Vehicle control method and vehicle

Abstract

The application discloses a vehicle control method and a vehicle. The method comprises the following steps: determining whether an interface of a vehicle control unit of the vehicle is available based on a first preset condition; determining whether an interface of an electronic stability control system of the vehicle is available based on a second preset condition; in response to the interface of the vehicle control unit being available and the interface of the electronic stability control system being available, sending an automatic parking function enable to the vehicle control unit and the electronic stability control system based on a third preset condition; and controlling the vehicle based on the automatic parking function enable. The application solves the technical problem of low efficiency of vehicle automatic parking in the related art.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically, to a vehicle control method and a vehicle. Background Technology

[0002] Currently, automatic parking is widely used in vehicles. Automatic parking involves many systems. The current related technologies mainly prevent the vehicle from suddenly accelerating out of the parking space or damaging the P gear lock due to the traditional strategies of the Electric Parking Brake (EPB) and Vehicle Control Unit (VCU) by setting a time limit for the electronic parking brake to prevent the vehicle from responding to the driver's throttle torque output during the clamping time. However, the efficiency of using this method to control the vehicle for automatic parking is relatively low.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a vehicle control method and a vehicle to at least solve the technical problem of low efficiency in automatic parking of vehicles in related technologies.

[0005] According to one aspect of the present invention, a vehicle control method is provided, comprising: determining whether the interface of a vehicle control unit of a vehicle is available based on a first preset condition; determining whether the interface of an electronic stability control system of a vehicle is available based on a second preset condition; responding to the availability of both the interface of the vehicle control unit and the interface of the electronic stability control system, sending an automatic parking function enable message to the vehicle control unit and the electronic stability control system based on a third preset condition; and controlling the vehicle based on the automatic parking function enable message.

[0006] Optionally, based on a first preset condition, determining whether the interface of the vehicle control unit is available includes: acquiring first preset parameters, wherein the first preset parameters include at least: vehicle status, battery status, high-voltage system status, parking system status, communication system status, pedal status, communication status, and gateway status; in response to the vehicle status being in a ready state and all other first preset parameters being in a normal state, confirming that the interface of the vehicle control unit is available; in response to the vehicle status not being in a ready state, or all other first preset parameters being in an abnormal state, confirming that the interface of the vehicle control unit is unavailable.

[0007] Optionally, based on a second preset condition, determining whether the interface of the vehicle's electronic stability control system is available includes: obtaining a second preset parameter, wherein the second preset parameter includes at least: the electronic stability control system status, the communication status, and the charging management system status; in response to the second preset parameter being in a normal state, confirming that the interface of the electronic stability control system is available; in response to the second preset parameter being in an abnormal state, confirming that the interface of the electronic stability control system is unavailable.

[0008] Optionally, based on a third preset condition, an automatic parking function enable signal is sent to the vehicle control unit and the electronic stability control system, including: acquiring third preset parameters, wherein the third preset parameters include at least: the target user's automatic parking intention and the vehicle's driving state; in response to the target user having an automatic parking intention and the vehicle's driving state being normal, sending the automatic parking function enable signal to the vehicle control unit and the electronic stability control system as "on"; in response to the target user not having an automatic parking intention and the vehicle's driving state being abnormal, sending the automatic parking function enable signal to the vehicle control unit and the electronic stability control system as "off".

[0009] Optionally, based on the automatic parking function being enabled, the vehicle is controlled, including: in response to the automatic parking function being enabled (on), controlling the electronic stability control system to perform a first preset operation and controlling the vehicle control unit to perform a second preset operation, wherein the first preset operation and the second preset operation are used to control the vehicle to perform automatic parking; in response to the automatic parking function being enabled (off), controlling the electronic stability control system to perform a third preset operation and controlling the vehicle control unit to perform a fourth preset operation, wherein the third preset operation and the fourth preset operation are used to control the vehicle to stop automatic parking.

[0010] Optionally, the electronic stability control system is controlled to perform a first preset operation, including: in response to vehicle deceleration, the electronic stability control system sends a preset torque request and a preset torque request flag to the vehicle control unit; and based on the current state of the vehicle, the electronic stability control system sends a gear request to the vehicle control unit.

[0011] Optionally, the vehicle control unit is controlled to perform a second preset operation, including: controlling the vehicle control unit to block the target user's driving operation; controlling the vehicle control unit to respond to preset torque requests, preset torque requests and gear requests; and controlling the vehicle control unit to add signal transmission methods for preset torque requests and gear requests.

[0012] Optionally, the electronic stability control system is controlled to perform a third preset operation, including: controlling the electronic stability control system to exit the automatic parking function enable state; and controlling the electronic stability control system to clear the preset torque request and the preset torque request flag.

[0013] Optionally, the vehicle control unit is controlled to perform a fourth preset operation, including: controlling the vehicle control unit to stop blocking the target user's driving operation; controlling the vehicle control unit to stop responding to preset torque requests, preset torque requests and gear requests; and controlling the vehicle control unit to maintain the vehicle's current gear.

[0014] According to another aspect of the present invention, a non-volatile storage medium is also provided, characterized in that the non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the execution of any of the above-mentioned vehicle control methods in the processor of the device.

[0015] According to another aspect of the present invention, a vehicle is also provided, characterized in that it includes: one or more processors; a storage device for storing one or more programs; and when the one or more programs are executed by the one or more processors, causing the one or more processors to perform the vehicle control method of any one of the above.

[0016] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the above-described vehicle control method when it runs.

[0017] In this embodiment of the invention, based on a first preset condition, it is determined whether the interface of the vehicle control unit is available; based on a second preset condition, it is determined whether the interface of the vehicle's electronic stability control system is available. In response to both the vehicle control unit interface and the electronic stability control system interface being available, based on a third preset condition, an automatic parking function enable signal is sent to both the vehicle control unit and the electronic stability control system. Based on this automatic parking function enable, the vehicle is controlled. Through this method, when it is confirmed that the interfaces of both the vehicle control unit and the electronic stability control system are available, an automatic parking function enable signal is sent to both, and then the vehicle is controlled based on this enable. This achieves the goal of controlling the vehicle to automatically park when the vehicle's state meets the conditions for automatic parking, improving the safety of the automatic parking process, and thus achieving the technical effect of improving the efficiency of automatic parking. This solves the technical problem of low efficiency in automatic parking in related technologies. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 This is a schematic diagram of a multi-system network architecture for an automatic parking function based on existing technology;

[0020] Figure 2 This is a schematic diagram of an automatic parking signal interaction based on existing technology;

[0021] Figure 3 This is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] Figure 1 This is a schematic diagram of a multi-system network architecture for an automatic parking function based on existing technology, such as... Figure 1 As shown, the request signals from the gear shift lever, accelerator pedal, and brake pedal pass through the VCU, then through the backup Controller Area Network (CAN) and CAN1 to reach the gateway. Simultaneously, CAN1 connects to the intelligent parking system (Epark). The gateway connects to the Highly Automated Driving (HAD) system via the main CAN and secondary CAN, and is also connected to the Electronic Stability Control (ESC) system via other main CAN and secondary CAN. The ESC is connected to the EPB, thus forming a multi-system network architecture for the automatic parking function.

[0026] Figure 2 This is a schematic diagram of an automatic parking signal interaction based on existing technology, such as... Figure 2 As shown, within the same time period, the signals issued by the automatic parking function are arranged in descending order of magnitude: parking function enable issued by HAD, speed or distance request issued by HAD, torque request flag issued by ESC, torque request value issued by ESC, and torque request responded by VCU. Furthermore, when the automatic parking function is enabled, all of the above signals are greater than the signals when the automatic parking function is enabled.

[0027] Example 1

[0028] According to an embodiment of the present invention, a vehicle control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] The method embodiments provided in this invention can be executed in a mobile terminal, computer terminal, or similar electronic device that includes a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device for communication functions and a display device. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the electronic device. The electronic device may also include more or fewer components than those described above, or have a different configuration than those described above.

[0030] A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), or an artificial intelligence (AI) processor. Different processing units may be independent components or integrated into one or more processors. In some instances, electronic devices may also include one or more processors.

[0031] The memory can be used to store computer programs, such as the computer program corresponding to the vehicle touchscreen testing method in this embodiment of the invention. The processor implements the vehicle touchscreen testing method by running the computer program stored in the memory. The memory may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0032] Communication devices are used to receive or send data via a network. Specific examples of such networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the communication device includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the communication device may be a radio frequency (RF) module used for wireless communication with the Internet.

[0033] The display device can be, for example, a touchscreen liquid crystal display (LCD) and a touch display (also referred to as a "touchscreen" or "touch screen"). This LCD allows the user to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows the user to interact with the GUI by touching and / or gesturing on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, a call interface, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0034] Figure 3 This is a flowchart of a vehicle control method according to an embodiment of the present invention, such as... Figure 3 As shown, the method includes the following steps:

[0035] Step S302: Based on the first preset condition, determine whether the interface of the vehicle control unit of the vehicle is available.

[0036] The first preset condition can be understood as a pre-set condition used to determine whether the interface of the vehicle control unit is available. It may include, but is not limited to, multiple state parameters of the vehicle, such as vehicle state, battery state, high voltage system state, parking system state, communication system state, pedal state, communication state, and gateway state. The vehicle control unit can be understood as an electronic device used to control and manage various systems of a car. It is usually installed in the car body and communicates with various sensors, controllers, batteries, and other devices through an interface.

[0037] Understandably, the vehicle control unit's interface has a significant impact on the automatic parking function. For example, the interface allows for setting parking parameters such as parking temperature and angle, which greatly influence parking success and therefore require strict configuration and adjustment. The interface also enables real-time adjustment and monitoring of controls during the parking process, such as monitoring and adjusting the braking system's response to ensure safety and stability. Furthermore, the interface can guide and control subsequent operations after parking, such as automatically resuming charging. Therefore, before activating the automatic parking function, it's essential to determine if the vehicle's control unit interface is available.

[0038] Step S304: Based on the second preset condition, determine whether the interface of the vehicle's electronic stability control system is available.

[0039] The second preset condition can be understood as a pre-set condition used to determine whether the interface of the vehicle's electronic stability control system is available. It may include, but is not limited to, the electronic stability control system status, communication status, charging management system status, etc. The electronic stability control system can be understood as a vehicle power control technology. Its main function is to maintain the stable movement and safety of the vehicle. The ESC system can detect the vehicle's motion status, such as vehicle rotation, acceleration, body folding, etc.

[0040] Understandably, the interface of the Electronic Stability Control (ESC) system has a significant impact on the automatic parking function. For example, the ESC system can monitor parameters such as vehicle speed, acceleration, rotation, and deviation in real time. If it detects a sudden or rolling situation, it can issue an emergency warning in advance, reminding the driver to stop and reducing the acceleration of the emergency system to minimize the emergency time. In addition, the ESC system can also monitor the distance and speed of the vehicle in the forward and backward directions. If it detects obstacles in front or behind, it can issue an emergency warning in advance, reminding the driver to stop and minimizing the emergency time.

[0041] In step S306, in response to the availability of the interface of the vehicle control unit and the interface of the electronic stability control system, an automatic parking function enable is sent to the vehicle control unit and the electronic stability control system based on a third preset condition.

[0042] The third preset condition can be understood as a pre-set condition for determining whether the automatic parking function is enabled or disabled, including but not limited to the user's intention to park automatically, the vehicle's driving status, etc. The automatic parking function enable can be understood as a signal that controls the automatic parking function, including but not limited to turning it on or off.

[0043] Understandably, since the interface between the vehicle control unit and the electronic stability control system has a significant impact on the automatic parking function, and the failure of even one interface may lead to the failure of the automatic parking function control, it is necessary to send the automatic parking function enable signal when both the interface between the vehicle control unit and the electronic stability control system are available.

[0044] It should be noted that the user's intention to park automatically and the vehicle's driving status will affect whether automatic parking is enabled. When the user intends to park automatically and the vehicle's driving status meets the requirements, automatic parking can be enabled. When the user does not intend to park automatically or the vehicle's driving status does not meet the requirements, automatic parking can be disabled.

[0045] In one alternative embodiment, automatic parking function enable can be sent to the vehicle control unit and electronic stability control system via HAD.

[0046] Step S308: Control the vehicle based on the enabled automatic parking function.

[0047] Understandably, the above steps can be used to determine whether the automatic parking function is enabled or disabled corresponding to the vehicle's current state. If the automatic parking function is enabled, the vehicle can be controlled to park automatically; if the automatic parking function is disabled, the vehicle can continue driving in its current state.

[0048] Through the above steps, based on the first preset condition, it is determined whether the vehicle control unit interface is available; based on the second preset condition, it is determined whether the vehicle's electronic stability control system interface is available. Responding to the availability of both the vehicle control unit and electronic stability control system interfaces, based on the third preset condition, an automatic parking function enable signal is sent to both the vehicle control unit and the electronic stability control system. Based on this automatic parking function enable, the vehicle is controlled. By using this method, when it is confirmed that both the vehicle control unit and the electronic stability control system interfaces are available, an automatic parking function enable signal is sent to both, and then the vehicle is controlled based on this enable. This achieves the goal of controlling the vehicle to automatically park when the vehicle's state meets the conditions for automatic parking, improving the safety of the automatic parking process, and thus improving the efficiency of automatic parking. This solves the technical problem of low efficiency in related technologies for automatic parking.

[0049] Optionally, based on a first preset condition, determining whether the interface of the vehicle control unit is available includes: acquiring first preset parameters, wherein the first preset parameters include at least: vehicle status, battery status, high-voltage system status, parking system status, communication system status, pedal status, communication status, and gateway status; in response to the vehicle status being in a ready state and all other first preset parameters being in a normal state, confirming that the interface of the vehicle control unit is available; in response to the vehicle status not being in a ready state, or all other first preset parameters being in an abnormal state, confirming that the interface of the vehicle control unit is unavailable.

[0050] Among them, the first preset parameter can be understood as a pre-set parameter used to determine whether the vehicle control unit interface is available. The vehicle status can be used to characterize whether the vehicle is started, including but not limited to the ready state, not ready state, fault state, etc. The battery status can be used to characterize whether the battery is faulty. The high voltage system status can be used to characterize whether the high voltage system is faulty. The parking system status can be used to characterize whether the parking system is faulty. The communication system status can be used to characterize whether the communication system is faulty. The pedal status can be used to characterize whether the accelerator pedal, brake pedal, etc. are parsing faulty. The communication status can be used to characterize whether the HAD, ESC, and electric vehicle charging management system (IBoost) related messages are communication abnormal. The gateway status can be used to characterize whether the gateway is abnormal. The ready state can be understood as the vehicle has been started and is ready to start at any time.

[0051] It is important to note that communication anomalies that HAD, ESC, and IBoost may encounter include, but are not limited to, message timeouts, checksum failures, and Livecounter program malfunctions. Checksum failures can be understood as errors occurring during the transmission or storage of data in the computer system, resulting in a checksum that does not match the expected value. This type of failure typically leads to data corruption, loss, or inability to be identified. Livecounter failures can be understood as abnormal conditions occurring in the online counter program, such as the inability to display statistics like visitor counts or page view counts. This may be caused by network latency, excessive server load, or defects in the program itself.

[0052] Specifically, the above steps can be understood as follows: the vehicle control unit interface is marked as available when the following conditions are met, and the interface is unavailable if any condition is not met: the vehicle is in a ready state, the motor or battery has no serious faults, the high voltage system has no serious faults, Epark communication is fault-free and the assembly is fault-free, the Enhanced Global System for Mobile Communications (EGSM) communication is fault-free and the assembly is fault-free, the accelerator pedal parsing is fault-free, the brake pedal parsing is fault-free, there are no communication anomalies (message timeout, Checksum failure, Livecounter failure) in HAD or ESC or IBoost related messages, and the gateway is fault-free, etc.

[0053] In one alternative embodiment, the first preset parameter can be obtained by calculating the availability signal of the automatic parking VCU interface through the VCU, thereby determining whether the interface of the vehicle control unit is available.

[0054] Optionally, based on a second preset condition, determining whether the interface of the vehicle's electronic stability control system is available includes: obtaining a second preset parameter, wherein the second preset parameter includes at least: the electronic stability control system status, the communication status, and the charging management system status; in response to the second preset parameter being in a normal state, confirming that the interface of the electronic stability control system is available; in response to the second preset parameter being in an abnormal state, confirming that the interface of the electronic stability control system is unavailable.

[0055] The second preset parameter can be understood as a pre-set parameter used to determine whether the interface of the vehicle's electronic stability control system is available. The electronic stability control system status can be used to characterize whether the system has a serious fault that affects the vehicle's braking, and the charging management system status can be used to characterize whether the IBoost system has a serious fault.

[0056] Specifically, the above steps can be understood as follows: when the following conditions are met, the electronic stability control system interface is marked as available; when any condition is not met, the interface is unavailable: the ESC system has no serious faults affecting braking, there are no communication anomalies (message timeout, Checksum fault, Livecounter fault) in HAD, VCU, or IBoost related messages, and the IBoost system has no serious faults, etc.

[0057] In one alternative embodiment, a second preset parameter can be obtained by calculating the availability signal of the automatic parking ESC interface through ESC, thereby determining whether the interface of the vehicle's electronic stability control system is available.

[0058] Optionally, based on a third preset condition, an automatic parking function enable signal is sent to the vehicle control unit and the electronic stability control system, including: acquiring third preset parameters, wherein the third preset parameters include at least: the target user's automatic parking intention and the vehicle's driving state; in response to the target user having an automatic parking intention and the vehicle's driving state being normal, sending the automatic parking function enable signal to the vehicle control unit and the electronic stability control system as "on"; in response to the target user not having an automatic parking intention and the vehicle's driving state being abnormal, sending the automatic parking function enable signal to the vehicle control unit and the electronic stability control system as "off".

[0059] Among them, the third preset parameter can be understood as a pre-set parameter used to determine whether the automatic parking function is enabled. The target user can be understood as the driver of the vehicle. The automatic parking intention can be used to represent whether the target user wants to perform automatic parking. The vehicle's driving state can be understood as the state of the vehicle during the driving process, which may include, but is not limited to, vehicle speed, gear, seat belt status, etc.

[0060] Specifically, the above steps can be understood as follows: when the automatic parking VCU interface available signal and the automatic parking ESC interface available signal are available, and the HAD determines that the driver has the intention to park automatically, and the vehicle's driving status (such as vehicle speed, gear, seat belt status, etc.) meets the requirements, the automatic parking function enable signal is sent to the VCU and ESC.

[0061] In one alternative embodiment, when the vehicle speed is 0, the gear is P, and the seat belt is fastened, the driving status of the vehicle can be considered to meet the requirements, and the automatic parking function can be activated.

[0062] In another alternative embodiment, HAD can be used to determine the target user's intention to park automatically and the vehicle's driving status.

[0063] Optionally, based on the automatic parking function being enabled, the vehicle is controlled, including: in response to the automatic parking function being enabled (on), controlling the electronic stability control system to perform a first preset operation and controlling the vehicle control unit to perform a second preset operation, wherein the first preset operation and the second preset operation are used to control the vehicle to perform automatic parking; in response to the automatic parking function being enabled (off), controlling the electronic stability control system to perform a third preset operation and controlling the vehicle control unit to perform a fourth preset operation, wherein the third preset operation and the fourth preset operation are used to control the vehicle to stop automatic parking.

[0064] The first preset operation can be understood as a pre-set operation in which the electronic stability control system controls the vehicle to perform automatic parking; the second preset operation can be understood as a pre-set operation in which the vehicle control unit controls the vehicle to perform automatic parking; the third preset operation can be understood as a pre-set operation in which the electronic stability control system controls the vehicle to stop automatic parking; and the fourth preset operation can be understood as a pre-set operation in which the vehicle control unit controls the vehicle to stop automatic parking.

[0065] Understandably, when the automatic parking function is enabled, the electronic stability control system and vehicle control unit need to perform corresponding operations to control the vehicle to park automatically. When the automatic parking function is disabled, the electronic stability control system and vehicle control unit need to perform corresponding operations to control the vehicle to stop parking automatically.

[0066] In one optional embodiment, the HAD can control the electronic stability control system to perform a first preset operation and a third preset operation, and control the vehicle control unit to perform a second preset operation and a fourth preset operation.

[0067] Optionally, the electronic stability control system is controlled to perform a first preset operation, including: in response to vehicle deceleration, the electronic stability control system sends a preset torque request and a preset torque request flag to the vehicle control unit; and based on the current state of the vehicle, the electronic stability control system sends a gear request to the vehicle control unit.

[0068] Among them, the preset torque request can be understood as the torque required for the vehicle to perform automatic parking in advance. The preset torque request flag can be understood as generating obvious spectral characteristics by distorting the signal so that the signal has a large amplitude at a specific frequency, so as to facilitate subsequent signal processing or analysis. It can be used to measure the transmission quality of the signal. The current state of the vehicle can be understood as the current driving state of the vehicle. The gear request can be understood as the gear required for the vehicle to perform automatic parking.

[0069] Specifically, the above steps can be understood as follows: When the ESC receives the HAD's automatic parking function enabled, it begins to convert the received speed and distance requests from the HAD into torque requests. The ESC sends the torque request and torque request flag position to the VCU. When deceleration control is in effect, the ESC uses hydraulic braking to achieve control, sending a torque request of 0 and a torque request flag of 0 to the VCU. Based on the gear request sent by the HAD, the ESC comprehensively judges the current state of the vehicle and sends a gear request to the VCU. After completing the parking function and braking the vehicle to a stop, the HAD sends a P gear request to the ESC, which forwards it to the VCU and simultaneously engages the dual electronic parking brakes (Electronic Parking Brake, abbreviated as EPB).

[0070] It is important to note that when HAD calculates gear requests, it needs to refer to the vehicle's gear shifting rules to avoid shifting shocks during ESC and VCU responses. Furthermore, the speed and distance requests issued by HAD must be smooth without any step shocks to prevent the ESC from calculating torque requests unevenly. The delay time between the ESC receiving the speed and distance requests from HAD and converting them into a torque request flag and issuing the torque request must not exceed 50ms.

[0071] Optionally, the vehicle control unit is controlled to perform a second preset operation, including: controlling the vehicle control unit to block the target user's driving operation; controlling the vehicle control unit to respond to preset torque requests, preset torque requests and gear requests; and controlling the vehicle control unit to add signal transmission methods for preset torque requests and gear requests.

[0072] Among them, driving operation can be understood as the operation performed by the target user on the vehicle, which may include, but is not limited to, the target user's torque request to the accelerator pedal, gear shifting command, etc., and signal transmission method can be understood as the way to transmit torque request flag, torque request value and gear request signal.

[0073] Specifically, the above steps can be understood as follows: After the VCU receives the HAD's automatic parking function enable as activated, it blocks the torque request from the driver's accelerator pedal, blocks electric creep torque, blocks coasting energy recovery torque, and blocks the shift command caused by the driver's operation of the shift lever. The VCU responds to the torque request flag, torque request value, and gear request signal sent by the ESC. When the ESC has no gear request, the VCU maintains the current gear state. When the ESC torque request flag is 0, the VCU does not respond to the ESC torque request, increasing the redundancy of the ESC gear and torque request signals. To avoid communication failure of one CAN signal of the ESC, a secondary CAN transmission mode is required, that is, the torque request flag, torque request value, and gear request signal are transmitted through both primary and secondary CAN channels. The VCU does not need to verify the two CAN signals, and the primary CAN has a higher acceptance priority than the secondary CAN.

[0074] It should be noted that the VCU needs to respond to torque requests from the ESC within 50ms, and the deviation cannot exceed 5%.

[0075] Optionally, the electronic stability control system is controlled to perform a third preset operation, including: controlling the electronic stability control system to exit the automatic parking function enable state; and controlling the electronic stability control system to clear the torque request and torque request flag.

[0076] The automatic parking function enable status can be understood as a status indicating whether or not the automatic parking function needs to be activated.

[0077] Specifically, the above steps can be understood as follows: when HAD sets the function enable signal to off, ESC exits the automatic parking enable state, clears the torque request value and the torque request flag to zero.

[0078] Optionally, the vehicle control unit is controlled to perform a fourth preset operation, including: controlling the vehicle control unit to stop blocking the target user's driving operation; controlling the vehicle control unit to stop responding to preset torque requests, preset torque requests and gear requests; and controlling the vehicle control unit to maintain the vehicle's current gear.

[0079] Specifically, the above steps can be understood as follows: when HAD sets the function enable signal to off, VCU no longer responds to ESC's gear shifting command and torque command, maintains the gear it was in when the function was deactivated, and no longer blocks the driver's shifting command and throttle command.

[0080] In one alternative embodiment, several situations in which the HAD (Automatic Parking Assist) deactivates the automatic parking function due to non-fault reasons, i.e., the automatic parking function enable signal is turned off, include but are not limited to: the function is deactivated after completion, in which case the deactivation gear is P or N; the function is deactivated due to driver intervention, such as intervening in the steering wheel, operating the gear shift lever, or pressing the brake pedal, in which case the deactivation gear may be P, R, N, or D.

[0081] It should be noted that the communication latency between HAD and ESC transmitting signals to VCU via the gateway is less than 50ms.

[0082] Example 2

[0083] According to another aspect of the present invention, a vehicle control device is also provided, which can execute the vehicle control method in Embodiment 1 above. The specific implementation scheme and application scenario in this embodiment are the same as those in Embodiment 1 above, and will not be repeated here.

[0084] Figure 4 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention, such as... Figure 4 As shown, the device includes: a first judgment module 402, used to determine whether the interface of the vehicle control unit of the vehicle is available based on a first preset condition; a second judgment module 404, used to determine whether the interface of the electronic stability control system of the vehicle is available based on a second preset condition; a sending module 406, used to send an automatic parking function enable to the vehicle control unit and the electronic stability control system based on a third preset condition in response to the availability of both the interface of the vehicle control unit and the interface of the electronic stability control system; and a control module 408, used to control the vehicle based on the automatic parking function enable.

[0085] The first judgment module 402 includes: a first acquisition unit, used to acquire first preset parameters, wherein the first preset parameters include at least: vehicle status, battery status, high-voltage system status, parking system status, communication system status, pedal status, communication status, and gateway status; a first confirmation unit, used to confirm that the interface of the vehicle control unit is available in response to the vehicle status being in a ready state and all other first preset parameters except the vehicle status being in a normal state; and a second confirmation unit, used to confirm that the interface of the vehicle control unit is unavailable in response to the vehicle status not being in a ready state or all other first preset parameters except the vehicle status being in an abnormal state.

[0086] The second judgment module 404 includes: a second acquisition unit for acquiring a second preset parameter, wherein the second preset parameter includes at least: the electronic stability control system status, the communication status, and the charging management system status; a third confirmation unit for confirming that the interface of the electronic stability control system is available in response to the second preset parameter being in a normal state; and a fourth confirmation unit for confirming that the interface of the electronic stability control system is unavailable in response to the second preset parameter being in an abnormal state.

[0087] The sending module 406 includes: a third acquisition unit for acquiring third preset parameters, wherein the third preset parameters include at least: the target user's automatic parking intention and the vehicle's driving status; a first sending unit for sending an automatic parking function enable signal to the vehicle control unit and the electronic stability control system in response to the target user having an automatic parking intention and the vehicle's driving status being normal; and a second sending unit for sending an automatic parking function enable signal to the vehicle control unit and the electronic stability control system in response to the target user not having an automatic parking intention and the vehicle's driving status being abnormal.

[0088] The control module 408 includes: a first control unit, configured to control the electronic stability control system to perform a first preset operation and control the vehicle control unit to perform a second preset operation in response to the automatic parking function being enabled; wherein the first preset operation and the second preset operation are used to control the vehicle to perform automatic parking; and a second control unit, configured to control the electronic stability control system to perform a third preset operation and control the vehicle control unit to perform a fourth preset operation in response to the automatic parking function being disabled; wherein the third preset operation and the fourth preset operation are used to control the vehicle to stop automatic parking.

[0089] The first control unit includes: a first transmitting subunit, used to control the electronic stability control system to send a preset torque request and a preset torque request flag to the vehicle control unit in response to vehicle deceleration; and a second transmitting subunit, used to control the electronic stability control system to send a gear request to the vehicle control unit based on the current state of the vehicle.

[0090] The first control unit further includes: a first shielding subunit, used to control the vehicle control unit to shield the target user's driving operation; a first response subunit, used to control the vehicle control unit to respond to preset torque requests, preset torque requests and gear requests; and a transmission mode addition subunit, used to control the vehicle control unit to add signal transmission modes for preset torque requests and gear requests.

[0091] The second control unit includes: a status exit subunit, used to control the electronic stability control system to exit the automatic parking function enable state; and a reset subunit, used to control the electronic stability control system to reset the preset torque request and the preset torque request flag to zero.

[0092] The second control unit further includes: a second shielding subunit, used to control the vehicle control unit to stop shielding the target user's driving operations; a second response subunit, used to control the vehicle control unit to stop responding to preset torque requests, preset torque requests, and gear requests; and a gear holding subunit, used to control the vehicle control unit to maintain the vehicle's current gear.

[0093] Example 3

[0094] According to another aspect of the present invention, a non-volatile storage medium is also provided, characterized in that the non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the execution of any of the above-mentioned vehicle control methods in the processor of the device.

[0095] Example 4

[0096] According to another aspect of the present invention, a vehicle is also provided, characterized in that it includes: one or more processors; a storage device for storing one or more programs; and when the one or more programs are executed by the one or more processors, causing the one or more processors to perform the vehicle control method of any one of the above.

[0097] Example 5

[0098] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the above-described vehicle control method when it runs.

[0099] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0100] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0104] 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.

[0105] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0106] In the context of this disclosure, a nonvolatile storage medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A nonvolatile storage medium can be a machine-readable signal medium or a machine-readable storage medium. A nonvolatile storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of nonvolatile 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0107] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. 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).

[0108] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments 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., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0109] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0110] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0111] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that, include: Based on a first preset condition, it is determined whether the interface of the vehicle control unit of the vehicle is available. The first preset condition includes a first preset parameter, which includes at least: vehicle status, battery status, high voltage system status, parking system status, communication system status, pedal status, communication status, and gateway status. Based on the second preset condition, it is determined whether the interface of the vehicle's electronic stability control system is available. The second preset condition includes a second preset parameter, which includes at least the electronic stability control system status, communication status, and charging management system status. In response to the availability of the interface of the vehicle control unit and the interface of the electronic stability control system, an automatic parking function enable is sent to the vehicle control unit and the electronic stability control system based on a third preset condition. The third preset condition includes a third preset parameter, which includes at least the target user's automatic parking intention and the driving status of the vehicle. Based on the automatic parking function being enabled, the vehicle is controlled, wherein the automatic parking function enabling is a signal used to control the automatic parking function; Controlling the vehicle based on the enabled automatic parking function includes: in response to the automatic parking function being enabled (on), controlling the electronic stability control system to perform a first preset operation and controlling the vehicle control unit to perform a second preset operation, wherein the first preset operation and the second preset operation are used to control the vehicle to perform automatic parking; in response to the automatic parking function being disabled (off), controlling the electronic stability control system to perform a third preset operation and controlling the vehicle control unit to perform a fourth preset operation, wherein the third preset operation and the fourth preset operation are used to control the vehicle to stop automatic parking.

2. The vehicle control method according to claim 1, characterized in that, Based on the first preset condition, determine whether the interface of the vehicle control unit is available, including: Obtain the first preset parameter; In response to the vehicle status being in a ready state, and all other first preset parameters other than the vehicle status being in a normal state, the interface of the vehicle control unit is confirmed to be available. In response to the vehicle status not being in a ready state, or the other first preset parameters besides the vehicle status being in an abnormal state, it is confirmed that the interface of the vehicle control unit is unavailable.

3. The vehicle control method according to claim 1, characterized in that, Based on a second preset condition, determine whether the interface of the vehicle's electronic stability control system is available, including: Obtain the second preset parameter; In response to the second preset parameter being in a normal state, the interface of the electronic stability control system is confirmed to be available; In response to the second preset parameter being in an abnormal state, it is confirmed that the interface of the electronic stability control system is unavailable.

4. The vehicle control method according to claim 1, characterized in that, Based on a third preset condition, an automatic parking function enable signal is sent to the vehicle control unit and the electronic stability control system, including: Obtain the third preset parameter; In response to the target user's intention to park automatically and the vehicle's driving status being normal, the automatic parking function enable signal is sent to the vehicle control unit and the electronic stability control system. In response to the fact that the target user does not have the intention to park automatically and the driving state of the vehicle is abnormal, the automatic parking function enable is sent to the vehicle control unit and the electronic stability control system as disabled.

5. The vehicle control method according to claim 1, characterized in that, Controlling the electronic stability control system to perform a first preset operation includes: In response to the vehicle decelerating, the electronic stability control system sends a preset torque request and a preset torque request flag to the vehicle control unit. Based on the current state of the vehicle, the electronic stability control system sends a gear request to the vehicle control unit.

6. The vehicle control method according to claim 1, characterized in that, Controlling the vehicle control unit to perform a second preset operation includes: The vehicle control unit is controlled to disable the target user's driving operations; The vehicle control unit is controlled to respond to preset torque requests, preset torque request flags, and gear requests; The vehicle control unit is controlled to increase the signal transmission method of the preset torque request and the gear request.

7. The vehicle control method according to claim 1, characterized in that, Controlling the electronic stability control system to perform a third preset operation includes: The electronic stability control system is deactivated from the automatic parking function enable state. The electronic stability control system is controlled to clear the preset torque request and the preset torque request flag.

8. The vehicle control method according to claim 1, characterized in that, Controlling the vehicle control unit to perform a fourth preset operation includes: The vehicle control unit is instructed to stop blocking the target user's driving operations. The vehicle control unit is controlled to stop responding to preset torque requests, preset torque request flags, and gear requests; The vehicle control unit is controlled to maintain the current gear of the vehicle.

9. A vehicle, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the vehicle control method according to any one of claims 1 to 8.

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