Automatic parking control method for vehicle

Abstract

The present invention relates to the technical field of automatic parking control for vehicles, and specifically provides a method for automatic parking control for vehicles, aiming to solve the problem that the triggering conditions of the automatic parking system of existing vehicles may cause the automatic parking system to be unable to be activated. To this end, the vehicle of the present invention includes an automatic parking system. When the vehicle is braked and the automatic parking mode is the first automatic parking mode, if the status information of the vehicle meets the preset conditions, the automatic parking system is pre-activated and the initial brake pressure at the time of pre-activation is obtained. Then, when the brake pressure is detected after the automatic parking system is pre-activated, the current brake pressure slope is obtained, and the activation of the automatic parking system is controlled according to the initial brake pressure and the current brake pressure slope, so that the brake pressure increment of the vehicle under different road conditions is different, and it is always ensured that the triggering conditions can activate the automatic parking system, thereby improving the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic parking control, and in particular provides a vehicle automatic parking control method. Background Art

[0002] With the rapid advancement of vehicle manufacturing technology, people's demands for vehicle safety and comfort are becoming increasingly stringent. To better meet these needs, existing vehicles, especially electric vehicles, are equipped with various assistance systems. One such new type of auxiliary braking system is the Auto Vehicle Hold (AVH) system. When activated, the AVH system ensures the vehicle remains stationary even when the driver releases the brake pedal.

[0003] Prior art automated parking systems can be activated by deep braking or by physically turning on the system's switch after stopping the vehicle. However, this existing deep braking activation method requires a fixed brake pressure increment, which can easily lead to the automated parking system being activated sometimes and sometimes not depending on the vehicle's braking pressure under different road conditions, leading to user complaints.

[0004] Accordingly, the art requires a new automatic parking control method for a vehicle to solve or alleviate the above technical problems to a certain extent. Summary of the Invention

[0005] The present invention aims to solve or alleviate to a certain extent the above technical problem, namely, the problem that the triggering conditions of the automatic parking system of existing vehicles may cause the automatic parking system to be unable to be activated.

[0006] The present invention provides an automatic parking control method for a vehicle, wherein the vehicle includes an automatic parking system, and the automatic parking control method includes: obtaining status information of the vehicle when the vehicle is braked; judging whether the status information of the vehicle satisfies a preset condition; controlling the automatic parking system to be pre-activated if the status information of the vehicle satisfies the preset condition when the automatic parking mode of the vehicle is a first automatic parking mode; obtaining the initial brake pressure of the vehicle when the automatic parking system is pre-activated; obtaining the current brake pressure slope of the vehicle when the brake pressure is detected after the automatic parking system is pre-activated; and controlling the activation of the automatic parking system according to the initial brake pressure and the current brake pressure slope.

[0007] In the preferred technical solution of the above-mentioned automatic parking control method, the step of "controlling the activation of the automatic parking system according to the initial braking pressure and the current braking pressure slope" includes: if the initial braking pressure reaches the braking pressure activation threshold and the current braking pressure slope reaches the braking pressure slope activation threshold, then further obtaining the braking duration after the current braking pressure slope reaches the braking pressure slope activation threshold; if the braking duration reaches the braking duration activation threshold, then controlling the activation of the automatic parking system.

[0008] In the preferred technical solution of the above-mentioned automatic parking control method, the brake pressure activation threshold is determined by: obtaining the road surface gradient of the road surface on which the vehicle is located; and determining the brake pressure activation threshold based on the road surface gradient; and / or the brake pressure slope activation threshold is determined by: determining the brake pressure slope activation threshold based on the current brake pressure after pre-activation of the automatic parking system and the road surface gradient.

[0009] In the preferred technical solution of the above automatic parking control method, the braking duration activation threshold is determined by: determining the braking duration activation threshold according to the current braking pressure after pre-activation of the automatic parking system and the current braking pressure slope.

[0010] In the preferred technical solution of the above-mentioned automatic parking control method, the automatic parking control method further includes: when the automatic parking mode of the vehicle is the second automatic parking mode, if the status information of the vehicle meets the preset conditions, controlling the automatic parking system to activate.

[0011] In the preferred technical solution of the above-mentioned automatic parking control method, the step of "determining whether the status information of the vehicle meets the preset conditions" specifically includes: determining whether the dynamic and static states of the vehicle meet the requirement that the vehicle is in a stationary state; determining whether the function of the automatic parking system is normal; determining whether the electronic parking brake system of the vehicle is in a released state; determining whether the gear position of the vehicle is in a forward gear or a reverse gear; determining whether the brakes of the vehicle are normal and whether the brake pedal of the vehicle is depressed; and determining whether the driver is in a seated state.

[0012] In the preferred technical solution of the above-mentioned automatic parking control method, when the driver is in the seat, the driver's side door of the vehicle is closed and the driver's side seat belt is fastened; or the driver's side door of the vehicle is closed and the driver's seat is occupied.

[0013] In the preferred technical solution of the above-mentioned automatic parking control method, when the automatic parking system is in an activated state, the control method further includes: obtaining the wheel status of the vehicle; if the wheels of the vehicle are in a rolling state or in a potential rolling state, requesting to increase the current brake pressure of the vehicle; if the trailer mode of the vehicle is turned on, controlling the current brake pressure of the vehicle to increase.

[0014] In the preferred technical solution of the above-mentioned automatic parking control method, the control method also includes: when the automatic parking system requests the electronic parking brake system of the vehicle to take over and the electronic parking brake system fails, controlling the hydraulic brake system of the vehicle to immediately release pressure and issue a warning.

[0015] In the preferred technical solution of the above-mentioned automatic parking control method, when the automatic parking system is in an activated state, the control method further includes: obtaining status information of the brake pedal or the accelerator pedal of the vehicle; if the brake pedal is depressed, controlling the automatic parking system to exit; or if the accelerator pedal is depressed and the amplitude by which the accelerator pedal is depressed exceeds a preset amplitude, controlling the automatic parking system to exit.

[0016] When the above technical solution is adopted, the present invention can pre-activate the automatic parking system and obtain the initial brake pressure during pre-activation when the automatic parking mode is the first automatic parking mode and the status information of the vehicle meets the preset conditions. In addition, when the brake pressure is detected after the automatic parking system is pre-activated, the activation of the automatic parking system is controlled according to the initial brake pressure and the current brake pressure slope, so that the brake pressure increment of the vehicle under different road conditions is different, thereby always ensuring that the trigger condition can activate the automatic parking system, thereby improving the user experience.

[0017] In addition, in the optional technical solution of the present invention, the automatic parking mode of the present invention includes a first automatic parking mode and a second automatic parking mode, so that users can choose different automatic parking modes according to their own driving habits, further effectively improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. Among them:

[0019] Figure 1 A flow chart showing the main steps of the automatic parking control method of the present invention is shown;

[0020] Figure 2 A flowchart showing the specific steps of an optional embodiment of the automatic parking control method of the present invention is shown. DETAILED DESCRIPTION

[0021] The following describes optional embodiments of the present invention with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific applications. For example, the present invention does not impose any restrictions on the specific application objects of the automatic parking control method. It can be used for cars, commercial vehicles, buses, and trucks. This is not restrictive, and those skilled in the art can set it themselves according to actual usage. Such changes in specific application objects or specific types do not deviate from the basic principles of the present invention and therefore fall within the scope of protection of the present invention.

[0022] It should be noted that in the description of the present invention, although the various steps of the automatic parking control method of the present invention are described in this application in a specific order, these orders are not restrictive. Without deviating from the basic principles of the present invention, those skilled in the art can perform the steps in a different order.

[0023] Specifically, the vehicle of the present invention includes an automatic parking system (AVH system), an electronic parking brake system (EPB system) and an electronic control system (VCU system), wherein the AVH system refers to the technical application of an automatic parking brake that can be implemented during the operation of the car, so that the vehicle does not need to brake for a long time after stopping, and when the automatic electronic parking system is activated, it can avoid unnecessary sliding of the vehicle. The EPB system can integrate the temporary braking function during driving and the long-term braking function after parking, and implement the parking brake technology by electronic control. The VCU system collects driver control information, vehicle driving information, engine, motor, battery, gearbox data and feedback information from each subsystem, and sends control commands to each subsystem after calculation, thereby realizing the VCU control of the entire vehicle. It should be noted that the present invention does not impose any restrictions on the specific structure of the AVH system, EPB system and VCU system, nor does it impose any restrictions on the specific structure of the vehicle. Those skilled in the art can set it according to actual use requirements.

[0024] Furthermore, the automatic parking modes of the vehicle of the present invention include a first automatic parking mode and a second automatic parking mode. In the first automatic parking mode, the AVH system is pre-activated after the brake pedal is depressed until the vehicle stops. The AVH system is activated when the brake pedal is released or when the brake pedal is depressed again after a pause, meeting certain conditions. In the second automatic parking mode, the AVH system is activated after the brake pedal is depressed until the vehicle stops. Regarding depressing the brake pedal until the vehicle stops, in the first automatic parking mode, the user can depress the brake pedal deeply enough to achieve a certain depression depth or generate a certain braking pressure, as long as the vehicle stops. In the second automatic parking mode, the user can directly depress the brake pedal to its maximum depth, at least to a greater depression depth than in the first automatic parking mode. Furthermore, those skilled in the art will appreciate that the above-described method is not limited to braking the vehicle by depressing the brake pedal. For example, braking can also be controlled by clicking on a braking control area displayed on the vehicle's center console to generate a corresponding braking signal. In other words, any method that can control vehicle braking is sufficient.

[0025] The user can select the automatic parking mode according to his or her driving habits. The user can click on the display screen of the vehicle center console to select the first automatic parking mode or the second automatic parking mode, or press, rotate or pull a button related to the automatic parking mode set at any position in the vehicle to select the first automatic parking mode or the second automatic parking mode. The present invention does not impose any restriction on the specific selection and determination method of the first automatic parking mode and the second automatic parking mode.

[0026] See first Figure 1 , Figure 1 This is a flow chart of the main steps of the automatic parking control method of the present invention. Figure 1 As shown, based on the vehicle described in the above embodiment, the automatic parking control method of the present invention mainly includes the following steps:

[0027] S1: When the vehicle is braked, obtain vehicle status information;

[0028] S2: Determine whether the vehicle status information meets the preset conditions;

[0029] S3: When the automatic parking mode of the vehicle is the first automatic parking mode, if the vehicle status information meets a preset condition, controlling the AVH system to be pre-activated;

[0030] S4: obtaining the initial brake pressure of the vehicle when the AVH system is pre-activated;

[0031] S5: When the brake pressure is detected after the AVH system is pre-activated, obtaining a current brake pressure slope of the vehicle;

[0032] S6: Control the activation of the AVH system based on the initial brake pressure and the current brake pressure slope.

[0033] First, in step S1, vehicle status information is obtained when the vehicle is braked. Those skilled in the art will appreciate that the specific type of vehicle status information is not limiting. For example, the vehicle status information may include information about the vehicle's dynamic or static state, the vehicle's braking state, or a combination of multiple status information. These are not limiting and can be determined by those skilled in the art based on actual circumstances.

[0034] Next, in steps S2 and S3, a determination is made as to whether the vehicle's status information satisfies a preset condition. If the vehicle's automatic parking mode is the first automatic parking mode, and the vehicle's status information satisfies the preset condition, the VCU system controls the AVH system to pre-activate. It should be noted that the specific content of the preset condition is not restrictive and can be set by those skilled in the art based on user usage habits or vehicle driving conditions. This is not restrictive; as long as the automatic parking mode is the first automatic parking mode and the vehicle's status information satisfies the preset condition, the AVH system is controlled to pre-activate.

[0035] Furthermore, in steps S4 and S5, the initial brake pressure of the vehicle when the AVH system is pre-activated is obtained. Then, after the AVH is pre-activated, if the brake pressure is detected again, the current brake pressure slope of the vehicle is obtained.

[0036] Next, in step S6, the VCU system selectively controls the activation of the AVH system based on the initial brake pressure and the current brake pressure slope. Those skilled in the art will appreciate that the specific control logic of step S6 is not restrictive; as long as the VCU system selectively controls the activation of the AVH system based on these two parameters, the control logic falls within the scope of the present invention.

[0037] Next see Figure 2 , Figure 2 FIG. 1 is a flowchart of the specific steps of an optional embodiment of the automatic parking control method of the present invention. Figure 2 As shown, based on the vehicle described in the above embodiment, the automatic parking control method of the preferred embodiment of the present invention includes the following steps:

[0038] S101: When a vehicle is braked, obtain vehicle status information;

[0039] S102: Determine whether the vehicle status information meets the preset conditions;

[0040] S103: When the automatic parking mode of the vehicle is the first automatic parking mode, if the vehicle status information meets a preset condition, controlling the AVH system to be pre-activated;

[0041] S104: Acquiring the initial brake pressure of the vehicle when the AVH system is pre-activated;

[0042] S105: When the brake pressure is detected after the AVH system is pre-activated, obtaining a current brake pressure slope of the vehicle;

[0043] S106: Obtaining the road slope of the vehicle;

[0044] S107: Determining a brake pressure activation threshold according to the road slope;

[0045] S108: Determining a brake pressure slope activation threshold based on the current brake pressure and road slope after the automatic parking system is pre-activated;

[0046] S109: If the initial brake pressure reaches the brake pressure activation threshold, the current brake pressure slope reaches the brake pressure slope activation threshold, and the braking duration after reaching the brake pressure slope activation threshold reaches the brake duration activation threshold, then control the AVH system to activate;

[0047] S110: When the automatic parking mode of the vehicle is the second automatic parking mode, if the vehicle status information meets a preset condition, controlling the AVH system to activate;

[0048] S111: Obtaining the wheel status of the vehicle;

[0049] S112: If the wheels of the vehicle are in a rolling state or in a potential rolling state, requesting to increase the current brake pressure of the vehicle;

[0050] S113: If the trailer mode of the vehicle is on, controlling the current brake pressure of the vehicle to increase;

[0051] S114: When the AVH system requests the vehicle's EPB system to take over and the EPB system fails, the vehicle's hydraulic brake system is controlled to immediately release pressure and issue a warning;

[0052] S115: Acquire status information of the vehicle's brake pedal or accelerator pedal;

[0053] S116: If the brake pedal is depressed, the AVH system is controlled to exit; or if the accelerator pedal is depressed and the amplitude of the accelerator pedal being depressed exceeds a preset amplitude, the AVH system is controlled to exit.

[0054] First, in step S101, vehicle status information is obtained when the vehicle is braked. Those skilled in the art will appreciate that the specific type of vehicle status information is not limiting. For example, the vehicle status information may include information about the vehicle's dynamic or static state, the vehicle's braking state, or a combination of multiple status information. These are not limiting and can be determined by those skilled in the art based on actual circumstances.

[0055] Next, in steps S102 and S103, a determination is made as to whether the vehicle's status information satisfies a preset condition. If the vehicle's automatic parking mode is the first automatic parking mode, and the vehicle's status information satisfies the preset condition, the VCU system controls the AVH system to pre-activate. It should be noted that the specific content of the preset condition is not restrictive and can be set by those skilled in the art based on user usage habits or vehicle driving conditions. This is not restrictive; as long as the automatic parking mode is the first automatic parking mode and the vehicle's status information satisfies the preset condition, the AVH system is controlled to pre-activate.

[0056] As an optional implementation, in this specific embodiment, the vehicle's status information includes the vehicle's dynamic and static status, the status of the AVH system, the status of the EPB system, the vehicle's gear status, the status of the vehicle's brakes and brake pedal, and the status of whether the driver is in place. In addition, in the case where the vehicle has an unmanned driving function, the vehicle's status information also includes the activation status of the vehicle's unmanned driving function. Step S102 specifically includes: determining whether the vehicle's dynamic and static status satisfies the requirement that the vehicle is in a stationary state; determining whether the AVH system functions normally; determining whether the EPB system is in a released state; determining whether the vehicle's gear is in forward gear or reverse gear; determining whether the vehicle's brakes are normal and whether the vehicle's brake pedal is depressed; and determining whether the driver is in place. In the case where the vehicle has an unmanned driving function, step S102 also includes: determining whether the vehicle has the unmanned driving function activated.

[0057] Furthermore, when the vehicle's status information meets preset conditions, the vehicle's autonomous driving function is off, the vehicle is stationary and not coasting, the AVH system is functioning normally, the EPB system is released, the vehicle is in forward or reverse gear, the vehicle's brakes are functioning normally and the brake pedal is depressed, and the driver is present. The driver present status means that the driver's door is closed and the driver's seat belt is fastened, or the driver's door is closed and the driver's seat is occupied.

[0058] It should be noted that the vehicle door can be a traditional mechanical door or an electric suction door. In this preferred embodiment, the vehicle door is an electric suction door, that is, whether the door is closed is determined by obtaining the status of the electric suction door.

[0059] The aforementioned method for determining the status of a vehicle's electric door suction system offers a higher level of signal reliability than mechanical door signals, further ensuring safety. Specifically, compared to a vehicle's mechanical doors, the present invention's method of determining whether a door is closed based on the electric door suction system prevents misjudgment and accurately conveys the actual state of the door opening or closing. Consequently, the present invention's automatic parking control method can be executed more accurately, avoiding both the problem of the vehicle rolling away due to the AVH system not being activated due to a misjudgment that the driver is in position, and the problem of the vehicle being unable to activate the AVH system due to a misjudgment that the driver is not in position, which results in the vehicle being unable to automatically park. This effectively avoids traffic accidents and effectively increases the level of protection for vehicle occupants.

[0060] Furthermore, in steps S104 and S105, the initial brake pressure of the vehicle when the AVH system is pre-activated is obtained. Then, after the AVH is pre-activated, if the brake pressure is detected again, the current brake pressure slope of the vehicle is obtained.

[0061] The VCU system then selectively controls AVH system activation based on the initial brake pressure and the current brake pressure slope.

[0062] As an optional embodiment, first, in step S106, the VCU system obtains the road slope of the road on which the vehicle is located. It should be noted that the present invention does not impose any restrictions on the specific method of obtaining the road slope. The method may be the average slope of the road surface located at multiple locations on the vehicle, or the slope of the road surface located at the center of the vehicle. These are not restrictive and can be determined by those skilled in the art based on actual circumstances.

[0063] Next, in steps S107 and S108, the VCU system determines a brake pressure activation threshold based on the road slope, and determines a brake pressure slope activation threshold based on the road slope and the current brake pressure after the AVH system is pre-activated. It should be noted that the present invention does not impose any restrictions on the specific setting relationship between the road slope and the brake pressure activation threshold, and those skilled in the art can set it according to the driving conditions of the vehicle. Optionally, the brake pressure activation threshold is proportional to the value of the road slope, that is, the greater the road slope value of the road on which the vehicle is located, the greater the setting value of the brake pressure activation threshold. The brake pressure slope activation threshold is inversely proportional to the road slope of the current road and the current brake pressure, that is, correspondingly, the greater the road slope, the greater the brake pressure required by the current vehicle, that is, the greater the current brake pressure, the smaller the brake pressure slope activation threshold is along with the road slope and the current brake pressure. When the vehicle is in an uphill state, a downhill state, and a flat road state, the required braking pressure of the vehicle is different, and the setting values ​​of the brake pressure activation threshold and the brake pressure slope activation threshold are different, to ensure that the vehicle can effectively achieve automatic parking on different road surfaces, thereby improving the user experience.

[0064] It should be noted that the present invention does not impose any restrictions on the specific execution order between steps S104, S105 and steps S106 to S108. They can be executed in sequence or simultaneously. This is not restrictive and can be determined by those skilled in the art.

[0065] Furthermore, in step S109, if the initial brake pressure reaches the brake pressure activation threshold, the current brake pressure slope reaches the brake pressure slope activation threshold, and the braking duration after the current brake pressure slope reaches the brake pressure slope activation threshold reaches the brake duration activation threshold, it indicates that the driver is intentionally performing a deep braking operation to activate the AVH system, and the VCU system controls the AVH system to activate. Setting the braking duration to the brake duration activation threshold allows for further confirmation that the driver is intentionally performing a deep braking operation, thereby avoiding misjudgment and effectively activating the AVH system. Optionally, the brake duration activation threshold is determined based on the current brake pressure and the current brake pressure slope after the AVH system is pre-activated. Specifically, the brake duration activation threshold changes with changes in the current brake pressure and the current brake pressure slope. Specifically, the greater the current brake pressure and the current brake pressure slope, the smaller the brake duration activation threshold. Those skilled in the art may determine the specific proportional relationship between the current brake pressure and the current brake pressure slope and the brake duration activation threshold based on the actual vehicle driving conditions or the driver's driving habits, and the present invention is not limited thereto.

[0066] Further optionally, the automatic parking mode of the vehicle in this embodiment also includes a second automatic parking mode. The two automatic parking modes can be displayed on the vehicle's display screen at the same time for users to choose according to their own driving habits, further improving the user experience.

[0067] In step S110, when the vehicle's automatic parking mode is the second automatic parking mode, if the vehicle's status information meets the preset conditions, that is, when the vehicle has an unmanned driving function, the vehicle's unmanned driving function is in the off state, the vehicle is in a stationary non-coasting state, the AVH system functions normally, the EPB system is in the released state, the vehicle's gear is in the forward gear or reverse gear, the vehicle's brakes are normal and the vehicle's brake pedal is stepped on, and the driver is in the seat; wherein the driver is in the seat means that the vehicle's driver-side door is closed and the driver's side seat belt is fastened or the vehicle's driver-side door is closed and the driver's side seat is occupied, then the VCU system directly controls the AVH system to activate to provide the user with another automatic parking mode to meet the parking needs of different users.

[0068] Furthermore, in steps S111 and S112, when the AVH system has been activated, in order to further ensure that the vehicle can be in a stationary non-skid state, the VCU system obtains the vehicle's wheel status through the vehicle's monitoring module, so as to determine whether the current vehicle has the possibility of skidding based on the wheel status; if the vehicle's wheels are in a rolling state or a potential rolling state, wherein the vehicle is in a rolling state means that the wheels are rolling or sliding, and the potential rolling state can be understood as a state where the friction between the wheels and the ground is between the friction between the wheels and the ground when they are stationary and the friction between the wheels and the ground when they are just rolling or sliding. The above situations all indicate that the vehicle may roll or move, then the VCU system requests to increase the vehicle's current braking pressure to ensure that the vehicle can be stationary, achieve effective parking of the vehicle, and meet user needs.

[0069] Optionally, in step S113, if the vehicle has a trailer mode and when the trailer mode of the vehicle is turned on, the VCU system controls the current brake pressure of the vehicle to actively increase to further improve the safety of the vehicle when it is in a parking state.

[0070] It should be noted that in step S112 and step S113, the present invention does not impose any restrictions on the specific increase in the current brake pressure. Those skilled in the art can set it according to actual conditions, as long as the vehicle can maintain a stationary state. Optionally, if the vehicle's wheels are in a rolling state or in a potential rolling state, the current brake pressure can continue to increase until it reaches the vehicle's maximum brake pressure; when the vehicle's trailer mode is turned on, the VCU system can determine the increase in the current brake pressure based on the road gradient of the vehicle, or based on the weight of the trailer, or based on both the road gradient and the weight of the trailer; that is, the increase in the current brake pressure varies on different slopes or when the trailer weight is different. As long as the vehicle maintains a stationary state, the present invention does not impose any restrictions on this.

[0071] In addition, in step S114, when the AVH system has been activated and requests the vehicle's EPB system to take over, but the EPB system fails, the VCU system controls the vehicle's brake pressure system to immediately release pressure and issue a warning to remind the driver to take over the vehicle's parking work; it can be understood that by immediately releasing pressure and issuing a warning, accidental rolling accidents caused by the driver's failure to discover in time that the vehicle is not parked can be avoided, traffic accidents of the vehicle can be avoided, the safety of the people in the vehicle can be effectively guaranteed, and the user experience can be further effectively improved.

[0072] Furthermore, in step S115, when the AVH system is activated, the status information of the vehicle's brake pedal or the status information of the accelerator pedal is obtained to determine whether the driver wants to release the AVH system. Specifically, in step S116, if the brake pedal is depressed, the VCU system controls the AVH system to exit; in another optional embodiment, if the accelerator pedal is depressed and the amplitude of the accelerator pedal being depressed exceeds a preset amplitude, the VCU system can also control the AVH system to exit. It can be understood by those skilled in the art that the vehicle can have only any one of the above-mentioned exit methods, or can have both of the above-mentioned AVH system exit methods. As long as any of the above-mentioned exit methods is met, the VCU system controls the AVH system to exit. Of course, this setting method is not restrictive and can be set by those skilled in the art.

[0073] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0074] The relevant user personal information that may be involved in the various embodiments of this application is strictly in accordance with the requirements of laws and regulations, following the principles of legality, legitimacy and necessity, and based on the reasonable purposes of business scenarios, to process the personal information that users actively provide during the use of products / services or generated due to the use of products / services, as well as the personal information obtained with the user's authorization.

[0075] The personal information processed by the Applicant will vary depending on the specific product / service scenario and will be based on the specific scenario in which the user uses the product / service. This may involve the user's account information, device information, driving information, vehicle information, or other related information. The Applicant will treat the user's personal information and its processing with a high degree of diligence.

[0076] The Applicant attaches great importance to the security of user personal information and has taken reasonable and feasible security measures that comply with industry standards to protect user information and prevent personal information from being accessed, disclosed, used, modified, damaged or lost without authorization.

Claims

1. A method for controlling automatic parking of a vehicle, characterized in that: The vehicle includes an automatic parking system, and the automatic parking control method includes: When the vehicle is braked, obtaining status information of the vehicle; Determining whether the vehicle status information meets a preset condition; In a case where the automatic parking mode of the vehicle is the first automatic parking mode, if the state information of the vehicle meets the preset condition, controlling the automatic parking system to be pre-activated; obtaining an initial brake pressure of the vehicle when the automatic parking system is pre-activated; When brake pressure is detected after the automatic parking system is pre-activated, obtaining a current brake pressure slope of the vehicle; The automatic parking system is controlled to be activated according to the initial brake pressure and the current brake pressure slope.

2. The automatic parking control method according to claim 1, characterized in that: The step of “controlling activation of the automatic parking system according to the initial brake pressure and the current brake pressure slope” includes: If the initial brake pressure reaches the brake pressure activation threshold and the current brake pressure slope reaches the brake pressure slope activation threshold, further obtaining a braking duration after the current brake pressure slope reaches the brake pressure slope activation threshold; If the braking duration reaches a braking duration activation threshold, the automatic parking system is controlled to be activated.

3. The automatic parking control method according to claim 2, characterized in that: The brake pressure activation threshold is determined as follows: Obtaining the road slope of the road on which the vehicle is located; determining the brake pressure activation threshold according to the road gradient; and / or The brake pressure slope activation threshold is determined as follows: The brake pressure slope activation threshold is determined according to the current brake pressure after the automatic parking system is pre-activated and the road gradient.

4. The automatic parking control method according to claim 2, characterized in that: The braking duration activation threshold is determined as follows: The braking duration activation threshold is determined according to the current brake pressure after pre-activation of the automatic parking system and the current brake pressure slope.

5. The automatic parking control method according to claim 1, characterized in that: The automatic parking control method further includes: In a case where the automatic parking mode of the vehicle is the second automatic parking mode, if the state information of the vehicle meets the preset condition, the automatic parking system is controlled to be activated.

6. The automatic parking control method according to any one of claims 1 to 5, characterized in that: The step of "determining whether the vehicle status information meets the preset conditions" specifically includes: Determining whether the dynamic and static states of the vehicle satisfy the requirement that the vehicle is in a stationary state; determining whether the automatic parking system functions normally; determining whether an electronic parking brake system of the vehicle is in a released state; Determining whether the gear position of the vehicle is in forward gear or reverse gear; determining whether the brakes of the vehicle are normal and whether the brake pedal of the vehicle is depressed; Determine whether the driver is in place.

7. The automatic parking control method according to claim 6, characterized in that: When the driver is in position, The driver's side door of the vehicle is closed and the driver's side seat belt is fastened; or The driver's door of the vehicle is closed and the driver's seat is occupied.

8. The automatic parking control method according to claim 1 or 5, characterized in that: When the automatic parking system is in an activated state, the control method further includes: Obtaining the wheel status of the vehicle; If the wheels of the vehicle are in a rolling state or in a potential rolling state, requesting an increase in the current brake pressure of the vehicle; If the trailer mode of the vehicle is on, the current brake pressure of the vehicle is controlled to increase.

9. The automatic parking control method according to claim 1 or 5, characterized in that: The control method further includes: In the case where the automatic parking system requests the electronic parking brake system of the vehicle to take over and the electronic parking brake system fails, the hydraulic brake system of the vehicle is controlled to release pressure immediately and issue a warning.

10. The automatic parking control method according to claim 1 or 5, characterized in that: When the automatic parking system is in an activated state, the control method further includes: Acquiring status information of a brake pedal or an accelerator pedal of the vehicle; If the brake pedal is depressed, controlling the automatic parking system to exit; or If the accelerator pedal is depressed and the depression amplitude of the accelerator pedal exceeds a preset amplitude, the automatic parking system is controlled to exit.

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