when it is detected that the vehicle needs to park on a slope.

[0021] Furthermore, in the above-mentioned automatic parking method for ramps, before the step of controlling the electronic parking brake system to automatically park the vehicle and detecting in real time whether the vehicle has completed parking, the method further includes:

[0022] The system acquires the actual parking time of the vehicle in real time, and when the actual parking time is longer than the parking time threshold, it controls the electronic stability control system to release the braking pressure.

[0023] Furthermore, in the above-mentioned automatic hill-start assist method, before the step of controlling the electronic stability control system to maintain braking pressure so as to keep the vehicle in place when hill-start assist is detected, the method further includes:

[0024] During vehicle operation, the road slope value is acquired in real time, and when the vehicle comes to a stop, it is determined whether the slope value is lower than the preset slope value.

[0025] If so, then when it is detected that the vehicle needs to park on a slope, the electronic stability control system is controlled to maintain braking pressure so that the vehicle is kept in place.

[0026] If not, a prompt message will be issued to inform the user that parking on a ramp is not permitted on the current road.

[0027] Furthermore, in the above-mentioned automatic parking method for ramps, after the step of controlling the electronic stability control system to release the braking pressure after detecting that the vehicle has completed parking, the method further includes:

[0028] Obtain the parking completion time and corresponding slope value for each parking session of the vehicle, and determine the target slope value corresponding to a parking completion time that is less than a preset parking completion time from the slope value;

[0029] The current slope value of the road where the vehicle is located is obtained in real time, and it is determined whether the current slope value meets the target slope value;

[0030] If so, when it is detected that the vehicle needs to be parked on a slope, the electronic parking brake system is controlled to automatically park the vehicle.

[0031] Another object of the present invention is to provide an automatic parking system for ramps, the system comprising:

[0032] The detection module is used to control the electronic stability control system to maintain braking pressure when it detects that the vehicle needs to park on a slope, so as to keep the vehicle in place.

[0033] The parking module is used to control the electronic parking brake system to automatically park the vehicle and to detect in real time whether the vehicle has completed parking.

[0034] The release module is used to control the electronic stability control system to release the braking pressure when the vehicle is detected to have completed parking.

[0035] Another object of this invention is to provide a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0036] Another object of the present invention is to provide a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described above.

[0037] This invention, when detecting that a vehicle needs to be parked on a slope, controls the electronic stability control system to maintain braking pressure to keep the vehicle in its original position and controls the electronic parking brake system to automatically park the vehicle. It also monitors in real time whether parking is complete. Once parking is complete, the electronic stability control system releases the braking pressure. During slope parking, because the electronic stability control system maintains braking pressure to keep the vehicle in its original position and the electronic parking brake system automatically parks the vehicle, it prevents the vehicle from rolling downhill after the brake pedal is released. This solves the problem of vehicles easily rolling downhill when parking on slopes in existing technologies.

[0038] In addition, the automatic parking method for ramps proposed in this invention solves the problem of automatic parking on ramps and also has at least the following beneficial effects:

[0039] 1. Prevent the pawl of the P gear mechanical locking mechanism from getting stuck;

[0040] 2. To avoid the P gear failing to unlock properly, or the P gear mechanical locking mechanism making abnormal noises or being damaged. Attached Figure Description

[0041] Figure 1 This is a flowchart of the automatic parking method for ramps according to the first embodiment of the present invention;

[0042] Figure 2 This is a flowchart of the automatic parking method for ramps according to the second embodiment of the present invention;

[0043] Figure 3 This is a structural block diagram of the automatic parking system for ramps in the third embodiment of the present invention.

[0044] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0045] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0046] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed types.

[0048] With the widespread popularity of automobiles, users are paying increasing attention to aspects such as vehicle safety and intelligence, ease of operation and comfort. Currently, automatic transmission vehicles account for a larger and larger share of the market. Automatic transmission vehicles have a mechanical lock-up mechanism inside their transmissions. When the gear is shifted into Park (P), the mechanical lock-up mechanism locks the output shaft to prevent the drive wheels from rolling, thus giving the vehicle a certain degree of parking capability.

[0049] Currently, most vehicles are equipped with safety devices such as Electronic Stability Control (ESC) and Electronic Parking Brake (EPB), enabling both short-term and long-term parking. Some vehicles also have a Parking Brake (P) function, meaning that when the driver shifts into Park, the EPB automatically engages the parking brake.

[0050] In the existing technology, when a vehicle is parked on a slope and the gear is put into P, the EPB needs a certain amount of time to complete the parking process. If the brake pedal is released before the EPB completes the parking process, the vehicle will roll down the slope, posing a risk of rolling downhill.

[0051] The following will describe in detail how to prevent a vehicle from rolling downhill when it is automatically parked on a slope, with reference to specific embodiments and accompanying drawings.

[0052] Example 1

[0053] Please see Figure 1 The figure shows the automatic parking method for ramps proposed in the first embodiment of the present invention, the method including steps S10 to S12.

[0054] Step S10: When it is detected that the vehicle needs to park on a slope, the electronic stability control system is controlled to maintain braking pressure so that the vehicle is kept in place.

[0055] In practice, due to road conditions, most vehicles need to be parked on slopes, including long-term parking such as parking in a parked car, and short-term parking such as waiting at a traffic light on a slope. Currently, most vehicles are equipped with safety devices such as Electronic Stability Control (ESC) and Electronic Parking Brake (EPB), enabling intelligent parking. The ESC mainly consists of three parts: sensors, Electronic Control Unit (ECU), and actuators. The ECU monitors the vehicle's operating status and intervenes in and controls the engine and braking systems. A typical automotive ESC system includes wheel speed sensors and brake master cylinder pressure sensors, and actuators such as the traditional braking system and hydraulic regulators. The ECU can intervene and adjust the vehicle's braking. The EPB mainly calculates the downward force caused by gravity on a slope. The computer applies braking force to the rear wheels via a motor to balance the downward force, allowing the vehicle to stop on the slope. When the vehicle starts moving, the computer communicates with the engine control unit (ECU) via high-speed CAN to obtain the engine traction force. The computer automatically calculates the increase in engine traction and correspondingly reduces the braking force. When the traction force is sufficient to overcome the sliding force, the vehicle can start smoothly.

[0056] However, when a vehicle is parked on a slope and the gear is shifted into P, the Electronic Parking Brake (EPB) system takes a certain amount of time to complete parking. If the brake pedal is released before the EPB system completes parking, the vehicle may roll down the slope if the slope is steep.

[0057] Therefore, when a vehicle is detected to need to park on a slope, in order to prevent the vehicle from rolling downhill if the brake pedal is released, the electronic stability control system maintains braking pressure to keep the vehicle in place. The purpose of maintaining braking pressure is to brake the vehicle through the electronic stability control system to prevent it from rolling downhill.

[0058] Specifically, during vehicle operation, it can detect whether the vehicle is on a slope, and by using information such as the brake pedal status, vehicle speed, and gear position, it can determine whether the vehicle needs to be parked on a slope.

[0059] More specifically, the vehicle's brake pedal status, vehicle speed, and gear position signal are acquired, and the vehicle's need for hill start parking is determined based on the brake pedal status, vehicle speed, and gear position signal. In specific implementation, it is determined whether the brake pedal is in a depressed state; specifically, the brake pedal status can be acquired, and the brake pedal status can be used to determine whether the brake pedal is depressed.

[0060] If so, determine whether the vehicle is stationary based on the vehicle speed;

[0061] If so, determine whether the gear is in the preset gear based on the gear position signal;

[0062] If so, it is determined that the vehicle needs to be parked on a slope.

[0063] The system determines whether the driver has pressed the brake pedal based on its state. For example, the state changes when the pedal is pressed. The brake pedal state is set to 0 when it is not pressed and 1 when it is pressed. By comparing the detected brake pedal state with the preset state, it can be determined whether the brake pedal is pressed. The preset state is 1, and the preset gear is P. The gear signal can determine whether the current gear is P, N, or R. When the gear is in P, it indicates that the vehicle needs to be parked. The preset vehicle speed is 0. The vehicle speed value is calculated from the wheel speed sensor signal to determine whether the vehicle has stopped. When the driver presses the brake pedal to stop the vehicle and then shifts the gear to P, it indicates that the vehicle needs to be parked.

[0064] Step S11: Control the electronic parking brake system to automatically park the vehicle and detect in real time whether the vehicle has completed parking.

[0065] When a vehicle is detected to need to park on a slope, the electronic stability control system maintains braking pressure to prevent the vehicle from rolling downhill. Then, the electronic parking brake system automatically engages the vehicle and monitors in real time whether the vehicle has completed parking to determine when to release the braking pressure of the electronic stability control system.

[0066] Furthermore, in some preferred embodiments of the present invention, to further enhance the user-friendliness of hill-start parking, the step of controlling the electronic parking brake system to automatically park the vehicle and detecting in real time whether the vehicle has completed parking includes, before:

[0067] The system acquires the slope value when the vehicle is parked and applies a corresponding parking force based on the slope value to avoid insufficient or excessive parking force. Furthermore, if it detects that the current slope value exceeds the maximum parking force slope, and the vehicle is being parked on an incline, it controls the electronic parking brake system to automatically park at the maximum parking force, then illuminates and sends a warning message to remind the user that the current parking slope is too steep and there is a risk of the vehicle rolling back. This warning message can include, but is not limited to, displaying text, icons, or voice prompts, such as displaying a warning light on the dashboard.

[0068] Step S12: When the vehicle is detected to have completed parking, the electronic stability control system is controlled to release the braking pressure.

[0069] When parking is detected as complete, it indicates that the vehicle has finished braking. At this point, the electronic stability control system (ESC) does not need to provide braking pressure to prevent the vehicle from rolling backward. Therefore, the ESC releases the braking pressure. Specifically, after parking is completed, the system can provide feedback on the vehicle's parking status. Based on the received parking status information, it can be determined whether the vehicle has successfully parked.

[0070] In addition, in some optional embodiments of the present invention, before the step of controlling the electronic stability control system to release the braking pressure after detecting that the vehicle has completed parking, the method further includes: acquiring the actual parking time of the vehicle in real time, and controlling the electronic stability control system to release the braking pressure when the actual parking time is longer than the parking time threshold.

[0071] The system can also set a normal parking time, i.e. a parking time threshold. The actual parking time is compared with the parking time threshold. When the actual parking time is longer than the parking time threshold, the electronic stability control system is controlled to release the braking pressure. Specifically, the calculation of the actual parking time begins when the electronic parking brake system starts parking.

[0072] In addition, in some optional embodiments of the present invention, when the actual parking time of the vehicle is longer than a preset parking time threshold, a warning message can be issued. The warning message is used to remind the user that the vehicle needs to be inspected while parking. The warning message includes, but is not limited to, displaying text, displaying logos, or voice prompts, such as displaying a warning light on the dashboard.

[0073] In summary, the hill start automatic parking method in the above embodiments of the present invention, when detecting that the vehicle needs to be parked on a hill, controls the electronic stability control system to maintain braking pressure to keep the vehicle in its original position, and controls the electronic parking brake system to automatically park the vehicle, and monitors in real time whether the vehicle has completed parking. When the vehicle has completed parking, the electronic stability control system releases the braking pressure. During the hill start parking process, because the electronic stability control system maintains the braking pressure to keep the vehicle in its original position, and during the automatic parking process of the electronic parking brake system, the vehicle is prevented from rolling downhill after the brake pedal is released. This solves the problem of the vehicle easily rolling downhill when parking on a hill in the prior art.

[0074] Example 2

[0075] Please see Figure 2 The figure shows an automatic parking method for ramps in the second embodiment of the present invention, the method including steps S20 to S24.

[0076] Step S20: Determine whether the electronic stability control system and the electronic parking brake system are in a preset state. If so, proceed to step S21.

[0077] To further improve the stability and safety of hill-start assist, the status of the electronic stability control system and electronic parking brake system is monitored during hill-start assist control. Specifically, it is determined whether the electronic stability control system and electronic parking brake system are in a preset state. The purpose of this preset state is to ensure that the electronic stability control system and electronic parking brake system can control hill-start assist normally, including but not limited to whether the electronic parking brake system is in a released state, whether the electronic stability control system and electronic parking brake system are functioning normally, and whether the battery voltage in the electronic parking brake system is normal.

[0078] In addition, in some optional embodiments of the present invention, when the electronic stability control system and the electronic parking brake system are detected to be not in a preset state, a fault warning message can be issued. The fault warning message is used to remind the user that the current vehicle cannot be parked on a slope. Specifically, the fault warning message can be given by voice or text display, such as displaying a warning light on the dashboard.

[0079] Furthermore, in practice, due to limited braking force, there may be situations where the slope is too steep and the vehicle rolls off the slope. In view of this, in order to avoid the vehicle rolling off the slope due to excessively steep slope, in some optional embodiments of the present invention, a reasonable range of allowable parking slope is set, the road slope value is acquired in real time during the vehicle's movement, and when the vehicle stops, it is determined whether the slope value is lower than the preset slope value.

[0080] If so, then when it is detected that the vehicle needs to park on a slope, the electronic stability control system is controlled to maintain braking pressure so that the vehicle is kept in place.

[0081] If not, a prompt message will be issued to inform the user that parking on a ramp is not permitted on the current road.

[0082] During vehicle operation, the slope of the road can be acquired in real time, and it can be determined whether the slope is lower than a preset slope value, which is the maximum slope at which the vehicle can park on a slope. If parking on a road with a slope higher than the preset slope value poses a risk of the vehicle rolling away, a warning message will be issued to inform the user that parking on the current slope may carry a risk of rolling away. If parking on a road with a slope lower than the preset slope value, normal parking is allowed. The warning message may include, but is not limited to, displaying text, displaying signs, or providing voice prompts, such as displaying a warning light on the dashboard.

[0083] Step S21: When it is detected that the vehicle needs to park on a slope, the electronic stability control system is controlled to maintain braking pressure so that the vehicle is kept in place.

[0084] Step S22: Control the electronic parking brake system to automatically park the vehicle and detect in real time whether the vehicle has completed parking.

[0085] Step S23: When the vehicle is detected to have completed parking, the electronic stability control system is controlled to release the braking pressure.

[0086] Step S24: Obtain the parking completion time and corresponding slope value of the vehicle each time, and determine the target slope value corresponding to the parking completion time being less than the preset parking completion time from the slope value.

[0087] The parking completion time is the time from the start of parking by the electronic parking brake system to the end of parking. After each parking maneuver, the parking completion time and the corresponding slope value are recorded. The preset parking completion time is the time it takes for the vehicle to not roll back after the brake pedal is released. If the parking completion time is less than the preset parking completion time, it means that the vehicle will not roll back even if the brake pedal is released immediately. The target slope value indicates the slope at which the vehicle will not roll back even if the brake pedal is released immediately. After collecting the target slope value that prevents rolling back, this target slope value is stored for subsequent slope value comparisons.

[0088] Step S25: Obtain the current slope value of the road where the vehicle is located in real time, and determine whether the current slope value meets the target slope value; if so, proceed to step S26.

[0089] The collected target slope value is one or more values, or a range set formed by the minimum and maximum target slope values. When the current slope value matches the target slope value, it means that the current slope value is the same as the target slope value or the current slope value is within the range set formed by the target slope values.

[0090] Step S26: When it is detected that the vehicle needs to be parked on a slope, the electronic parking brake system is controlled to automatically park the vehicle.

[0091] Specifically, when the current slope value meets the target slope value, it means that the vehicle will not roll back when parked on the slope. When the system detects that the vehicle needs to be parked on a slope, it directly controls the electronic parking brake system to automatically park the vehicle. No electronic stability control system is required.

[0092] In summary, the hill start automatic parking method proposed in the above embodiments of the present invention, when detecting that the vehicle needs to be parked on a hill, controls the electronic stability control system to maintain braking pressure to keep the vehicle in its original position, and controls the electronic parking brake system to automatically park the vehicle, while continuously monitoring whether the vehicle has completed parking. When parking is detected to be complete, the electronic stability control system releases the braking pressure. During the hill start parking process, because the electronic stability control system maintains braking pressure to keep the vehicle in its original position, and during the automatic parking process of the electronic parking brake system, the vehicle is prevented from rolling downhill after the brake pedal is released. This solves the problem of vehicles easily rolling downhill when parking on a hill in the prior art.

[0093] Example 3

[0094] Please see Figure 3 The figure shows an automatic parking system for ramps proposed in the third embodiment of the present invention. The system includes:

[0095] The detection module 100 is used to control the electronic stability control system to maintain braking pressure so that the vehicle is kept in place when it is detected that the vehicle needs to park on a slope.

[0096] The parking module 200 is used to control the electronic parking brake system to automatically park the vehicle and to detect in real time whether the vehicle has completed parking.

[0097] The release module 300 is used to control the electronic stability control system to release the braking pressure when the vehicle is detected to have completed parking.

[0098] Furthermore, in some optional embodiments of the present invention, the system further includes:

[0099] The parking judgment module is used to acquire the vehicle's brake pedal status, vehicle speed, and gear position signal, and determine whether the vehicle needs to be parked on a slope based on the brake pedal status, vehicle speed, and gear position signal.

[0100] Furthermore, in the aforementioned automatic parking system for ramps, the parking determination module is specifically used for:

[0101] Determine whether the brake pedal is in a depressed state;

[0102] If so, determine whether the vehicle is stationary based on the vehicle speed;

[0103] If so, determine whether the gear is in the preset gear based on the gear position signal;

[0104] If so, it is determined that the vehicle needs to be parked on a slope.

[0105] Furthermore, in some optional embodiments of the present invention, the system further includes:

[0106] The status judgment module is used to determine whether the electronic stability control system and the electronic parking brake system are in a preset state;

[0107] If so, then the step of controlling the electronic stability control system to maintain braking pressure so that the vehicle is kept in place when it is detected that the vehicle needs to park on a slope.

[0108] Furthermore, in some optional embodiments of the present invention, the system further includes:

[0109] The parking time acquisition module is used to acquire the actual parking time of the vehicle in real time, and when the actual parking time is longer than the parking time threshold, control the electronic stability control system to release the braking pressure.

[0110] Furthermore, in some optional embodiments of the present invention, the system further includes:

[0111] The slope value acquisition module is used to acquire the road slope value in real time during vehicle travel, and to determine whether the slope value is lower than the preset slope value after the vehicle stops.

[0112] If so, then when it is detected that the vehicle needs to park on a slope, the electronic stability control system is controlled to maintain braking pressure so that the vehicle is kept in place.

[0113] If not, a prompt message will be issued to inform the user that parking on a ramp is not permitted on the current road.

[0114] Furthermore, in some optional embodiments of the present invention, the system further includes:

[0115] The determination module is used to obtain the parking completion time of the vehicle each time and the corresponding slope value, and determine the target slope value corresponding to the parking completion time being less than the preset parking completion time from the slope value;

[0116] The current slope value of the road where the vehicle is located is obtained in real time, and it is determined whether the current slope value meets the target slope value;

[0117] If so, when it is detected that the vehicle needs to be parked on a slope, the electronic parking brake system is controlled to automatically park the vehicle.

[0118] The functions or operation steps implemented by the above modules are largely the same as those in the above method embodiments, and will not be repeated here.

[0119] Example 4

[0120] In another aspect, the present invention provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of embodiments 1 to 2 above.

[0121] Example 5

[0122] In another aspect, the present invention provides a vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described in any one of embodiments 1 to 2 above.

[0123] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0125] More specific examples of storage media (a non-exhaustive list) include: electrical connections (electronic devices) with one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, the storage medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0126] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0127] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0128] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for automatic parking on a ramp, characterized in that, The method includes: When the system detects that the vehicle needs to be parked on a slope, it controls the electronic stability control system to maintain braking pressure so that the vehicle is kept in place. The electronic parking brake system is controlled to automatically park the vehicle and the vehicle is monitored in real time to determine whether parking is complete. When the vehicle is detected to have completed parking, the electronic stability control system is controlled to release the braking pressure. After the step of controlling the electronic stability control system to release the braking pressure after detecting that the vehicle has completed parking, the method further includes: The vehicle's parking completion time and corresponding slope value are obtained each time. From the slope value, a target slope value corresponding to a parking completion time that is less than a preset parking completion time is determined. The preset parking completion time is the time during which the vehicle will not roll away after the brake pedal is released. The current slope value of the road where the vehicle is located is obtained in real time, and it is determined whether the current slope value meets the target slope value; If so, when it is detected that the vehicle needs to be parked on a slope, the electronic parking brake system is directly controlled to automatically park the vehicle without the assistance of the electronic stability control system; Before the step of controlling the electronic parking brake system to automatically park the vehicle and detecting in real time whether the vehicle has completed parking, the following steps are also included: The system acquires the actual parking time of the vehicle in real time, and when the actual parking time is longer than the parking time threshold, it controls the electronic stability control system to release the braking pressure.

2. The automatic parking method for ramps according to claim 1, characterized in that, Prior to the step of controlling the electronic stability control system to maintain braking pressure to keep the vehicle in place when it is detected that the vehicle needs to perform hill parking, the following steps are also included: The system acquires the vehicle's brake pedal status, vehicle speed, and gear position signal, and determines whether the vehicle needs to perform hill parking based on the brake pedal status, vehicle speed, and gear position signal.

3. The automatic parking method for ramps according to claim 2, characterized in that, The steps of acquiring the vehicle's brake pedal status, vehicle speed, and gear signal, and determining whether the vehicle needs to perform hill-start assist based on the brake pedal status, vehicle speed, and gear signal include: Determine whether the brake pedal is in a depressed state; If so, determine whether the vehicle is stationary based on the vehicle speed; If so, determine whether the gear is in the preset gear based on the gear position signal; If so, it is determined that the vehicle needs to be parked on a slope.

4. The automatic parking method for ramps according to claim 1, characterized in that, Prior to the step of controlling the electronic stability control system to maintain braking pressure to keep the vehicle in place when it is detected that the vehicle needs to perform hill parking, the following steps are also included: Determine whether the electronic stability control system and electronic parking brake system are in the preset state; If so, then the step of controlling the electronic stability control system to maintain braking pressure so that the vehicle is kept in place when it is detected that the vehicle needs to park on a slope.

5. The automatic parking method for ramps according to claim 1, characterized in that, Prior to the step of controlling the electronic stability control system to maintain braking pressure to keep the vehicle in place when it is detected that the vehicle needs to perform hill parking, the following steps are also included: During vehicle operation, the road slope value is acquired in real time, and when the vehicle comes to a stop, it is determined whether the slope value is lower than the preset slope value. If so, then when it is detected that the vehicle needs to park on a slope, the electronic stability control system is controlled to maintain braking pressure so that the vehicle is kept in place. If not, a prompt message will be issued to inform the user that parking on a ramp is not permitted on the current road.

6. An automatic parking system for ramps, characterized in that, The system for implementing the automatic parking method for ramps according to any one of claims 1 to 5, the system comprising: The detection module is used to control the electronic stability control system to maintain braking pressure when it detects that the vehicle needs to park on a slope, so as to keep the vehicle in place. The parking module is used to control the electronic parking brake system to automatically park the vehicle and to detect in real time whether the vehicle has completed parking. The release module is used to control the electronic stability control system to release the braking pressure when the vehicle is detected to have completed parking.

7. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method as described in any one of claims 1 to 5.

8. A vehicle, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the method as described in any one of claims 1 to 5.

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