An automatic parking method, device, equipment and medium of an electric vehicle

Abstract

The application discloses an automatic parking method, device, equipment and medium of an electric vehicle. The automatic parking method of the electric vehicle comprises the following steps: acquiring an original parking driving force; when the parking condition of the electric vehicle meets a driving force limitation activation condition, determining a target limitation driving force based on a debugging value, a slope correction coefficient, a speed and distance joint correction coefficient and a correction gain; determining a target parking driving force according to the original parking driving force and the target limitation driving force; and automatically parking the electric vehicle based on the target parking driving force. The technical scheme of the embodiment of the application can ensure good parking effect of the electric vehicle when the road surface state changes, and improve user experience.

Description

Technical Field

[0001] This invention relates to the field of automatic parking technology, and more particularly to an automatic parking method, device, equipment, and medium for electric vehicles. Background Technology

[0002] With the rapid development of the automotive industry, the integration and intelligence of automotive electronics are becoming increasingly sophisticated. At present, intelligent driving assistance functions are widely used, and automatic parking, as an important component of intelligent driving assistance functions, is receiving more and more attention.

[0003] Compared to traditional gasoline vehicles, electric vehicles lack the inherent torque of the vehicle itself during automatic parking. The torque completely follows the control layer's request for the parking function, which can greatly reduce unnecessary braking control. However, if the road surface changes during the switching between torque and braking control, the vehicle control will be uneven, and the vehicle may even come to a momentary stop, resulting in a poor user experience. Summary of the Invention

[0004] This invention provides an automatic parking method, device, equipment, and medium for electric vehicles to solve the problems of poor automatic parking performance and poor user experience when road conditions change.

[0005] According to one aspect of the present invention, an automatic parking method for an electric vehicle is provided, comprising:

[0006] Obtain the original parking drive force;

[0007] When the parking condition of an electric vehicle meets the activation conditions for driving force limitation, the target limiting driving force is determined based on the debugging value, the slope correction coefficient, the speed and distance joint correction coefficient, and the correction gain.

[0008] Determine the target parking driving force based on the original parking driving force and the target limiting driving force;

[0009] Automatic parking of electric vehicles is achieved based on the target parking driving force.

[0010] According to another aspect of the present invention, an automatic parking device for an electric vehicle is provided, comprising:

[0011] The original parking driving force acquisition module is used to acquire the original parking driving force.

[0012] The target limiting driving force determination module is used to determine the target limiting driving force based on the debugging value, the slope correction coefficient, the speed and distance joint correction coefficient, and the correction gain when the electric vehicle parking condition meets the driving force limiting activation condition.

[0013] The target parking driving force determination module is used to determine the target parking driving force based on the original parking driving force and the target limiting driving force.

[0014] An automatic parking module is used to automatically park electric vehicles based on the target parking driving force.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the automatic parking method for an electric vehicle according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the automatic parking method for an electric vehicle according to any embodiment of the present invention.

[0020] The technical solution of this invention obtains the original parking driving force, and then, when the electric vehicle's parking condition meets the driving force limitation activation condition, determines the target limiting driving force based on the adjustment value, slope correction coefficient, speed and distance joint correction coefficient, and correction gain. Then, based on the original parking driving force and the target limiting driving force, the target parking driving force is determined, and the electric vehicle performs automatic parking based on the target parking driving force. In this solution, a target limiting driving force can be determined through various correction coefficients. Selecting one from the original parking driving force and the target limiting driving force as the target parking driving force for parking control of the electric vehicle can prevent uneven parking caused by insufficient driving torque of the vehicle itself. This solves the problem of poor automatic parking effect and poor user experience of electric vehicles when road conditions change, ensuring good parking effect of electric vehicles when road conditions change, and improving user experience.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart illustrating an automatic parking method for an electric vehicle according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of an automatic parking method for an electric vehicle provided in Embodiment 2 of the present invention;

[0025] Figure 3 This is a schematic diagram of the working principle of an automatic parking longitudinal controller provided in Embodiment 2 of the present invention;

[0026] Figure 4 This is a comparison diagram showing the effect of automatic parking of an electric vehicle according to Embodiment 2 of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of an automatic parking device for an electric vehicle provided in Embodiment 3 of the present invention;

[0028] Figure 6 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 This is a flowchart of an automatic parking method for an electric vehicle according to Embodiment 1 of the present invention. This embodiment is applicable to situations where the vehicle automatically and smoothly parks itself when the road surface changes. The method can be executed by an automatic parking device of the electric vehicle, which can be implemented in hardware and / or software. This automatic parking device can be configured in an electronic device. This electronic device can be a longitudinal controller in an electric vehicle (short for electric car). Figure 1 As shown, the method includes:

[0033] S110, Obtain the original parking drive force.

[0034] The original parking driving force can be the driving force determined by the longitudinal controller of the electric vehicle based on acceleration closed-loop control.

[0035] In this embodiment of the invention, the original parking driving force of an electric vehicle during automatic parking can be determined based on the acceleration closed-loop control algorithm in the existing longitudinal controller of an electric vehicle.

[0036] S120. When the parking condition of the electric vehicle meets the driving force limit activation condition, the target limiting driving force is determined based on the debugging value, the slope correction coefficient, the speed and distance joint correction coefficient, and the correction gain.

[0037] Among these, the electric vehicle parking condition can be used to characterize the electric vehicle's state during parking. The driving force limit activation condition can be the lower limit constraint condition of the driving force that needs to be activated when the road surface condition changes. The calibration value can be a pre-set longitudinal driving force. The slope correction coefficient can be a correction coefficient determined based on parking experiments at different slopes. The speed and distance joint correction coefficient can be a correction coefficient determined based on the interaction between speed and distance in parking experiments. The correction gain can be the corresponding gain determined based on the closed-loop control algorithm when speed and distance are jointly corrected. The target limiting driving force can be the driving force that needs to be referenced when the electric vehicle is automatically parking, determined based on the calibration value, slope correction coefficient, speed and distance joint correction coefficient, and correction gain.

[0038] In this embodiment of the invention, a driving force limitation activation condition can be set to determine whether the parking condition of the electric vehicle meets the driving force limitation activation condition. If the parking condition of the electric vehicle meets the driving force limitation activation condition, the slope correction coefficient and the speed and distance joint correction coefficient are determined according to the parking experiment. The correction gain when performing speed and distance joint correction is calculated according to the closed-loop control algorithm. Thus, the target limiting driving force is determined according to the preset adjustment value, slope correction coefficient, speed and distance joint correction coefficient and correction gain.

[0039] S130. Determine the target parking driving force based on the original parking driving force and the target limiting driving force.

[0040] The target parking driving force can be the larger of the original parking driving force and the target limiting driving force.

[0041] In this embodiment of the invention, the original parking driving force and the target limiting driving force can be compared, and the larger of the original parking driving force and the target limiting driving force can be taken as the target parking driving force.

[0042] S140. Automatic parking of electric vehicles based on target parking driving force.

[0043] In this embodiment of the invention, the target parking driving force can be used as the driving force of the electric vehicle longitudinal controller to control the electric vehicle to park automatically, preventing uneven parking caused by the lack of the vehicle's own driving torque.

[0044] The technical solution of this invention obtains the original parking driving force, and then, when the electric vehicle's parking condition meets the driving force limitation activation condition, determines the target limiting driving force based on the adjustment value, slope correction coefficient, speed and distance joint correction coefficient, and correction gain. Then, based on the original parking driving force and the target limiting driving force, the target parking driving force is determined, and the electric vehicle performs automatic parking based on the target parking driving force. In this solution, a target limiting driving force can be determined through various correction coefficients. Selecting one from the original parking driving force and the target limiting driving force as the target parking driving force for parking control of the electric vehicle can prevent uneven parking caused by insufficient driving torque of the vehicle itself. This solves the problem of poor automatic parking effect and poor user experience of electric vehicles when road conditions change, ensuring good parking effect of electric vehicles when road conditions change, and improving user experience.

[0045] Example 2

[0046] Figure 2 This is a flowchart of an automatic parking method for an electric vehicle provided in Embodiment 2 of the present invention. This embodiment is a specific embodiment based on the above embodiment, and provides specific optional implementation methods for determining the target limiting driving force based on the adjustment value, slope correction coefficient, speed and distance joint correction coefficient, and correction gain. Figure 2 As shown, the method includes:

[0047] S210, Obtain the original parking drive force.

[0048] In an optional embodiment of the present invention, obtaining the original parking driving force may include: determining the target acceleration of the electric vehicle based on the remaining parking distance and the target speed of the electric vehicle; and determining the original parking driving force based on the target acceleration of the electric vehicle and the real-time acceleration of the electric vehicle.

[0049] The remaining parking distance can be the distance between the electric vehicle's current position and its final parking position. The target speed of the electric vehicle can be the speed at which the electric vehicle travels from its current parking position to its final parking position. The target acceleration of the electric vehicle can be the acceleration calculated by the longitudinal controller based on the remaining parking distance and the target speed of the electric vehicle. The real-time acceleration of the electric vehicle can be the real-time acceleration of the electric vehicle during automatic parking.

[0050] In this embodiment of the invention, the longitudinal controller can obtain the remaining parking distance and the target speed of the electric vehicle sent by the parking controller, and then calculate the target acceleration of the electric vehicle based on the remaining parking distance and the target speed of the electric vehicle. Based on the target acceleration of the electric vehicle, the real-time acceleration of the electric vehicle, and the closed-loop control algorithm, the original parking driving force is determined.

[0051] In an optional embodiment of the present invention, after obtaining the original parking driving force, the method may further include: obtaining the current parking slope and the current speed of the electric vehicle when parking; and determining the parking condition of the electric vehicle based on the current parking slope, the current speed of the electric vehicle, and the real-time acceleration of the electric vehicle.

[0052] The current parking slope can be the road slope at which the electric vehicle is currently parked. The current speed of the electric vehicle can be the current travel speed of the electric vehicle at the time of parking.

[0053] In this embodiment of the invention, the current parking slope and current speed of the electric vehicle can be obtained in real time, so as to determine the current parking status of the electric vehicle based on the current parking slope, current speed and real-time acceleration of the electric vehicle.

[0054] S220. When the parking condition of the electric vehicle meets the driving force limit activation condition, the first correction term is determined based on the joint correction coefficient of speed and distance and the correction gain.

[0055] The first correction term can be a correction term that corrects the debug value based on the joint correction coefficient of speed and distance and the correction gain.

[0056] In this embodiment of the invention, when the parking condition of the electric vehicle meets the driving force limitation activation condition, the product of the speed and distance joint correction coefficient and the correction gain can be calculated, and the product of the speed and distance joint correction coefficient and the correction gain can be used as the first correction term.

[0057] In an optional embodiment of the present invention, the driving force restriction activation condition may include: the current parking slope is greater than a first slope threshold, the current speed of the electric vehicle is not greater than the automatic parking speed threshold, and the driving force restriction exit condition is not met.

[0058] The first slope threshold can be a slope threshold in the pre-set driving force limit activation conditions. The automatic parking speed threshold can be the speed threshold for electric vehicle parking in the driving force limit activation conditions. The automatic parking exit condition can be a condition that does not require calculation of the target limit driving force.

[0059] In this embodiment of the invention, when the current parking slope is greater than the first slope threshold, the current speed of the electric vehicle is not greater than the automatic parking speed threshold, and the parking condition of the electric vehicle does not meet the driving force restriction exit condition, it can be determined that the driving force restriction activation condition is met. That is, when the current parking slope is greater than the first slope threshold, the current speed of the electric vehicle is not greater than the automatic parking speed threshold, and the parking condition of the electric vehicle does not meet the driving force restriction exit condition, it can be used as the driving force restriction activation condition.

[0060] In an optional embodiment of the present invention, the driving force restriction exit condition includes at least one of the following: the current parking slope is less than a second slope threshold, the real-time acceleration of the electric vehicle is greater than the automatic parking acceleration threshold, the current speed of the electric vehicle is greater than the automatic parking speed threshold, the remaining parking distance is not greater than the remaining automatic parking distance threshold, or an automatic parking exit command is received.

[0061] The second slope threshold can be a pre-set slope threshold that meets the driving force limit exit condition. The automatic parking acceleration threshold can be a pre-set acceleration threshold that meets the driving force limit exit condition. The automatic parking remaining distance threshold can be a parking remaining distance threshold that meets the driving force limit exit condition. The automatic parking exit command can be a command to exit the automatic parking function.

[0062] In this embodiment of the invention, if at least one of the following conditions occurs: the current parking slope is less than the second slope threshold, the real-time acceleration of the electric vehicle is greater than the automatic parking acceleration threshold, the current speed of the electric vehicle is greater than the automatic parking speed threshold, the remaining parking distance is not greater than the automatic parking remaining distance threshold, or an automatic parking exit command is received, then it can be determined that the electric vehicle parking condition meets the driving force limitation exit condition.

[0063] S230. Determine the second correction term based on the slope correction factor, the mass of the electric vehicle, and the current parking slope.

[0064] The second correction item can be a correction item that adjusts the test value based on the slope correction coefficient, the mass of the electric vehicle, and the current parking slope.

[0065] In this embodiment of the invention, the product of the slope correction coefficient, the mass of the electric vehicle, and the current parking slope can be calculated, and the product of the slope correction coefficient, the mass of the electric vehicle, and the current parking slope can be used as the second correction term.

[0066] S240. Determine the target limiting driving force based on the first correction term, the second correction term, and the debugging value.

[0067] In this embodiment of the invention, the sum of the first correction term, the second correction term, and the debugging value can be calculated, and the calculated sum can be used as the target constraint driving force.

[0068] S250. Determine the target parking driving force based on the original parking driving force and the target limiting driving force.

[0069] In an optional embodiment of the present invention, determining the target parking driving force based on the original parking driving force and the target limiting driving force may include: comparing the original parking driving force and the target limiting driving force based on a maximum value calculation function to obtain the target parking driving force.

[0070] The function for finding the maximum value can be the Max function.

[0071] In this embodiment of the invention, the original parking driving force and the target limiting driving force can be compared by using a maximum value calculation function, and the larger of the two can be taken as the target parking driving force.

[0072] S260: Automatic parking of electric vehicles based on target parking driving force.

[0073] Figure 3 This is a schematic diagram illustrating the working principle of an automatic parking longitudinal controller provided in Embodiment 2 of the present invention. Figure 3 As shown, the longitudinal controller can obtain the remaining parking distance and the target speed of the electric vehicle sent by the parking controller. Based on these parameters, it can perform longitudinal path planning to obtain the target acceleration of the electric vehicle, generating corresponding start and stop requests. The longitudinal controller then performs actions such as... Figure 3The diagram illustrates closed-loop control of acceleration. Based on this, a driving force limit is added. Specifically, if the current parking slope is greater than -3%, the current electric vehicle speed is less than or equal to the automatic parking speed threshold (the sum of the electric vehicle's target speed and the set threshold value), and the driving force limit exit condition is not met, then the electric vehicle's parking condition is determined to meet the driving force limit activation condition. The target limiting driving force is then calculated (target limiting driving force = speed and distance joint correction coefficient * correction gain + slope correction coefficient * electric vehicle mass * current parking slope + adjustment value). The original parking driving force and the target limiting driving force are then input into the Max function to obtain the target parking driving force. Based on this target parking driving force, the electric vehicle performs automatic parking.

[0074] Figure 4 This is a comparison diagram showing the effect of automatic parking for an electric vehicle according to Embodiment 2 of the present invention. Figure 4 As shown, without a minimum force limit, the actual speed of the electric vehicle is the actual speed of the vehicle when parking based solely on the original parking driving force. With a minimum force limit, the actual speed of the electric vehicle is the actual speed of the vehicle when parking based on both the original parking driving force and the target limiting driving force, i.e., the actual parking speed of the vehicle when parking control is performed according to this scheme. The automatic parking method for electric vehicles in this scheme can limit torque for minor road surface changes or gradual slope changes, enabling the vehicle to park smoothly. Without this strategy, in actual applications of automatic parking, when the vehicle encounters road surface changes such as potholes and if the controller happens to be in the free roll or braking control phase at that time, uneven parking, excessive deceleration, or even the vehicle coming to a complete stop may occur.

[0075] The driving force limit exit conditions include at least one of the following: 1. Slope overflow (the current parking slope is less than -3.5%); 2. Acceleration overflow (the real-time acceleration of the electric vehicle is greater than the automatic parking acceleration threshold); 3. Speed ​​overflow (the current speed of the electric vehicle is greater than the automatic parking speed threshold); 4. Automatic parking control exit (receiving an automatic parking exit command).

[0076] The technical solution of this invention obtains the original parking driving force, and when the electric vehicle's parking condition meets the driving force limitation activation condition, determines a first correction term based on a joint correction coefficient of speed and distance and a correction gain. It then determines a second correction term based on a slope correction coefficient, the electric vehicle's mass, and the current parking slope. Finally, it determines a target limiting driving force based on the first and second correction terms and the adjustment value. Based on the original parking driving force and the target limiting driving force, a target parking driving force is determined, and the electric vehicle is automatically parked based on this target parking driving force. In this solution, a target limiting driving force can be determined through various correction coefficients. Selecting one from the original parking driving force and the target limiting driving force as the target parking driving force for parking control of the electric vehicle can prevent uneven parking caused by insufficient driving torque of the vehicle itself. This solves the problem of poor automatic parking performance and poor user experience when road conditions change, ensuring good parking performance and improving user experience even when road conditions change.

[0077] Example 3

[0078] Figure 5 This is a schematic diagram of an automatic parking device for an electric vehicle provided in Embodiment 3 of the present invention. Figure 5 As shown, the device includes: a raw parking driving force acquisition module 310, a target limiting driving force determination module 320, a target parking driving force determination module 330, and an automatic parking module 340, wherein...

[0079] The original parking driving force acquisition module 310 is used to acquire the original parking driving force;

[0080] The target limiting driving force determination module 320 is used to determine the target limiting driving force based on the debugging value, the slope correction coefficient, the speed and distance joint correction coefficient, and the correction gain when the electric vehicle parking condition meets the driving force limiting activation condition.

[0081] The target parking driving force determination module 330 is used to determine the target parking driving force based on the original parking driving force and the target limiting driving force.

[0082] The automatic parking module 340 is used to automatically park electric vehicles based on the target parking drive force.

[0083] The technical solution of this invention obtains the original parking driving force, and then, when the electric vehicle's parking condition meets the driving force limitation activation condition, determines the target limiting driving force based on the adjustment value, slope correction coefficient, speed and distance joint correction coefficient, and correction gain. Then, based on the original parking driving force and the target limiting driving force, the target parking driving force is determined, and the electric vehicle performs automatic parking based on the target parking driving force. In this solution, a target limiting driving force can be determined through various correction coefficients. Selecting one from the original parking driving force and the target limiting driving force as the target parking driving force for parking control of the electric vehicle can prevent uneven parking caused by insufficient driving torque of the vehicle itself. This solves the problem of poor automatic parking effect and poor user experience of electric vehicles when road conditions change, ensuring good parking effect of electric vehicles when road conditions change, and improving user experience.

[0084] Optionally, the automatic parking device for electric vehicles also includes an electric vehicle parking condition determination module, used to acquire the current parking slope and the current speed of the electric vehicle when parking; and to determine the parking condition of the electric vehicle based on the current parking slope, the current speed of the electric vehicle, and the real-time acceleration of the electric vehicle.

[0085] Optionally, the original parking driving force acquisition module 310 is used to determine the target acceleration of the electric vehicle based on the remaining parking distance and the target speed of the electric vehicle; and to determine the original parking driving force based on the target acceleration and the real-time acceleration of the electric vehicle.

[0086] Optionally, the driving force limit activation conditions include: the current parking slope is greater than a first slope threshold, the current vehicle speed of the electric vehicle is not greater than an automatic parking speed threshold, and the driving force limit exit conditions are not met.

[0087] Optionally, the driving force limit exit condition includes at least one of the following: the current parking slope is less than the second slope threshold, the real-time acceleration of the electric vehicle is greater than the automatic parking acceleration threshold, the current speed of the electric vehicle is greater than the automatic parking speed threshold, the remaining parking distance is not greater than the automatic parking remaining distance threshold, or an automatic parking exit command is received.

[0088] Optionally, the target limiting driving force determination module 320 is specifically used to determine a first correction term based on the speed and distance joint correction coefficient and the correction gain; determine a second correction term based on the slope correction coefficient, the electric vehicle mass and the current parking slope; and determine the target limiting driving force based on the first correction term, the second correction term and the adjustment value.

[0089] Optionally, the target parking driving force determination module 330 is specifically used to compare the original parking driving force and the target limiting driving force based on the maximum value calculation function to obtain the target parking driving force.

[0090] The automatic parking device for electric vehicles provided in the embodiments of the present invention can execute the automatic parking method for electric vehicles provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0091] Example 4

[0092] Figure 6 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0093] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0094] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0095] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the automatic parking method for electric vehicles.

[0096] In some embodiments, the automatic parking method for an electric vehicle may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the automatic parking method for an electric vehicle described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the automatic parking method for an electric vehicle by any other suitable means (e.g., by means of firmware).

[0097] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0098] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0099] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0100] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0101] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0102] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0103] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0104] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An automatic parking method for an electric vehicle, characterized in that, include: Obtain the original parking drive force; When the parking condition of the electric vehicle meets the driving force limitation activation condition, the target limiting driving force is determined based on the adjustment value, the slope correction coefficient, the speed and distance joint correction coefficient, and the correction gain; wherein, the adjustment value is the pre-set longitudinal driving force; the correction gain is the corresponding gain determined based on the closed-loop control algorithm when the speed and distance are jointly corrected. The target parking driving force is determined based on the original parking driving force and the target limiting driving force. The electric vehicle is automatically parked based on the target parking driving force.

2. The method according to claim 1, characterized in that, The acquisition of the original parking driving force includes: Determine the target acceleration of the electric vehicle based on the remaining parking distance and the target speed of the electric vehicle; The original parking driving force is determined based on the target acceleration of the electric vehicle and the real-time acceleration of the electric vehicle.

3. The method according to claim 2, characterized in that, After obtaining the original parking driving force, the method further includes: Obtain the current parking slope and current speed of the electric vehicle when parking; The parking status of the electric vehicle is determined based on the current parking slope, the current speed of the electric vehicle, and the real-time acceleration of the electric vehicle.

4. The method according to claim 3, characterized in that, The driving force restriction activation conditions include: the current parking slope is greater than the first slope threshold, the current vehicle speed of the electric vehicle is not greater than the automatic parking speed threshold, and the driving force restriction exit conditions are not met.

5. The method according to claim 4, characterized in that, The driving force restriction exit condition includes at least one of the following: the current parking slope is less than the second slope threshold, the real-time acceleration of the electric vehicle is greater than the automatic parking acceleration threshold, the current speed of the electric vehicle is greater than the automatic parking speed threshold, the remaining parking distance is not greater than the automatic parking remaining distance threshold, or an automatic parking exit command is received.

6. The method according to claim 3, characterized in that, The determination of the target limiting driving force based on the debug value, slope correction coefficient, speed and distance joint correction coefficient, and correction gain includes: The first correction term is determined based on the combined speed and distance correction coefficients and the correction gain; The second correction term is determined based on the slope correction coefficient, the electric vehicle mass, and the current parking slope; The target limiting driving force is determined based on the first correction term, the second correction term, and the debugging value.

7. The method according to claim 1, characterized in that, Determining the target parking driving force based on the original parking driving force and the target limiting driving force includes: The target parking driving force is obtained by comparing the original parking driving force with the target limiting driving force based on the maximum value calculation function.

8. An automatic parking device for an electric vehicle, characterized in that, include: The original parking driving force acquisition module is used to acquire the original parking driving force. The target limiting driving force determination module is used to determine the target limiting driving force based on a debug value, a slope correction coefficient, a speed and distance joint correction coefficient, and a correction gain when the electric vehicle's parking condition meets the driving force limiting activation condition. The debug value is a pre-set longitudinal driving force, and the correction gain is the corresponding gain determined based on a closed-loop control algorithm when the speed and distance are jointly corrected. The target parking driving force determination module is used to determine the target parking driving force based on the original parking driving force and the target limiting driving force. An automatic parking module is used to automatically park an electric vehicle based on the target parking driving force.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the automatic parking method for the electric vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the automatic parking method for the electric vehicle according to any one of claims 1-7.

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