Control Method, Device, Vehicle and Storage Medium for Intelligent Parking

Abstract

The present application discloses a control method, device, vehicle and computer-readable storage medium for intelligent parking. The method includes: determining whether the conditions for automatic parking are met based on relevant information collected by an IBC or ESP controller; if it is determined that the conditions for automatic parking are met, then determining the working condition of the current vehicle according to the relevant information, and executing a parking strategy under the working condition for parking. The parking includes Auto hold parking and EPB parking, so as to implement different parking strategies for Auto hold parking or EPB parking under different working conditions.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and particularly to a control method, device, vehicle and computer-readable storage medium for intelligent parking. Background Art

[0002] In recent years, with the rapid development of new energy vehicles in China, the ownership of pure electric vehicles in major cities has increased rapidly. With the intelligent development of electric vehicles, most vehicles are equipped with EPB function and Auto hold function. At present, most of the Auto hold function solutions will be frequently activated when reversing into a parking space or in traffic jams. Considering cost reduction or other aspects, many vehicles adopt the EPB associated with the P gear button scheme, that is, when the vehicle stops and the P gear button is pressed, the EPB will automatically park the vehicle, but there is no change in the parking strategy for different application scenarios, or the driver can choose the EPB function or Auto hold function by himself in the same scenario, resulting in a poor driving experience for the driver. Summary of the Invention

[0003] The main purpose of the present application is to provide a control method, device, vehicle and computer-readable storage medium for intelligent parking, aiming to solve the technical problem that the existing automatic parking does not change the parking strategy for different application scenarios, or the driver can choose the EPB function or Auto hold function by himself in the same scenario, resulting in a poor driving experience for the driver.

[0004] In the first aspect, the present application provides a control method for intelligent parking, and the method includes the following steps:

[0005] Determine whether the automatic parking condition is met based on the relevant information collected by the IBC or ESP controller;

[0006] If it is determined that the automatic parking condition is met, determine the working condition of the current vehicle according to the relevant information, and execute the parking strategy under the working condition for parking, where the parking includes Auto hold parking and EPB parking.

[0007] Optionally, the relevant information includes gear position information; determining the working condition of the current vehicle according to the relevant information includes:

[0008] Determine the working condition of the current vehicle according to the gear position information.

[0009] Optionally, the relevant information includes gear position information and slope information; determining the working condition of the current vehicle according to the relevant information includes:

[0010] Determine the working condition of the current vehicle according to the slope information and the gear position information, where the slope information includes a slope value and a slope direction.

[0011] Optionally, the operating condition includes Operating Condition 1; and executing the parking strategy under the operating condition includes:

[0012] If the operating condition is Operating Condition 1, and it is detected that the brake pedal is depressed and then released, Auto Hold does not take effect;

[0013] After Auto Hold does not take effect, if it is detected that the brake pedal is being released or the braking intention of the brake pedal is detected again after the brake pedal is released, then Parking Strategy 1 is executed, that is, Auto Hold holds the pressure for parking.

[0014] Optionally, the operating condition includes Operating Condition 2; and executing the parking strategy under the operating condition includes:

[0015] If the operating condition is Operating Condition 2, and it is detected that the brake pedal is released, then Parking Strategy 2 is executed, that is, Auto Hold actively builds pressure for parking.

[0016] Optionally, the operating condition includes Operating Condition 3; and executing the parking strategy under the operating condition includes:

[0017] If the operating condition is Operating Condition 3, and it is detected that the brake pedal is depressed and the gear is in the P gear, then Parking Strategy 3 is executed, that is, EPB parks the vehicle.

[0018] Optionally, the relevant information includes: throttle opening information, master cylinder oil pressure information of the brake, brake pedal switch information, gear information, slope information, door information, driver's seat belt information, vehicle speed information.

[0019] In a second aspect, the present application further provides a control device for intelligent parking, and the device includes:

[0020] A determination module, configured to determine whether the automatic parking condition is met based on the relevant information collected by the IBC or ESP controller;

[0021] A parking module, configured to, if it is determined that the automatic parking condition is met, determine the operating condition of the current vehicle based on the relevant information, and execute the parking strategy under the operating condition for parking.

[0022] In a third aspect, the present application further provides a vehicle, and the vehicle includes a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the control method for intelligent parking as described above are implemented.

[0023] Fourthly, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the intelligent parking control method as described above are implemented.

[0024] The present application provides an intelligent parking control method, device, vehicle and computer-readable storage medium. By collecting relevant information through an IBC or ESP controller, it is determined whether the automatic parking condition is met; if it is determined that the automatic parking condition is met, the working condition of the current vehicle is determined according to the relevant information, and the parking strategy under the working condition is executed for parking. The parking includes Auto hold parking and EPB parking, and different parking strategies are implemented for Autohold parking or EPB parking under different working conditions. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a flowchart of an intelligent parking control method provided by an embodiment of the present application;

[0027] Figure 2 It is a schematic block diagram of an intelligent parking control device provided by an embodiment of the present application;

[0028] Figure 3 It is a schematic block diagram of the structure of a computer device related to an embodiment of the present application.

[0029] The implementation, functional features and advantages of the objectives of the present application will be further described in conjunction with the embodiments and with reference to the drawings. Detailed Embodiments

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0031] The flowcharts shown in the drawings are only illustrative examples, and do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, combined or partially merged, so the actual execution order may be changed according to the actual situation.

[0032] An embodiment of the present application provides a control method, device, vehicle, and computer-readable storage medium for intelligent parking. Among them, this can be applied to a vehicle.

[0033] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0034] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a control method for intelligent parking provided by an embodiment of the present application.

[0035] As Figure 1 shown, the method includes steps S101 to S102.

[0036] Step S101: Determine whether the automatic parking condition is satisfied based on the relevant information collected by the IBC or ESP controller. The parking includes Auto hold parking and EPB parking.

[0037] Exemplarily, based on the relevant information collected by the IBC or ESP controller, the relevant information includes throttle opening information, brake master cylinder oil pressure information, brake pedal switch information, gear information, slope information, door information, driver's seat belt information, and vehicle speed information. By collecting any one of the throttle opening information, brake master cylinder oil pressure information, brake pedal switch information, door information, driver's seat belt information, and vehicle speed information through the IBC or ESP controller, determine whether the automatic parking condition is satisfied. For example, if the throttle opening value collected by the IBC or ESP controller is less than the preset throttle opening value, the collected brake master cylinder oil pressure value is greater than the preset brake master cylinder oil pressure value, the collected brake pedal information is braking, the collected door information is that the door is closed, the collected driver's seat belt is fastened, or the vehicle speed value is less than the preset vehicle speed value, it is determined that the automatic parking condition is satisfied.

[0038] Exemplarily, based on the vehicle speed information collected by the IBC or ESP controller, determine whether the automatic parking condition is satisfied. Compare the collected vehicle speed information with the preset vehicle speed information through the IBC or ESP controller to determine whether the automatic parking condition is satisfied. If the collected vehicle speed information is less than the preset vehicle speed information, it is determined that the automatic parking condition is satisfied. For example, if the vehicle speed information collected by the IBC or ESP controller is 3 km / h and the preset vehicle speed information is 3 km / h, it is determined that the automatic parking condition is not satisfied; or, if the vehicle speed information collected by the IBC or ESP controller is 2.9 km / h and the preset vehicle speed information is 3 km / h, it is determined that the parking condition is satisfied.

[0039] Alternatively, determine whether the automatic parking condition is met based on the driver's seat belt information collected by the IBC or ESP controller. As an example, compare the driver's seat belt information collected by the IBC or ESP controller with the preset information to determine whether the automatic parking condition is met. If it is determined that the driver's seat belt information matches the preset information, it is determined that the automatic parking condition is met. For example, if the driver's seat belt information collected by the IBC or ESP controller is that the seat belt is fastened and the preset information is that the seat belt is fastened, it is determined that the parking condition is met; if the driver's seat belt information collected by the IBC or ESP controller is that the seat belt is not fastened and the preset information is that the seat belt is fastened, it is determined that the automatic parking condition is not met.

[0040] Alternatively, determine whether the automatic parking condition is met based on the door information collected by the IBC or ESP controller. As an example, compare the door information collected by the IBC or ESP controller with the preset door information to determine whether the automatic parking condition is met; if it is determined that the collected door information matches the preset door information, it is determined that the automatic parking condition is met. For example, if the door information collected by the IBC or ESP controller is that the door is closed and the preset door information is that the door is closed, it is determined that the automatic parking condition is met; if the door information collected by the IBC or ESP controller is that the door is open and the preset door information is that the door is open, it is determined that the automatic parking condition is not met.

[0041] Alternatively, determine whether the automatic parking condition is met based on the brake pedal switch information collected by the IBC or ESP controller. As an example, compare the brake pedal switch information collected by the IBC or ESP controller with the preset brake pedal switch information to determine whether the automatic parking condition is met. For example, if the brake pedal switch information collected by the IBC or ESP controller is that the brake pedal is depressed and the preset brake pedal information is that the brake pedal is depressed, it is determined that the automatic parking condition is met; if the brake pedal switch information collected by the IBC or ESP controller is that the brake pedal is not depressed and the preset brake pedal information is that the brake pedal is depressed, it is determined that the automatic parking condition is not met.

[0042] Alternatively, determine whether the automatic parking condition is met based on the brake master cylinder oil pressure information collected by the IBC or ESP controller. As an example, compare the brake master cylinder oil pressure information collected by the IBC or ESP controller with the preset brake master cylinder oil pressure information to determine whether the automatic parking condition is met. For example, if it is determined that the collected brake master cylinder oil pressure information is 9 bar and the preset brake master cylinder oil pressure information is 8 bar, it is determined that the brake parking condition is met; if it is determined that the collected brake master cylinder oil pressure information is 7 bar and the preset brake master cylinder oil pressure information is 8 bar, it is determined that the brake parking condition is not met.

[0043] Alternatively, based on the throttle opening information collected by the IBC or ESP controller, it is determined whether the conditions for automatic parking are met. For example, the throttle opening value collected by the IBC or ESP controller is compared with a preset throttle opening value to determine whether the conditions for automatic parking are met. For example, if the collected throttle opening value is less than the preset throttle opening value, it is determined that the conditions for automatic parking are met; if the collected throttle opening value is greater than or equal to the preset throttle opening value, it is determined that the conditions for automatic parking are not met.

[0044] Alternatively, based on the throttle opening information, master cylinder hydraulic pressure information, brake pedal switch information, door information, driver's seat belt information, and vehicle speed information collected by the IBC or ESP controller, it is determined whether the conditions for automatic parking are met. For example, if the throttle opening value collected by the IBC or ESP controller is less than the preset throttle opening value, the master cylinder hydraulic pressure value collected is greater than the preset master cylinder hydraulic pressure value, the collected brake pedal information indicates braking, the collected door information indicates the door is closed, the collected driver's seat belt is fastened, and the vehicle speed value is less than the preset vehicle speed value, it is determined that the conditions for automatic parking are met.

[0045] Step S102: If it is determined that the conditions for automatic parking are met, then based on the relevant information, determine the working condition of the current vehicle, and execute the parking strategy under the working condition for parking. The parking includes Auto hold parking and EPB parking.

[0046] For example, the relevant information includes gear position information and / or slope information. For example, if it is determined that the conditions for braking and parking are met, then based on the gear position information and / or slope information, determine the working condition of the current vehicle, and the working condition is at least one working condition. After determining the working condition of the current vehicle, execute the parking strategy under the current vehicle working condition for parking. The parking strategies under various working conditions are different. The parking includes Auto hold parking and EPB parking. For example, when the slope information indicates an uphill direction, determine the first working condition of the current vehicle; when the slope information indicates a downhill direction, determine the second working condition of the current vehicle. Alternatively, when the slope value in the slope information is greater than the preset slope value, determine the first working condition of the current vehicle; when the slope value in the slope information is less than or equal to the preset slope value, determine the second working condition of the current vehicle, and the parking strategy for the first working condition is different from that for the second working condition.

[0047] Specifically, the relevant information includes gear position information; based on the relevant information, determining the working condition of the current vehicle includes: based on the gear position information, determining the working condition of the current vehicle.

[0048] In the demonstration example, if it is determined that the automatic parking condition is met, the working condition of the current vehicle is determined according to the gear position information. For example, when the gear position information indicates that the vehicle is in the P gear, the working condition of the current vehicle is determined as working condition three; when the gear position information does not indicate the P gear, the working condition of the current vehicle is determined as working condition one.

[0049] Specifically, the relevant information includes gear position information and slope information; determining the working condition of the current vehicle according to the relevant information includes: determining the working condition of the current vehicle according to the slope information and the gear position information, where the slope information includes a slope value and a slope direction.

[0050] Demonstratively, if it is determined that the automatic parking condition is met, the working condition of the current vehicle is determined according to the gear position information and the slope information. For example, when the gear position information indicates that the vehicle is in the P gear and the slope information indicates an uphill or downhill direction, the current working condition is determined as working condition three.

[0051] The slope information includes a slope value and a direction. The working condition of the current vehicle is determined according to the gear position information, the slope value, and the direction. In the demonstration example, when the gear position information is a preset gear position and the slope value is less than the preset threshold, the working condition of the current vehicle is determined as working condition one. For example, when the gear position information is N, R, or D gear, that is, not in the P gear, and the current slope value is less than 30 degrees, the working condition of the current vehicle is determined as working condition one. When the gear position information is a preset gear position, the slope value is greater than or equal to the preset threshold, and the direction is the uphill direction, the working condition of the current vehicle is determined as working condition one. For example, when the gear position information is R or N gear, the slope value is greater than or equal to 30 degrees, and the direction is the uphill direction, the working condition of the current vehicle is determined as working condition one. Or, when the gear position information is a preset gear position, the slope value is greater than or equal to the preset threshold, and the direction is the downhill direction, the working condition of the current vehicle is determined as working condition one. For example, when the gear position information is N or D gear, the slope value is greater than or equal to 30 degrees, and the direction is the downhill direction, the working condition of the current vehicle is determined as working condition one.

[0052] When the gear position information is a preset gear position, the slope value is greater than or equal to the preset threshold, and the direction is the uphill direction, the working condition of the current vehicle is determined as working condition two. For example, when the gear position information is D gear, the slope value is greater than or equal to 30 degrees, and the direction is the uphill direction, the working condition of the current vehicle is determined as working condition two. When the gear position information is a preset gear position, the slope value is greater than or equal to the preset threshold, and the direction is the downhill direction, the working condition of the current vehicle is determined as working condition two. For example, when the gear position information is R gear, the slope value is greater than or equal to 30 degrees, and the direction is the downhill direction, the working condition of the current vehicle is determined as working condition two.

[0053] Specifically, the working condition includes Working Condition 1; and the execution of the parking strategy under this working condition includes: if the working condition is Working Condition 1, and it is detected that the brake pedal is braked and then released, Auto hold does not take effect; after Auto hold does not take effect, if it is detected that the brake pedal has a braking intention during the release process or after the brake pedal is released and then detected again, the parking strategy 1 is executed, that is, Auto hold holds the pressure for parking.

[0054] Exemplarily, if the working condition of the current vehicle is Working Condition 1, the parking strategy of Working Condition 1 is executed. The parking strategy of Working Condition 1 is that after the driver steps on the brake pedal to stop the vehicle, if the brake pedal is directly released, Auto hold does not take effect; if a braking intention is detected again during the release process of the brake pedal or after the brake pedal is released, Auto hold holds the pressure for parking.

[0055] The parking strategy of Working Condition 1 can not only meet the need for automatic parking when short-term parking is required. For example, when a braking intention is detected again during the release process of the brake pedal or after the brake pedal is released, Auto hold holds the pressure for parking, but also avoid frequent parking when reversing into the garage. For example, when the brake pedal is directly released, Auto hold does not take effect, bringing an intelligent and comfortable driving experience to the driver.

[0056] Specifically, the working condition includes Working Condition 2; and the execution of the parking strategy under this working condition includes: if the working condition is Working Condition 2, and it is detected that the brake pedal is released, the parking strategy 2 is executed, that is, Auto hold actively builds pressure for parking.

[0057] Exemplarily, if the working condition of the current vehicle is Working Condition 2, the parking strategy of Working Condition 2 is executed. The parking strategy of Working Condition 2 is: after the driver steps on the brake pedal to stop the vehicle and releases the brake pedal, IBC or ESC actively applies hydraulic pressure according to the current slope state to ensure that the vehicle can park stably without slipping.

[0058] The parking strategy of Working Condition 2, on a slope, when the driver has the intention to drive upward, actively builds pressure for parking immediately after releasing the brake pedal, and when the driving force is greater than the component of gravity along the slope, releases the pressure to release the parking. It can not only ensure stable parking on the slope but also ensure that the vehicle does not slip downward when starting.

[0059] Specifically, the working condition includes Working Condition 3; and the execution of the parking strategy under this working condition includes: if the working condition is Working Condition 3, and it is detected that the brake pedal is braked and the gear is in P gear, the parking strategy 3 is executed, that is, EPB parks the vehicle.

[0060] Exemplarily, if the working condition of the current vehicle is Working Condition 3, the parking strategy of Working Condition 3 is executed. The parking strategy of Working Condition 3 is: after the driver steps on the brake pedal to stop the vehicle and shifts to P gear, directly use EPB to park the vehicle.

[0061] The parking release strategy for Condition 3 is as follows: When the brake pedal is depressed and the gear is switched from P gear to X gear, such as R gear, N gear or D gear, the EPB is immediately released. Then, the current parking condition is identified based on the working condition, and parking is performed according to the corresponding parking strategy.

[0062] For the parking strategy in Condition 3, the EPB is associated with the P gear button for parking. When entering P gear, the EPB parks the vehicle, and when exiting P gear, the EPB releases. It can identify the driver's intention to leave in advance, avoid the dragging feeling caused by the relatively fast torque increase and slow EPB release of the electric vehicle, is intelligent and convenient, and can cancel the P gear locking mechanism to achieve the purpose of cost reduction.

[0063] In the embodiments of the present application, relevant information collected by the IBC or ESP controller is used to determine whether the automatic parking condition is met. If it is determined that the automatic parking condition is met, the current vehicle condition is determined based on the relevant information, and the parking strategy under the condition is executed for parking. The parking includes Auto hold parking and EPB parking. Therefore, the parking strategy in Condition 1 can not only meet the automatic parking when short-term parking is required. For example, during the process of releasing the brake pedal or when the braking intention is detected again after releasing the brake pedal, Auto hold maintains pressure for parking, but also avoids frequent parking when reversing into the garage. For example, when directly releasing the brake pedal, Auto hold does not act, bringing an intelligent and comfortable driving experience to the driver. The parking strategy in Condition 2 is that on a slope, when the driver intends to drive upward, the pressure is actively built up immediately after releasing the brake pedal, and when the driving force is greater than the component force of gravity along the slope, the pressure is released to release the parking. This can not only ensure stable parking on the slope but also ensure that the vehicle does not slide down when starting. The parking strategy in Condition 3, the EPB is associated with the P gear button for parking. When entering P gear, the EPB parks the vehicle, and when exiting P gear, the EPB releases. It can identify the driver's intention to leave in advance, avoid the dragging feeling caused by the relatively fast torque increase and slow EPB release of the electric vehicle, is intelligent and convenient, and can cancel the P gear locking mechanism to achieve the purpose of cost reduction.

[0064] Please refer to Figure 2 , Figure 2 which is a schematic block diagram of a control device for intelligent parking provided by the embodiments of the present application.

[0065] As Figure 2 shown, the device 400 includes: a determination module 401 and a parking module 402.

[0066] The determination module 401 is configured to determine whether the automatic parking condition is met based on the relevant information collected by the IBC or ESP controller;

[0067] The parking module 402 is used to determine the working condition of the current vehicle according to the relevant information if it is determined that the automatic parking condition is met, and execute the parking strategy under the working condition for parking. The parking includes Auto hold parking and EPB parking.

[0068] Among them, the parking module 402 is specifically further used for:

[0069] Determine the working condition of the current vehicle according to the gear information.

[0070] Among them, the parking module 402 is specifically further used for:

[0071] Determine the working condition of the current vehicle according to the slope information and the gear information, where the slope information includes a slope value and a slope direction.

[0072] Among them, the parking module 402 is specifically further used for:

[0073] If the working condition is working condition one, and after detecting that the brake pedal is braked and then released, Auto hold does not act;

[0074] After Auto hold does not act, if it is detected that the brake pedal is being released or the braking intention of the brake pedal is detected again after the brake pedal is released, execute parking strategy one, that is, Auto hold pressure maintaining parking.

[0075] Among them, the parking module 402 is specifically further used for:

[0076] If the working condition is working condition two, and it is detected that the brake pedal is released, execute parking strategy two, that is, Auto hold actively builds pressure for parking.

[0077] Among them, the parking module 402 is specifically further used for:

[0078] If the working condition is working condition three, and it is detected that the brake pedal is braked and the gear is in P gear, execute parking strategy three, that is, EPB parking.

[0079] Among them, the device is further used for: the relevant information includes: throttle opening information, brake master cylinder oil pressure information, brake pedal switch information, gear information, slope information, door information, driver's seat belt information, vehicle speed information.

[0080] It should be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described device and each module and unit can refer to the corresponding processes in the foregoing embodiments of the intelligent parking control method, and will not be elaborated herein.

[0081] The device provided by the above embodiments can be implemented in the form of a computer program, which can run on a computer device as shown in Figure 3 .

[0082] Please refer to Figure 3 , Figure 3 , which is a schematic block diagram of the structure of a computer device provided by an embodiment of the present application. The computer device can be a terminal.

[0083] As shown in Figure 3 , the computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the memory can include a non-volatile storage medium and an internal memory.

[0084] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, which when executed, can cause the processor to execute any one of the intelligent parking control methods.

[0085] The processor is used to provide computing and control capabilities to support the operation of the entire computer device.

[0086] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, it can cause the processor to execute any one of the intelligent parking control methods.

[0087] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that the structure shown in Figure 3 is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0088] It should be understood that the processor can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0089] Wherein, in one embodiment, the processor is configured to run a computer program stored in a memory to implement the following steps:

[0090] Determine whether the automatic parking condition is satisfied based on the relevant information collected by the IBC or ESP controller;

[0091] If it is determined that the automatic parking condition is satisfied, then determine the working condition of the current vehicle based on the relevant information, and execute the parking strategy under the working condition for parking, where the parking includes Auto hold parking and EPB parking.

[0092] In one embodiment, the relevant information implemented by the processor includes gear position information; when determining the working condition of the current vehicle based on the relevant information, it is used to implement:

[0093] Determine the working condition of the current vehicle based on the gear position information.

[0094] In one embodiment, the relevant information implemented by the processor includes gear position information and slope information; when determining the working condition of the current vehicle based on the relevant information, it is used to implement:

[0095] Determine the working condition of the current vehicle based on the slope information and the gear position information, where the slope information includes a slope value and a slope direction.

[0096] In one embodiment, the working condition implemented by the processor includes working condition one; when executing the parking strategy under the working condition, it is used to implement:

[0097] If the working condition is working condition one, and after detecting that the brake pedal is depressed and then released, Auto hold does not take effect;

[0098] After Auto hold does not take effect, if it is detected that the brake pedal is being released or the braking intention of the brake pedal is detected again after the brake pedal is released, then execute parking strategy one, that is, Auto hold pressure maintaining parking.

[0099] In one embodiment, the working condition implemented by the processor includes working condition two; when executing the parking strategy under the working condition, it is used to implement:

[0100] If the working condition is working condition two, and it is detected that the brake pedal is released, then execute parking strategy two, that is, Auto hold active pressure building parking.

[0101] In one embodiment, the working condition implemented by the processor includes working condition three; when executing the parking strategy under the working condition, it is used to implement:

[0102] If the working condition is Working Condition 3, and it is detected that the brake pedal is braked and the gear is in P gear, then Parking Strategy 3 is executed, that is, EPB parking.

[0103] In one embodiment, when the processor is implemented, it is used to implement:

[0104] The relevant information includes: throttle opening information, master cylinder oil pressure information, brake pedal switch information, gear information, slope information, door information, driver's seat belt information, vehicle speed information.

[0105] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions, and the control method of intelligent parking implemented when the program instructions are executed can refer to the various embodiments of the present application.

[0106] Among them, the computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk equipped on the computer device, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0107] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0108] The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages and disadvantages of the embodiments. The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for intelligent parking, characterized in that, Including: Collect relevant information through the IBC or ESP controller to determine whether the automatic parking condition is met; If it is determined that the automatic parking condition is met, then determine the working condition of the current vehicle according to the relevant information, and execute the parking strategy under the working condition for parking, where the parking includes Auto hold parking and EPB parking; The relevant information includes gear position information and slope information, and the slope information includes slope value and slope direction; the working condition includes working condition one; and executing the parking strategy under the working condition includes: If the working condition is working condition one, and it is detected that the brake pedal is braked and then released, then Auto hold does not take effect; After Auto hold does not take effect, if it is detected that the brake pedal is being released or the braking intention of the brake pedal is detected again after the brake pedal is released, then execute parking strategy one, that is, Auto hold pressure maintaining parking; The working condition includes working condition two; and executing the parking strategy under the working condition includes: If the working condition is working condition two, and it is detected that the brake pedal is released, then execute parking strategy two, that is, Auto hold actively builds pressure for parking; The working condition includes working condition three; and executing the parking strategy under the working condition includes: If the working condition is working condition three, and it is detected that the brake pedal is braked and the gear position is in P gear, then execute parking strategy three, that is, EPB parking; The working condition one is: the gear position information is not in P gear, and the slope value is less than the preset threshold, or, the gear position information is in R gear / N gear, the slope value is greater than or equal to the preset threshold and the direction is the uphill direction, or, the gear position information is in N gear / D gear, the slope value is greater than or equal to the preset threshold and the direction is the downhill direction; The working condition two is: the gear position information is in D gear, the slope value is greater than or equal to the preset threshold and the direction is the uphill direction, or, the gear position information is in R gear, the slope value is greater than or equal to the preset threshold and the direction is the downhill direction; The working condition three is: the gear position information is in P gear.

2. The control method of intelligent parking as claimed in claim 1, wherein, The relevant information further includes: throttle opening information, brake master cylinder oil pressure information, brake pedal switch information, door information, driver's seat belt information, vehicle speed information.

3. A control device for intelligent parking, characterized in that, Including: A determination module, configured to collect relevant information through the IBC or ESP controller to determine whether the automatic parking condition is met; A parking module, configured to, if it is determined that the automatic parking condition is met, then determine the working condition of the current vehicle according to the relevant information, and execute the parking strategy under the working condition for parking, where the parking includes Auto hold parking and EPB parking; The relevant information includes gear position information and slope information, and the slope information includes slope value and slope direction; the parking module is further configured to, if the working condition is working condition one, and it is detected that the brake pedal is braked and then released, then Auto hold does not take effect; After Auto hold does not take effect, if it is detected that the brake pedal is being released or the braking intention of the brake pedal is detected again after the brake pedal is released, then execute parking strategy one, that is, Auto hold pressure maintaining parking; The parking module is further configured to, if the working condition is Working Condition 2 and it is detected that the brake pedal is released, execute Parking Strategy 2, i.e., Auto hold actively builds pressure for parking; The parking module is further configured to, if the working condition is Working Condition 3 and it is detected that the brake pedal is braking and the gear position is in P gear, execute Parking Strategy 3, i.e., EPB parking; The first working condition is as follows: the gear position information is not in P gear and the slope value is less than the preset threshold, or the gear position information is in R gear / N gear, the slope value is greater than or equal to the preset threshold and the direction is the uphill direction, or the gear position information is in N gear / D gear, the slope value is greater than or equal to the preset threshold and the direction is the downhill direction; The second working condition is as follows: the gear position information is in D gear, the slope value is greater than or equal to the preset threshold and the direction is the uphill direction, or the gear position information is in R gear, the slope value is greater than or equal to the preset threshold and the direction is the downhill direction; The third working condition is as follows: the gear position information is in P gear.

4. A vehicle, characterized in that, The vehicle includes EPB parking, Auto hold parking, a processor, a memory, and a computer program stored on the memory and executable by the processor. When the computer program is executed by the processor, the steps of the intelligent parking control method as described in Claim 1 or 2 are implemented.

5. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, the steps of the intelligent parking control method as described in Claim 1 or 2 are implemented.

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