Vehicle parking control method and device

Abstract

The present disclosure relates to a vehicle parking control method and device, the method comprising: obtaining a current vehicle speed and a current vehicle control level of a vehicle to be parked; obtaining a target vehicle speed of the vehicle, and obtaining a target vehicle control level of the vehicle according to the current vehicle control level; obtaining a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level; and controlling the operation of the vehicle according to the first vehicle control level.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of rail transit technology, and more specifically, to a vehicle parking control method and a vehicle parking control device. Background Art

[0002] At present, the comfort requirements for domestic urban rail trains are getting higher and higher. Based on certain control programs, the vehicle can be basically free of impact during the starting and braking stages, but the vehicle still has a strong sense of frustration during the parking stage.

[0003] Therefore, it is necessary to provide a new vehicle parking control method. Summary of the invention

[0004] An object of the embodiments of the present disclosure is to provide a new technical solution for controlling vehicle parking.

[0005] According to a first aspect of the present disclosure, a vehicle parking control method is provided, including: obtaining a current vehicle speed and a current vehicle control level of a vehicle to be parked; obtaining a target vehicle speed of the vehicle, and obtaining a target vehicle control level of the vehicle based on the current vehicle control level; obtaining a first vehicle control level based on the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level; and controlling the operation of the vehicle based on the first vehicle control level.

[0006] Optionally, obtaining a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level includes: comparing the current vehicle speed with the target vehicle speed; when the current vehicle speed is not greater than the target vehicle speed, obtaining a first vehicle control level according to the current vehicle control level and the target vehicle control level, the first vehicle control level being no greater than the target vehicle control level and the current vehicle control level.

[0007] Optionally, obtaining the first vehicle control level according to the current vehicle control level and the target vehicle control level includes: comparing the current vehicle control level with the target vehicle control level; when the current vehicle control level is greater than the target vehicle control level, taking a vehicle control level that is not greater than the target vehicle control level as the first vehicle control level; when the current vehicle control level is not greater than the target vehicle control level, taking the current vehicle control level as the first vehicle control level.

[0008] Optionally, obtaining the first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level further includes: when the current vehicle speed is greater than the target vehicle speed, using the current vehicle control level as the first vehicle control level.

[0009] Optionally, obtaining the target speed of the vehicle includes: obtaining the target speed of the vehicle according to Formula 1; the Formula 1 is: V = (a + g × sin α) × t; wherein V represents the target speed, a is the deceleration depending on the target deceleration of the vehicle and / or the actual deceleration of the vehicle, g is the acceleration of gravity, α represents the current slope of the road section where the vehicle is located, t is the time depending on the target deceleration and the actual deceleration, and the actual deceleration depends on the current vehicle control level.

[0010] Optionally, the current vehicle control level is negatively correlated with the target vehicle control level.

[0011] Optionally, before obtaining the current speed and the current vehicle control level of the vehicle to be parked, the method also includes: detecting whether the speed of the vehicle is greater than zero; if the speed of the vehicle is greater than zero, detecting whether the driving mode of the vehicle is the automatic driving mode; if the driving mode of the vehicle is the automatic driving mode, detecting whether the vehicle is in the parking stage; if the vehicle is in the parking stage, executing the step of obtaining the current speed and the current vehicle control level of the vehicle to be parked.

[0012] Optionally, the method further includes: detecting whether the current vehicle speed is zero; and when the current vehicle speed is zero, applying parking brakes to configure the braking force of the vehicle to a set target value.

[0013] According to a second aspect of the present disclosure, a vehicle parking control device is further provided, comprising a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method according to the first aspect of the present disclosure.

[0014] According to a third aspect of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0015] One beneficial effect of the disclosed embodiments is that the vehicle control level for parking vehicles can be adjusted in real time as needed. Specifically, the target vehicle speed of the vehicle can be adjusted in real time, and the target vehicle control level of the vehicle can be adjusted in real time according to the current vehicle control level of the vehicle. The vehicle control level of the vehicle can be adjusted according to the real-time changes of the vehicle speed and the current value and target value of the vehicle control level. This can reduce the sense of frustration of the vehicle during the parking stage.

[0016] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0018] Figure 1 is a schematic diagram of the composition structure of an electronic device to which a vehicle parking control method according to an embodiment can be applied;

[0019] Figure 2 is a flow chart of a vehicle parking control method according to an embodiment;

[0020] Figure 3 is a flow chart of a vehicle parking control method according to another embodiment;

[0021] Figure 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment. DETAILED DESCRIPTION

[0022] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0023] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0024] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0025] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0026] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0027] One application scenario of the embodiment of the present disclosure is to control the operation of a vehicle during the vehicle parking phase. The vehicle may be an urban rail train.

[0028] In order to achieve the purpose of controlling the vehicle operation during the vehicle braking stage to reduce the vehicle braking impact, an optional implementation is: during the vehicle braking stage, the vehicle increases the actual electric braking force value at a fixed slope, and supplements the air braking force at a fixed slope according to the electric braking force value to reduce the vehicle braking impact rate. However, this implementation method of controlling the vehicle operation during the vehicle braking stage is not applicable to the vehicle parking stage, which will cause the vehicle to have a strong parking impact and frustration during the parking stage, and thus cannot solve the impact problem during the vehicle parking stage.

[0029] In view of the technical problems existing in the above implementation methods, the inventors have proposed a vehicle parking control method, which obtains the current speed and current vehicle control level of the vehicle to be parked; obtains the target speed of the vehicle, and obtains the target vehicle control level of the vehicle according to the current vehicle control level; obtains the first vehicle control level according to the current speed, the target speed, the current vehicle control level and the target vehicle control level; and controls the operation of the vehicle according to the first vehicle control level. The method adjusts the vehicle control level of the vehicle operation based on the real-time changes of the speed of the vehicle to be parked and the current value and target value of the vehicle control level, which can reduce the sense of frustration of the vehicle during the parking stage.

[0030] <Hardware Configuration>

[0031] Figure 1 A schematic diagram showing the hardware configuration of an electronic device 1000 that can implement an embodiment of the present invention. The electronic device 1000 can be applied to a vehicle parking control scenario. The vehicle can include the electronic device 1000. The vehicle can be an urban rail train.

[0032] The electronic device 1000 can be a smart phone, a portable computer, a desktop computer, a tablet computer, a server, etc., which is not limited here.

[0033] The hardware configuration of the electronic device 1000 may include, but is not limited to, a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. Among them, the processor 1100 may be a central processing unit CPU, a graphics processing unit GPU, a microprocessor MCU, and the like, and is used to execute a computer program, and the computer program may be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The memory 1200 may include, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, and the like. The interface device 1300 may include, for example, a USB interface, a serial interface, a parallel interface, and the like. The communication device 1400 may, for example, be capable of wired communication using an optical fiber or a cable, or wireless communication, and may specifically include WiFi communication, Bluetooth communication, 2G / 3G / 4G / 5G communication, and the like. The display device 1500 may be, for example, a liquid crystal display screen, a touch display screen, and the like. The input device 1600 may include, for example, a touch screen, a keyboard, a somatosensory input, and the like. The user may input / output voice information through the speaker 1700 and the microphone 1800 .

[0034] As used in the embodiments of the present disclosure, the memory 1200 of the electronic device 1000 is used to store instructions, and the instructions are used to control the processor 1100 to operate to support the implementation of the vehicle parking control method according to any embodiment of the present disclosure. Technicians can design instructions according to the scheme disclosed in the present disclosure. How instructions control the processor to operate is well known in the art, so it will not be described in detail here. The electronic device 1000 can be installed with an intelligent operating system (such as Windows, Linux, Android, IOS, etc.) and application software.

[0035] It should be understood by those skilled in the art that although Figure 1 1 shows multiple devices of the electronic device 1000, but the electronic device 1000 of the embodiment of the present disclosure may only involve some of the devices, for example, only the processor 1100 and the memory 1200. This is well known in the art and will not be described in detail here.

[0036] Hereinafter, various embodiments and examples according to the present invention are described with reference to the accompanying drawings.

[0037] <Method Example>

[0038] Figure 2 FIG. 1 is a flow chart of a vehicle parking control method according to an embodiment. Figure 1 The electronic device 1000 is shown. The vehicle may include the electronic device 1000.

[0039] like Figure 2 As shown, the vehicle parking control method of this embodiment may include the following steps S210 to S240:

[0040] Step S210, obtaining the current speed and current vehicle control level of the vehicle to be parked.

[0041] The vehicle applicable to this embodiment can be an urban rail train, and can be a single-module (or carriage) or multi-module vehicle, which has strong versatility. When the vehicle to be parked is a multi-module vehicle, the speed and control level of each single module included in the vehicle are usually consistent, and each single module performs operation control separately to achieve the effect of unified control of the whole vehicle.

[0042] In this embodiment, in order to adjust the vehicle control level of the vehicle in real time as needed, step S210 is executed to first obtain the current vehicle speed and the current vehicle control level of the vehicle to be parked.

[0043] In detail, a time interval can be set, and the embodiments of the present disclosure can be periodically executed based on the time interval to achieve real-time on-demand adjustment of the vehicle control level of the vehicle operation. For example, the time interval can be one or more vehicle control cycle durations, or any time value set on demand.

[0044] In one embodiment of the present disclosure, for the vehicle control level, the maximum vehicle control level may be 100%, and the minimum vehicle control level may be 0%. During the vehicle parking stage, the larger the vehicle control level, the greater the corresponding deceleration.

[0045] In one embodiment of the present disclosure, it is possible to determine whether a vehicle is a vehicle to be parked by using vehicle operation data. For example, a vehicle with a speed greater than zero, operating in an automatic driving mode, and in a parking stage can be determined as a vehicle to be parked, and the vehicle parking control method of this embodiment is executed on the vehicle to be parked to reduce the frustration of the vehicle during the parking stage.

[0046] Based on this, in one embodiment of the present disclosure, before obtaining the current speed and the current vehicle control level of the vehicle to be parked in step S210, the method further includes the following steps S2001 to S2003:

[0047] Step S2001, detecting whether the speed of the vehicle is greater than zero.

[0048] In detail, the vehicle automatic driving system can determine whether the vehicle speed is greater than 0 by collecting or receiving the vehicle speed signal in real time. In a feasible implementation, the vehicle speed can be considered to be 0 when the vehicle speed is not greater than 1 km / h.

[0049] Step S2002, when the vehicle speed is greater than zero, detect whether the driving mode of the vehicle is the automatic driving mode.

[0050] Step S2003, when the driving mode of the vehicle is the automatic driving mode, detect whether the vehicle is in the parking stage. When the vehicle is in the parking stage, execute step S210 to obtain the current vehicle speed and current vehicle control level of the vehicle to be parked.

[0051] In detail, the vehicle's automatic driving system determines whether the vehicle needs to stop. When parking is required, the subsequent parking control process is executed. When parking is not required, the vehicle can end the current process and drive normally.

[0052] In one embodiment of the present disclosure, if it is detected that the vehicle speed is zero, the driving mode of the vehicle is not the automatic driving mode, and the vehicle is not in the parking stage, any one or more of the following, the above step S210 may not be executed or no longer executed.

[0053] Step S220, obtaining a target vehicle speed of the vehicle, and obtaining a target vehicle control level of the vehicle according to the current vehicle control level obtained in step S210.

[0054] In this embodiment, the corresponding target vehicle control level can be obtained according to the current vehicle control level of the vehicle.

[0055] Based on this, the vehicle control level of the vehicle can be determined according to the current value and target value of the vehicle speed and the vehicle control level, that is, whether the vehicle control level of the vehicle needs to be changed and how to change it.

[0056] During the vehicle parking stage, since the vehicle's operating control level changes in real time as needed, the corresponding target vehicle speed and target vehicle control level change accordingly in real time. Therefore, the vehicle control level determined subsequently can be more in line with the vehicle's current operating conditions, ensuring the accurate determination of the vehicle control level and avoiding the feeling of frustration when the vehicle runs at an inappropriate vehicle control level.

[0057] In one embodiment of the present disclosure, the current vehicle control level is positively correlated with the target vehicle speed. In this embodiment, in any vehicle control cycle, the larger the current vehicle control level of the vehicle, the larger the target vehicle speed, and vice versa.

[0058] In one embodiment of the present disclosure, the current vehicle control level is negatively correlated with the target vehicle control level. In this embodiment, in any vehicle control cycle, the larger the current vehicle control level of the vehicle is, the larger the target vehicle control level of the vehicle is, and vice versa.

[0059] In one embodiment of the present disclosure, the corresponding target vehicle speed can be obtained according to the current vehicle control level of the vehicle. For example, the target vehicle speed can be calculated according to the formula V=V0+a×t.

[0060] In the formula, V represents the target vehicle speed, V0≤1km / h, a is the deceleration depending on the target deceleration of the vehicle and / or the actual deceleration of the vehicle, t is the time depending on the target deceleration and the actual deceleration, and the actual deceleration depends on the current vehicle control level. When V0 is zero speed, the formula can also be adjusted to V=a×t.

[0061] Based on the above content, considering that the slope of the road section where the vehicle is running can also affect the parking of the vehicle, in order to improve the accurate control of the parked vehicle, in addition to controlling the vehicle level, the target vehicle speed can also be calculated in combination with the current slope value.

[0062] Based on this, in one embodiment of the present disclosure, obtaining the target speed of the vehicle includes: obtaining the target speed of the vehicle according to Formula 1.

[0063] In this embodiment, the corresponding target vehicle speed may be obtained based on the vehicle control level and the change in the slope of the road section where the vehicle is located, that is, the target vehicle speed may be calculated according to the current vehicle control level and the current slope.

[0064] Wherein, the formula 1 is: V = (a + g × sin α) × t. Wherein, V represents the target vehicle speed, a is the deceleration depending on the target deceleration of the vehicle and / or the actual deceleration of the vehicle, g is the acceleration of gravity, α represents the current slope of the road section where the vehicle is located, and t is the time depending on the target deceleration and the actual deceleration, and the actual deceleration depends on the current vehicle control level.

[0065] In this embodiment, for the vehicle's driving direction, if the road section where the vehicle is located is an uphill section, the value of the current slope is usually a positive value, and if the road section where the vehicle is located is a downhill section, the value of the current slope is usually a negative value.

[0066] It should be noted that, in Formula 1, the vehicle speed (V0) at the end of the parking phase can be considered to be zero speed.

[0067] Based on the above content, the vehicle speed (V0) at the end of the parking stage can also be set to be no more than 1 km / h. In this way, the above formula 1 can also be adjusted to V=V0+(a+g×sinα)×t.

[0068] In this embodiment, g×sinα represents the deceleration caused by the vehicle's own weight. Wherein, g×sinα=m×g×sinα / m, and m represents the weight of the vehicle.

[0069] In a feasible implementation, the value of a can be the target deceleration, the actual deceleration, or the average of the two, or the weighted sum of the two. The weights of the two can be set by the designer as needed, and the sum of the two weights is preferably 1.

[0070] Based on this, in one embodiment of the present disclosure, a=(a1+a2) / 2.

[0071] Wherein, a1 represents the target deceleration for controlling the impact rate during the parking phase, and a2 represents the actual deceleration.

[0072] In a feasible implementation, a1 = J×Δt.

[0073] Wherein, J represents the target impact rate Jerk of the parking stage. Wherein, according to the actual requirements of the vehicle and combined with the requirements of relevant industry standards, it can be obtained that J≤0.75 or J≤1.

[0074] Among them, △t represents the time when the deceleration instantly becomes 0 when parking, and △t≤0.5s. For example, △t=0.2s.

[0075] In a feasible implementation, a2 = x × a max .

[0076] Among them, x represents the current control level of the vehicle, a max Indicates the deceleration of the braking system corresponding to the 100% level of the vehicle. max =1.0.

[0077] In a feasible implementation, t=A×(a2-a1) / k.

[0078] Wherein, A represents the adjustment coefficient. In this embodiment, considering that both network signals and braking execution require time, this part of time can be taken into account, and a more accurate value of t can be obtained by combining the value of A. Wherein, the specific value of A can be selected according to the actual state of the vehicle network delay time product, for example, the value of A is preferably A=1.1.

[0079] Wherein, k represents the braking deceleration control slope of the vehicle. Wherein, according to the actual requirements of the vehicle and combined with the requirements of relevant industry standards, it can be obtained that k≤0.75 or k≤1).

[0080] Based on the above, in one embodiment of the present disclosure, the target vehicle speed can be calculated using the following formula:

[0081] V=V0+[(a1+a2) / 2]×t+g×sinα×t

[0082] =V0+[(J×△t+x×a max) / 2]×[A×(x×a max -J×△t) / k]+g×sinα×[A×(x×a max -J×△t) / k]

[0083] Among them, V0 is zero speed, which can usually be V0≤1km / h.

[0084] In this embodiment, the vehicle's automatic driving system can collect or receive speed signals and slope signals in real time, and then calculate the speed point of the vehicle's parking phase control impact in real time through the vehicle speed and the slope of the vehicle's position, and then make corresponding adjustments to the vehicle's operation control level based on the comparison of the current vehicle speed and the speed point, thereby achieving the purpose of controlling the impact rate of the parking phase.

[0085] In this embodiment, the corresponding target vehicle control level may be obtained based on the change of the vehicle control level, that is, the target vehicle control level may be calculated according to the current vehicle control level.

[0086] Based on the above content, in one embodiment of the present disclosure, the target vehicle control level can be calculated using the following formula: X = a1 / a2 = (J × △t) / (x × a max ).

[0087] Among them, X represents the target vehicle control level for controlling the impact rate during the parking stage.

[0088] It can be seen that in this embodiment, the vehicle deceleration can be obtained without setting up other additional equipment in the vehicle, such as no additional acceleration sensor is required to collect the vehicle deceleration, so the corresponding cost investment can be avoided.

[0089] Based on the above content, in any vehicle control cycle, after obtaining the current value and target value of the vehicle speed and vehicle control level, the following step S230 can be executed to determine which vehicle control level the vehicle will run at next.

[0090] Step S230, obtaining a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level.

[0091] In this embodiment, the first vehicle control level is obtained according to the current value and target value of the vehicle speed and the vehicle control level, and the vehicle can be controlled to run at the first vehicle control level. In this way, the first vehicle control level is usually the current vehicle control level obtained when the above step S210 is executed next time.

[0092] In one embodiment of the present disclosure, in order to illustrate a possible implementation method for obtaining the first vehicle control level, the step S230, obtaining the first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level, may include the following steps S2301-S2302:

[0093] Step S2301, comparing the current vehicle speed with the target vehicle speed.

[0094] In this step, the speed value of the current vehicle speed is compared with the speed value of the target vehicle speed, and subsequent steps are performed according to the comparison result. Wherein, if the current vehicle speed is not greater than the target vehicle speed, the following step S2302 is performed.

[0095] Step S2302: when the current vehicle speed is not greater than the target vehicle speed, a first vehicle control level is obtained according to the current vehicle control level and the target vehicle control level, wherein the first vehicle control level is not greater than the target vehicle control level and the current vehicle control level.

[0096] In this step, the current vehicle speed is not greater than the target vehicle speed, indicating that the vehicle deceleration can support the vehicle to directly operate at a lower vehicle control level, specifically, the vehicle can operate at any vehicle control level that is not greater than the target vehicle control level and not greater than the current vehicle control level.

[0097] Preferably, in the corresponding two vehicle control cycles, when it is determined that the current vehicle speed is not greater than the target vehicle speed, the first vehicle control level determined in the previous cycle is not less than the first vehicle control level determined in the subsequent cycle, so that the first vehicle control level shows an overall downward trend during the vehicle parking stage, which is conducive to avoiding parking frustration.

[0098] Based on the above content, in one embodiment of the present disclosure, in step S2302, obtaining the first vehicle control level according to the current vehicle control level and the target vehicle control level includes the following steps S23021 to S23023:

[0099] Step S23021, compare the current vehicle control level and the target vehicle control level, and execute the following step S23022 or step S23023.

[0100] In this step, the level values ​​of the current vehicle control level and the target vehicle control level are compared, and subsequent steps are performed according to the comparison result.

[0101] Step S23022: When the current vehicle control level is greater than the target vehicle control level, a vehicle control level that is not greater than the target vehicle control level is used as the first vehicle control level.

[0102] In this case, the current vehicle control level is higher than the target vehicle control level, indicating that the current vehicle control level is slightly higher, so the control level can be lowered to obtain a first vehicle control level that is not greater than the target vehicle control level.

[0103] Step S23023: When the current vehicle control level is not greater than the target vehicle control level, the current vehicle control level is used as the first vehicle control level.

[0104] In this case, the current vehicle control level is not higher than the target vehicle control level, which means that the current vehicle control level is relatively ideal, so the current vehicle control level can be maintained.

[0105] Based on the above content, it can be known that this embodiment describes the implementation method of determining the first vehicle control level when the current vehicle speed is not greater than the target vehicle speed. When the current vehicle speed is greater than the target vehicle speed, the method of determining the first vehicle control level can be as follows:

[0106] In one embodiment of the present disclosure, the step S230 obtains the first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level, and also includes: step S2303, when the current vehicle speed is greater than the target vehicle speed, using the current vehicle control level as the first vehicle control level.

[0107] In this embodiment, after completing the execution of the above step S2301, the above step S2302 or the step S2303 may be executed.

[0108] In this embodiment, when the current vehicle speed is greater than the target vehicle speed, it means that the vehicle speed is slightly faster. To support the vehicle to decelerate quickly and smoothly, the current vehicle control level can be maintained. When the vehicle speed is reduced to no more than the corresponding target vehicle speed, the first vehicle control level is determined in combination with the target vehicle control level.

[0109] Based on the above content, it can be seen that the vehicle parking control method of this embodiment can achieve real-time adjustment of the impact rate when the vehicle is parked under all vehicle operating conditions through real-time collection and calculation operations, thereby improving the riding comfort of passengers during the vehicle parking stage.

[0110] Step S240: controlling the operation of the vehicle according to the first vehicle control level.

[0111] Based on the above content, a more suitable first vehicle control level can be obtained in any case, and the vehicle can be controlled to run at the first vehicle control level.

[0112] Afterwards, the above step S210 can be executed again and repeatedly to determine the real-time change of the first vehicle control level according to the real-time changes of the current value and the target value of the vehicle speed and the vehicle control level, so that the vehicle always runs at the vehicle control level that meets the current operating conditions during the parking stage, ensuring that there is basically no impact during the vehicle parking stage and reducing the sense of frustration during the vehicle parking stage.

[0113] In this embodiment, the above steps S210 to S240 can be periodically executed during the vehicle parking stage, that is, in each execution cycle, the electronic device 1000 can adjust the target vehicle speed of the vehicle to be parked, and adjust the target vehicle control level of the vehicle according to the current vehicle control level of the vehicle to be parked, and then adjust the vehicle control level of the vehicle according to the real-time changes of the vehicle speed and the current value and target value of the vehicle control level, and control the vehicle to run at the vehicle control level, and repeat until the vehicle stops. It can be seen that the disclosed embodiment can make real-time and on-demand adjustments to the vehicle control level of the vehicle to be parked, and the sense of frustration of the vehicle during the parking stage can be reduced when the vehicle is controlled to run.

[0114] In this embodiment, the electronic device 1000 may be an internal component of the vehicle, so that the vehicle's automatic driving signal system can autonomously calculate relevant values ​​when controlling the vehicle, thereby facilitating faster adjustment of the vehicle to the target state.

[0115] Based on the above, during the parking phase of the vehicle to be parked, the speed of the vehicle will eventually drop to zero speed over time to achieve vehicle parking. After the vehicle is parked, in order to prevent the vehicle from slipping, the parking brake can be applied after the vehicle is parked.

[0116] Based on this, in one disclosed embodiment, the method further includes: detecting whether the current vehicle speed is zero; and when the current vehicle speed is zero, applying parking brakes to configure the braking force of the vehicle to a set target value.

[0117] In this embodiment, if the current speed of the vehicle to be parked is zero, such as a speed not exceeding 1 km / h, the vehicle can be considered to have stopped, so a parking brake signal can be applied to establish the vehicle braking force to the parking brake target value, thereby preventing the vehicle from slipping.

[0118] In one embodiment of the present disclosure, after the above step S240, it further includes: detecting whether the vehicle parking stage has been completed, and if the vehicle parking stage has been completed, applying the vehicle deceleration to the set target value; if the vehicle parking stage has not been completed, executing the above step S210 again.

[0119] In detail, after the above step S240, it can be detected whether the current speed of the vehicle reaches zero speed. If it reaches zero speed, it can be considered that the vehicle parking stage has been completed. After the vehicle is parked, the parking brake can be applied to build the braking force to the parking brake target value to prevent the vehicle from slipping when it is parked.

[0120] Figure 3 A flow chart of a vehicle parking control method according to an embodiment is given. Figure 1 An electronic device 1000 is shown.

[0121] like Figure 3 As shown, the method of this embodiment may include the following steps S310 to S380:

[0122] Step S310, detect whether the speed of the vehicle is greater than zero. If the speed of the vehicle is greater than zero, execute step S320. If the speed of the vehicle is not greater than zero, end the current process.

[0123] Step S320, detect whether the driving mode of the vehicle is the automatic driving mode. If the driving mode of the vehicle is the automatic driving mode, execute step S330. If the driving mode of the vehicle is not the automatic driving mode, end the current process.

[0124] Step S330, detecting whether the vehicle is in the parking stage. If the vehicle is in the parking stage, executing step S340, and if the vehicle is not in the parking stage, ending the current process.

[0125] Step S340, obtaining the current speed of the vehicle to be parked, the current vehicle control level and the current slope of the road section.

[0126] Step S350: acquiring a target vehicle speed of the vehicle according to the current vehicle control level and the current slope, and acquiring a target vehicle control level of the vehicle according to the current vehicle control level.

[0127] In detail, the calculation process of the target vehicle speed and the target vehicle control level can refer to the above-mentioned related content, and this embodiment will not be described in detail here.

[0128] Step S360, compare the current vehicle speed with the target vehicle speed. If the current vehicle speed is not greater than the target vehicle speed, execute step S370. If the current vehicle speed is greater than the target vehicle speed, use the current vehicle control level as the first vehicle control level and execute step S380.

[0129] Step S370, compare the current vehicle control level and the target vehicle control level. When the current vehicle control level is greater than the target vehicle control level, use the vehicle control level that is not greater than the target vehicle control level as the first vehicle control level. When the current vehicle control level is not greater than the target vehicle control level, use the current vehicle control level as the first vehicle control level, and execute step S380.

[0130] Step S380: Control the operation of the vehicle according to the first vehicle control level, and execute step S340.

[0131] In this embodiment, the relevant operations of determining the control level of the vehicle to be parked can be periodically executed during the vehicle parking stage, that is, in each execution cycle, the electronic device 1000 can adjust the target vehicle speed of the vehicle to be parked, and adjust the target vehicle control level of the vehicle according to the current vehicle control level of the vehicle to be parked, and then adjust the vehicle control level of the vehicle operation according to the real-time changes of the vehicle speed and the current value and target value of the vehicle control level, and control the vehicle to operate at the vehicle control level, and repeat this process until the vehicle stops. It can be seen that the disclosed embodiment can make real-time and on-demand adjustments to the vehicle control level of the vehicle to be parked, and the sense of frustration of the vehicle during the parking stage can be reduced when the vehicle is controlled to operate accordingly.

[0132] This embodiment provides relevant algorithms and control strategies for automatic driving of the vehicle during the parking phase, ensuring that the impact of the vehicle meets the requirements when parking, greatly improving the riding comfort of passengers.

[0133] <Equipment Embodiment>

[0134] Figure 4 1 is a schematic diagram of the hardware structure of a vehicle parking control device according to an embodiment.

[0135] like Figure 4 As shown, the vehicle parking control device 400 includes a processor 410 and a memory 420, wherein the memory 420 is used to store an executable computer program, and the processor 410 is used to execute a method as any of the above method embodiments according to the control of the computer program.

[0136] The vehicle parking control device 400 may be Figure 1 The electronic device 1000 shown may include or may include the electronic device 1000.

[0137] Each module of the above vehicle parking control device 400 may be implemented by the processor 410 in this embodiment executing a computer program stored in the memory 420, or may be implemented by other circuit structures, which is not limited here.

[0138] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the embodiments of the present disclosure is implemented.

[0139] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0140] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0141] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0142] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0143] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0144] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0145] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0146] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0147] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle parking control method, comprising: Obtain the current speed and current vehicle control level of the vehicle to be parked; Acquire a target vehicle speed of the vehicle, and acquire a target vehicle control level of the vehicle according to the current vehicle control level, wherein the target vehicle control level and the target vehicle speed change with the current vehicle control level; Obtaining a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level; Controlling the operation of the vehicle according to the first vehicle control level; The obtaining of the first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level comprises: comparing the current vehicle speed with the target vehicle speed; When the current vehicle speed is not greater than the target vehicle speed, a first vehicle control level is obtained according to the current vehicle control level and the target vehicle control level, wherein the first vehicle control level is not greater than the target vehicle control level and the current vehicle control level; The obtaining a first vehicle control level according to the current vehicle control level and the target vehicle control level comprises: Comparing the current vehicle control level with the target vehicle control level; In the case where the current vehicle control level is greater than the target vehicle control level, a vehicle control level that is not greater than the target vehicle control level is used as the first vehicle control level; When the current vehicle control level is not greater than the target vehicle control level, the current vehicle control level is used as the first vehicle control level; The obtaining of the first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level and the target vehicle control level also includes: When the current vehicle speed is greater than the target vehicle speed, the current vehicle control level is used as the first vehicle control level.

2. The method according to claim 1, wherein: The obtaining of the target speed of the vehicle comprises: obtaining the target speed of the vehicle according to formula 1; The formula 1 is: V=(a+g×sinα)×t; Among them, V represents the target vehicle speed, a is the deceleration that depends on the target deceleration of the vehicle and / or the actual deceleration of the vehicle, g is the acceleration of gravity, α represents the current slope of the road section where the vehicle is located, t is the time that depends on the target deceleration and the actual deceleration, and the actual deceleration depends on the current vehicle control level.

3. The method according to claim 1, wherein: The current vehicle control level is negatively correlated with the target vehicle control level.

4. The method according to claim 1, wherein: Before obtaining the current speed and the current vehicle control level of the vehicle to be parked, the method further includes: Detecting whether the speed of the vehicle is greater than zero; When the speed of the vehicle is greater than zero, detecting whether the driving mode of the vehicle is an automatic driving mode; When the driving mode of the vehicle is the automatic driving mode, detecting whether the vehicle is in a parking stage; When the vehicle is in the parking stage, the step of obtaining the current vehicle speed and the current vehicle control level of the vehicle to be parked is performed.

5. The method according to claim 1, wherein: The method further comprises: detecting whether the current vehicle speed is zero speed; When the current vehicle speed is zero, a parking brake is applied to configure the braking force of the vehicle to a set target value.

6. A vehicle parking control device, comprising a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method according to any one of claims 1 to 5.

7. A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 5 when executed by a processor.

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