Hardware parameter adaptation method, device, electronic device and storage medium

Abstract

The present invention provides a hardware parameter adaptation method, device, electronic device and storage medium. Each time a vehicle completes parking, the parking stop position is learned and updated. This can achieve online adaptation of hardware parameters to obtain accurate hardware parameters, ensuring that the electric parking system has good parking quality throughout its entire life cycle.

Description

Technical Field

[0001] The present invention relates to the technical field of electric parking system control for new energy vehicles, and more specifically, to a method, device, electronic device, and storage medium for hardware parameter adaptation of an electric parking system. Background Art

[0002] With the rise of new energy vehicles, their safety is receiving increasing attention. Various approaches are being considered to improve vehicle safety, one of which is improving parking systems. Most new energy vehicles now feature not only an electronic parking brake (EPB) but also an electric parking system to enhance safety. This system typically consists of a motor controller, a drive motor, and an actuator (including a mechanical transmission structure and a ratchet pawl). The parking mechanism works as follows: When the motor controller receives a parking command, it controls the drive motor to move in the parking direction. The drive motor then drives the mechanical transmission structure to apply downward pressure on the pawl, engaging it with the ratchet connected to the drivetrain, thereby parking the vehicle.

[0003] In order to achieve better parking quality, the electric parking system needs to perform a segmented control on the movement of the drive motor from the unlocking position to the parking position. That is, when the position of the pawl driven by the drive motor is still some distance away from the ratchet, the drive motor should move at a faster speed to speed up the response of the parking system; when the pawl driven by the drive motor approaches the ratchet position, the drive motor should move at a slower speed to avoid violent collision between the pawl and ratchet, which may cause large vibration and noise of the vehicle.

[0004] Therefore, the key to controlling the parking process in an electric parking system lies in accurately knowing the position of the drive motor when the pawl is fully engaged with the ratchet wheel—the parking stop position. However, with continued use of the electric parking system, the parking actuator inevitably experiences some mechanical wear. This hardware parameter, the parking stop position, is a constantly changing value during operation. If this hardware parameter is not adaptively adjusted over time, the electric parking performance will deteriorate, and in severe cases, even mechanical damage to the electric parking actuator can occur. Summary of the Invention

[0005] In view of this, in order to solve the above problems, the present invention provides a hardware parameter adaptation method, device, electronic device and storage medium, and the technical solution is as follows:

[0006] One aspect of the present invention provides a hardware parameter adaptation method, the method comprising:

[0007] When the vehicle is detected to have completed parking, the current first parking stop position is obtained;

[0008] Retrieving the second parking stop position stored in the last parameter update, and using the difference between the first parking stop position and the second parking stop position as the position difference for this parking;

[0009] Obtaining a stored position difference, wherein the stored position difference is a position difference of a plurality of consecutive parking positions that are closest to the current position and have the same direction within a period from the last parameter update to the current position;

[0010] determining the validity of the first parking stop position based on the current parking position difference and the stored position difference;

[0011] When it is determined that the first parking stop position is valid and the cumulative sum of the current parking position difference and the stored position difference meets a corresponding threshold, parameters of the second parking stop position are updated and stored.

[0012] Preferably, obtaining the stored position difference includes:

[0013] Get the stored position difference from the buffer;

[0014] Accordingly, a method for determining whether the cumulative sum of the current parking position difference and the stored position difference satisfies a corresponding threshold includes:

[0015] storing the position difference of the current parking in the buffer, and accumulating it with the position difference stored in the buffer to obtain an accumulated sum;

[0016] If all position differences in the buffer are positive, the accumulated sum is greater than the positive overflow threshold of the buffer; if all position differences in the buffer are negative, the accumulated sum is less than the negative overflow threshold of the buffer.

[0017] Preferably, the numerical value of the positive overflow threshold is greater than the numerical value of the negative overflow threshold.

[0018] Preferably, storing the position difference of the current parking in the buffer includes:

[0019] Deducting a first threshold representing an accidental error from the numerical value of the position difference of the current parking;

[0020] The deducted position difference of the current parking is stored in the buffer.

[0021] Preferably, the determining the validity of the first parking stop position based on the current parking position difference and the stored position difference includes:

[0022] determining whether a value of the position difference of the current parking is less than a first threshold representing an accidental error;

[0023] If it is not less than the first threshold, determining whether the value of the position difference of the current parking is greater than a second threshold representing a non-accidental error, and the first threshold is less than the second threshold;

[0024] If it is less than the second threshold, determining whether the current parking position difference and the stored position difference are in the same direction;

[0025] If the directions are the same, then the first parking stop position is determined to be valid;

[0026] If it is less than the first threshold, or not less than the second threshold, or the directions are different, it is determined that the first parking stop position is invalid.

[0027] Another aspect of the present invention provides a hardware parameter adaptive device, the device comprising:

[0028] A position acquisition module is used to acquire the current first parking stop position when monitoring the end of the vehicle's current parking;

[0029] a validity determination module configured to retrieve the second parking stop position stored in the last parameter update and use the difference between the first parking stop position and the second parking stop position as the position difference for the current parking; obtain the stored position differences, the stored position differences being the position differences of multiple consecutive parking stops that are closest to the current stop and have the same direction from the last parameter update to the current stop; and determine the validity of the first parking stop position based on the position differences for the current parking and the stored position differences;

[0030] The parameter updating module is configured to update and store the parameters of the second parking stop position when it is determined that the first parking stop position is valid and the cumulative sum of the position difference of the current parking and the stored position difference meets a corresponding threshold.

[0031] Preferably, the validity determination module for obtaining the stored position difference is specifically configured to:

[0032] Get the stored position difference from the buffer;

[0033] Accordingly, the parameter updating module determines whether the cumulative sum of the position difference of the current parking and the stored position difference satisfies the corresponding threshold value, including:

[0034] The position difference of the current parking is stored in the buffer to be accumulated with the position differences already stored in the buffer to obtain an accumulated sum; if all the position differences in the buffer are positive, the accumulated sum is greater than the positive overflow threshold value of the buffer; if all the position differences in the buffer are negative, the accumulated sum is less than the negative overflow threshold value of the buffer.

[0035] Preferably, the validity determination module for determining the validity of the first parking stop position based on the current parking position difference and the stored position difference is specifically configured to:

[0036] Determine whether the numerical value of the position difference of the current parking is less than a first threshold value representing an accidental error; if not less than the first threshold value, determine whether the numerical value of the position difference of the current parking is greater than a second threshold value representing a non-accidental error, the first threshold value being less than the second threshold value; if less than the second threshold value, determine whether the position difference of the current parking is in the same direction as the stored position difference; if the directions are the same, determine that the first parking stop position is valid; if less than the first threshold value, or not less than the second threshold value, or the directions are different, determine that the first parking stop position is invalid.

[0037] Another aspect of the present invention provides an electronic device, comprising: at least one memory and at least one processor; the memory stores a program, the processor calls the program stored in the memory, and the program is used to implement the hardware parameter adaptation method.

[0038] Another aspect of the present invention provides a storage medium, wherein the storage medium stores computer-executable instructions, and the computer-executable instructions are used to execute the hardware parameter adaptation method.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention provides a hardware parameter adaptation method, device, electronic device and storage medium. Each time a vehicle completes parking, the parking stop position is learned and updated. This can achieve online adaptation of hardware parameters to obtain accurate hardware parameters, ensuring that the electric parking system has good parking quality throughout its entire life cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0042] Figure 1 A flowchart of a method for hardware parameter adaptation provided by an embodiment of the present invention;

[0043] Figure 2 A partial method flow chart of the hardware parameter adaptation method provided by an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of the structure of a hardware parameter adaptation device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] When a vehicle rolls off the production line, the electric parking system typically undergoes a hardware parameter learning process. The learned parking stop position is stored in the controller as the default setting for the electric parking system's hardware parameters. As the electric parking system continues to operate, the actuator inevitably experiences some mechanical wear, and the gap between the actual parking stop position and the default value stored in the controller widens. Only through continuous online parameter adaptation and continuous correction of the real-time hardware parameter values ​​can more accurate hardware parameter values ​​be obtained, enabling more precise control of the parking process and improving parking quality.

[0048] In this regard, an embodiment of the present invention provides a hardware parameter adaptation method, which is applied to an electric parking system. The method flow chart of the method is as follows: Figure 1 As shown, the following steps are included:

[0049] S10, when it is monitored that the vehicle has completed parking, the current first parking stop position is obtained.

[0050] In the embodiment of the present invention, when the electric parking system completes each parking process, the position of the drive motor at this time, i.e., the first parking stop position, can be collected by the sensor and used as the learning value of this parking process.

[0051] S20 , retrieving the second parking stop position stored in the last parameter update, and taking the difference between the first parking stop position and the second parking stop position as the position difference for this parking.

[0052] In this embodiment of the present invention, the second parking stop position stored in the controller, i.e., the default hardware parameter value for the electric parking system, is used. The second parking stop position initially stored by the controller is the one learned when the vehicle leaves the production line. As the electric parking system continues to operate, the hardware parameters are continuously updated online and adaptively. The second parking stop position stored in the controller is the parking stop position after the last parameter update. Therefore, the second parking stop position retrieved from the controller is used as the stored value for the current parking situation.

[0053] Furthermore, the difference between the learned value and the stored value of this parking is calculated to obtain the position difference of this parking.

[0054] S30, obtaining a stored position difference, where the stored position difference is the position difference of the consecutive parking positions that are closest to the current position and have the same direction within a period from the last parameter update to the current position.

[0055] In the embodiment of the present invention, the hardware parameter adaptation of the electric parking system at least follows the following principles: the characteristics of hardware wear determine that the change of hardware parameters is a relatively slow process. Therefore, the hardware parameters should be updated only when the learning value shows a continuous, obvious and consistent trend.

[0056] To this end, this embodiment of the present invention stores the position differences between the closest consecutive parking attempts in the same direction from the last parameter update to the current time period. In other words, the stored values ​​used to calculate the position differences for each parking attempt from the last parameter update to the current time period are the same, representing the "park stop position after the last parameter update" as in the current parking attempt. Only the learned values ​​used for each parking attempt differ.

[0057] For example, the position differences of consecutive parking in the period from the last parameter update to the current time are A, B, C, D, E, F, G, and H. Assuming that A, B, and C are positive, D, E, and F are negative, and G and H are positive, the stored value should be "G, H"; continuing to assume that A, B, and C are positive, D, E, F, and G are negative, and H is positive, the stored value should be "H", that is, the position difference in the most recent direction should also be stored if it is one.

[0058] It should be noted that the “positive direction” and “negative direction” in the embodiment of the present invention can pre-define the moving direction of the drive motor. The drive motor has two moving directions, one direction is defined as the positive direction and the other direction is the negative direction.

[0059] In practical applications, the embodiment of the present invention designs a buffer to store the position differences of multiple consecutive parking positions that are closest to the current position and have the same direction within a period from the last parameter update to the current position.

[0060] Specifically, for each parking session, the learned value and position difference are only stored in the buffer for subsequent position difference accumulation if the learned value is determined to be valid based on the learned position difference and the position differences already stored in the buffer. Once the accumulated sum meets the corresponding threshold, the buffer is cleared. Furthermore, if the learned value is determined to be invalid based on the learned position difference and the position differences already stored in the buffer, not only is the learned position difference not stored in the buffer, but the buffer is cleared, terminating the current round of hardware parameter adaptive updating and restarting the hardware parameter adaptive updating for the next wheel upon the next parking session.

[0061] For example, the position difference obtained during this parking is I, and the position differences stored in the buffer include G and H. By executing the subsequent steps S40 and S50:

[0062] The first possibility is: if it is determined that the learning value of this parking is invalid, the position difference I is not stored in the buffer and the buffer is cleared.

[0063] The second possibility is that if the learned value for this parking situation is valid, the position difference I is stored in the buffer. Furthermore, if the position difference I and the accumulated sum of G and H in the buffer meet the corresponding threshold, the buffer is cleared. If the position difference I and the accumulated sum of G and H in the buffer do not meet the corresponding threshold, the buffer is not cleared and hardware parameter adaptation for the next parking situation continues.

[0064] It should be noted that once the buffer is cleared, the position differences stored in the buffer will be empty during the next hardware parameter adaptive update for parking. Therefore, during the next hardware parameter adaptive update, if only the aforementioned hardware parameter adaptive principle is used when determining the validity of the learned value, it can be directly determined as valid, and the position difference for the next parking attempt will be stored in the buffer. However, if other hardware parameter adaptive principles are used in addition to the aforementioned hardware parameter adaptive principle, validity will be determined according to the other hardware parameter adaptive principle. Furthermore, when subsequently accumulating position differences, the accumulated sum will be the position difference for the next parking attempt stored in the buffer.

[0065] S40 : Determine the validity of the first parking stop position based on the current parking position difference and the stored position difference.

[0066] In this embodiment of the present invention, to meet the aforementioned hardware parameter adaptation principle, the learned value for this parking session is considered valid only if the position difference for this parking session aligns in direction with the stored position difference. For example, if the position difference for this parking session is I, and the position differences stored in the buffer include G and H, the learned value for this parking session is considered valid only if the position difference I and the position difference G / H are in the same direction, either positive or negative.

[0067] In practice, sensors can exhibit certain measurement errors. This means that even if the parking mechanism hardware is free of mechanical wear, the parking stop position obtained during each parking process will fluctuate slightly. To reduce interference with validity determination, embodiments of the present invention incorporate a hardware parameter adaptation principle that eliminates these random errors.

[0068] In the specific implementation process, step S40 "determining the validity of the first parking stop position based on the current parking position difference and the stored position difference" can adopt the following steps, and the method flow chart is as follows: Figure 2 As shown:

[0069] S401, determine whether the value of the position difference of this parking is less than a first threshold representing an accidental error; if not, execute S402; if so, execute step S405.

[0070] S402, determining whether the numerical value of the position difference of this parking is greater than a second threshold representing a non-accidental error, and the first threshold is less than the second threshold; if so, executing step S403; if not, executing step S405.

[0071] S403, determining whether the position difference of the current parking is in the same direction as the stored position difference; if so, executing step S404; if not, executing step S405.

[0072] S404: Determine whether the first parking stop position is valid.

[0073] S405: Determine whether the first parking stop position is invalid.

[0074] In this embodiment of the present invention, the directionality of the position difference is not considered, only its magnitude. If the magnitude of the position difference for this parking situation is small (less than a first threshold), it is considered a random error, i.e., the hardware parameters have not changed significantly, and the learned value for this parking situation is considered invalid. If the magnitude of the position difference for this parking situation is too large (greater than a second threshold), based on the physical properties of the hardware parameters, it is considered a hardware failure or an adaptive algorithm error. The software should take appropriate measures and consider the learned value for this parking situation invalid.

[0075] Of course, if the position difference value for the current parking attempt is neither less than the first threshold nor greater than the second threshold, the directional consistency of the position difference must also be considered. Only if the direction of the current parking attempt's position difference is the same as the direction of the position difference stored in the buffer, the first parking stop position is considered valid. Conversely, if the direction of the current parking attempt's position difference differs from the direction of the position difference stored in the buffer, the learned value for the current parking attempt is considered inconsistent with the learned value for the previous parking attempt, and the learned value for the current parking attempt is deemed invalid.

[0076] It should be noted that the determination of whether the direction of the current parking position difference is the same as the direction of the position difference stored in the buffer can be achieved based on the positive and negative signs of the position difference. If the signs are the same (both positive or both negative), the directions are determined to be the same; otherwise, if the signs are different, the directions are determined to be different.

[0077] S50 , when it is determined that the first parking stop position is valid and the cumulative sum of the current parking position difference and the stored position difference meets the corresponding threshold, update and store the parameters of the second parking stop position.

[0078] In the embodiment of the present invention, as described above, the position difference of the current parking can be stored in a buffer to perform an accumulation calculation to obtain a cumulative sum. Furthermore, for the two directions of movement of the drive motor, the embodiment of the present invention sets a positive threshold value (positive overflow threshold) and a negative threshold value (negative overflow threshold) for the buffer, respectively.

[0079] After the current parking position differences are stored in the buffer, if the direction of each position difference in the buffer is positive, the accumulated sum is compared with the positive overflow threshold. If the accumulated sum is greater than the positive overflow threshold, the positive threshold is determined to be met. If the accumulated sum is not greater than the positive overflow threshold, the positive threshold is determined to be not met. If the direction of each position difference in the buffer is negative, the accumulated sum is compared with the negative overflow threshold. If the accumulated sum is less than the negative overflow threshold, the negative threshold is determined to be met. If the accumulated sum is not less than the negative overflow threshold, the negative threshold is determined to be not met.

[0080] Accordingly, if the direction of each position difference in the buffer is positive, and if it is determined that the positive threshold is met, a positive fixed update value is added to the existing stored value for the current parking event, and the resulting new stored value is stored in the controller to update the stored value. If the direction of each position difference in the buffer is negative, and if it is determined that the negative threshold is met, a positive fixed update value is subtracted from the existing stored value for the current parking event, and the resulting new stored value is stored in the controller to update the stored value.

[0081] However, since mechanical wear of the parking system actuator can cause hardware parameters to increase, caution is required when performing negative updates of the hardware parameters. Therefore, in an embodiment of the present invention, numerical values ​​of the positive overflow threshold and the negative overflow threshold are set, with the positive overflow threshold being greater than the negative overflow threshold.

[0082] Furthermore, in order to eliminate the influence of accidental errors in sensor measurements during the calculation of the accumulated sum, the embodiment of the present invention needs to deduct the accidental errors from the numerical value of the current parking position difference before storing the current parking position difference in the buffer. Specifically, during the process of storing the current parking position difference in the buffer:

[0083] A first threshold value representing an accidental error is deducted from the numerical value of the position difference of the current parking; and the position difference of the current parking after the deduction is stored in a buffer.

[0084] It should be noted that the above deduction is to subtract the first threshold from the numerical value of the position difference of the current parking.

[0085] The present invention addresses the issue of inaccurate hardware parameters during the control process of an electric parking system by proposing a hardware parameter adaptation method. The electric parking system performs hardware parameter adaptation during each parking process. When the parking mechanism exhibits significant wear, the stored values ​​of the hardware parameters are updated online, thereby continuously correcting the hardware parameters. The present invention enables online, real-time updates of hardware parameters as the actuator mechanically wears, enabling more precise parking process control and ensuring superior parking quality throughout the electric parking system's lifecycle. The present invention's solution is simple and effective, requiring only software modifications, without the need for additional components.

[0086] Based on the hardware parameter adaptation method provided in the above embodiment, an embodiment of the present invention provides a device for executing the above hardware parameter adaptation method. The structural diagram of the device is shown in FIG. Figure 3 As shown, including:

[0087] The position acquisition module 10 is used to acquire the current first parking stop position when monitoring the end of the vehicle's parking;

[0088] The validity determination module 20 is configured to retrieve the second parking stop position stored in the last parameter update and use the difference between the first parking stop position and the second parking stop position as the position difference for the current parking; obtain the stored position differences, which are the position differences between the positions of multiple consecutive parking stops that are closest to the current position and have the same direction from the last parameter update to the current parking stop; and determine the validity of the first parking stop position based on the position differences for the current parking stop and the stored position differences;

[0089] The parameter updating module 30 is configured to update and store parameters of the second parking stop position when it is determined that the first parking stop position is valid and the cumulative sum of the current parking position difference and the stored position difference meets a corresponding threshold.

[0090] Optionally, the validity determination module 20 for obtaining the stored position difference is specifically configured to:

[0091] Get the stored position difference from the buffer;

[0092] Accordingly, the parameter updating module 30 determines whether the cumulative sum of the current parking position difference and the stored position difference satisfies the corresponding threshold value by:

[0093] The position difference of this parking is stored in the buffer and added to the position difference stored in the buffer to obtain the cumulative sum; if all the position differences in the buffer are positive, the cumulative sum is greater than the positive overflow threshold value of the buffer; if all the position differences in the buffer are negative, the cumulative sum is less than the negative overflow threshold value of the buffer.

[0094] Optionally, the numerical value of the positive overflow threshold is greater than the numerical value of the negative overflow threshold.

[0095] Optionally, the parameter updating module 30 stores the current parking position difference in the buffer in the following manner:

[0096] A first threshold value representing an accidental error is deducted from the numerical value of the position difference of the current parking; and the position difference of the current parking after the deduction is stored in a buffer.

[0097] Optionally, the validity determination module 20 for determining the validity of the first parking stop position based on the current parking position difference and the stored position difference is specifically configured to:

[0098] Determine whether the numerical value of the position difference of the current parking is less than a first threshold value representing an accidental error; if not less than the first threshold value, determine whether the numerical value of the position difference of the current parking is greater than a second threshold value representing a non-accidental error, the first threshold value being less than the second threshold value; if less than the second threshold value, determine whether the position difference of the current parking is in the same direction as the stored position difference; if the directions are the same, determine that the first parking stop position is valid; if less than the first threshold value, or not less than the second threshold value, or the directions are different, determine that the first parking stop position is invalid.

[0099] It should be noted that the detailed functions of each functional module in the embodiment of the present invention can be found in the corresponding disclosed part of the above-mentioned hardware parameter adaptation method embodiment, and will not be repeated here.

[0100] Based on the hardware parameter adaptation method provided in the above embodiment, an embodiment of the present invention further provides an electronic device, which includes: at least one memory and at least one processor; the memory stores a program, the processor calls the program stored in the memory, and the program is used to implement the hardware parameter adaptation method.

[0101] Based on the hardware parameter adaptation method provided in the above embodiment, an embodiment of the present invention further provides a storage medium, in which computer-executable instructions are stored. The computer-executable instructions are used to execute the hardware parameter adaptation method.

[0102] The above is a detailed introduction to a hardware parameter adaptation method, device, electronic device and storage medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

[0103] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0104] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that the process, method, article, or apparatus comprising a series of elements inherent to the elements, or also including elements inherent to these processes, methods, articles, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0105] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A hardware parameter adaptation method, characterized in that: The method comprises: When the vehicle is detected to have completed parking, the current first parking stop position is obtained; Retrieving the second parking stop position stored in the last parameter update, and using the difference between the first parking stop position and the second parking stop position as the position difference for this parking; Obtaining a stored position difference, wherein the stored position difference is a position difference of a plurality of consecutive parking positions that are closest to the current position and have the same direction within a period from the last parameter update to the current position; determining the validity of the first parking stop position based on the current parking position difference and the stored position difference; When it is determined that the first parking stop position is valid and the cumulative sum of the current parking position difference and the stored position difference meets a corresponding threshold, parameters of the second parking stop position are updated and stored.

2. The method according to claim 1, characterized in that The obtaining of the stored position difference includes: Get the stored position difference from the buffer; Accordingly, a method for determining whether the cumulative sum of the current parking position difference and the stored position difference satisfies a corresponding threshold includes: storing the position difference of the current parking in the buffer, and accumulating it with the position difference stored in the buffer to obtain an accumulated sum; If all position differences in the buffer are positive, the accumulated sum is greater than the positive overflow threshold of the buffer; if all position differences in the buffer are negative, the accumulated sum is less than the negative overflow threshold of the buffer.

3. The method according to claim 2, characterized in that The numerical value of the positive overflow threshold is greater than the numerical value of the negative overflow threshold.

4. The method according to claim 2, characterized in that The storing the position difference of the current parking in the buffer includes: Deducting a first threshold representing an accidental error from the numerical value of the position difference of the current parking; The deducted position difference of the current parking is stored in the buffer.

5. The method according to claim 1, wherein The determining the validity of the first parking stop position based on the current parking position difference and the stored position difference includes: determining whether a value of the position difference of the current parking is less than a first threshold representing an accidental error; If it is not less than the first threshold, determining whether the value of the position difference of the current parking is greater than a second threshold representing a non-accidental error, and the first threshold is less than the second threshold; If it is less than the second threshold, determining whether the current parking position difference and the stored position difference are in the same direction; If the directions are the same, then the first parking stop position is determined to be valid; If it is less than the first threshold, or not less than the second threshold, or the directions are different, it is determined that the first parking stop position is invalid.

6. A hardware parameter adaptive device, characterized in that: The device comprises: A position acquisition module is used to acquire the current first parking stop position when monitoring the end of the vehicle's current parking; a validity determination module configured to retrieve the second parking stop position stored in the last parameter update and use the difference between the first parking stop position and the second parking stop position as the position difference for the current parking; obtain the stored position differences, the stored position differences being the position differences of multiple consecutive parking stops that are closest to the current stop and have the same direction from the last parameter update to the current stop; and determine the validity of the first parking stop position based on the position differences for the current parking and the stored position differences; The parameter updating module is configured to update and store the parameters of the second parking stop position when it is determined that the first parking stop position is valid and the cumulative sum of the position difference of the current parking and the stored position difference meets a corresponding threshold.

7. The device according to claim 6, characterized in that The validity determination module for obtaining the stored position difference is specifically configured to: Get the stored position difference from the buffer; Accordingly, the parameter updating module determines whether the cumulative sum of the position difference of the current parking and the stored position difference satisfies the corresponding threshold value, including: The position difference of the current parking is stored in the buffer to be accumulated with the position differences already stored in the buffer to obtain an accumulated sum; if all the position differences in the buffer are positive, the accumulated sum is greater than the positive overflow threshold value of the buffer; if all the position differences in the buffer are negative, the accumulated sum is less than the negative overflow threshold value of the buffer.

8. The device according to claim 6, characterized in that The validity determination module for determining the validity of the first parking stop position based on the current parking position difference and the stored position difference is specifically configured to: determining whether the magnitude of the position difference of the current parking is less than a first threshold indicating an accidental error; if not less than the first threshold, determining whether the magnitude of the position difference of the current parking is greater than a second threshold indicating a non-accidental error, the first threshold being less than the second threshold; if less than the second threshold, determining whether the direction of the position difference of the current parking is the same as that of the stored position difference; and if so, determining that the first parking stop position is valid; If it is less than the first threshold, or not less than the second threshold, or the directions are different, it is determined that the first parking stop position is invalid.

9. An electronic device, characterized in that: The electronic device includes: at least one memory and at least one processor; the memory stores a program, and the processor calls the program stored in the memory, and the program is used to implement the hardware parameter adaptation method according to any one of claims 1 to 5.

10. A storage medium, characterized in that: The storage medium stores computer-executable instructions, and the computer-executable instructions are used to execute the hardware parameter adaptation method according to any one of claims 1 to 5.

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