Vehicle parking brake control method, device, equipment and medium

Abstract

The present invention discloses a vehicle parking brake control method, device, equipment, and medium. The method comprises: using an image acquisition device to capture an image of the road surface on which a target vehicle is currently traveling, and determining the road surface type based on the image; determining road surface adhesion information based on the road surface type; determining parking brake parameters based on the road surface adhesion information, and controlling the parking brake of the target vehicle based on the parking brake parameters. This method utilizes different control parameters for different adhesion road surfaces, fully utilizing the adhesion capabilities of different adhesion road surfaces, improving the vehicle's braking performance, and ensuring safe driving when the vehicle brakes fail.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle parking brake control method, device, equipment and medium. Background Art

[0002] Currently, more and more vehicles are using electronic parking brake (EPB) systems for parking control. The dynamic braking function of EBP can maintain the safe driving of the vehicle when the vehicle's service brake fails.

[0003] In the existing technology, the dynamic braking function usually uses a set of calibration coefficients to enable the vehicle to travel on various adhesion surfaces. However, in order to simultaneously ensure the stability of the vehicle on different adhesion surfaces, the control parameters are often designed based on the stability of the vehicle on low-adhesion surfaces to achieve vehicle control.

[0004] However, when the control parameters designed for low-adhesion roads are applied to high-adhesion roads, although the vehicle stability is guaranteed, the adhesion capacity of the high-adhesion road cannot be effectively utilized, resulting in reduced deceleration and affecting the braking performance of the system. Summary of the Invention

[0005] The present invention provides a vehicle parking brake control method, device, equipment and medium to solve the problem that the adhesion capacity of high-adhesion road surfaces cannot be effectively utilized, resulting in reduced deceleration and decreased braking performance.

[0006] According to one aspect of the present invention, a vehicle parking brake control method is provided. According to the present invention, an image acquisition device is configured on a vehicle, comprising:

[0007] The image acquisition device is used to capture an image of the road surface on which the target vehicle is currently traveling, and the road surface type is determined based on the image of the road surface;

[0008] Determine road adhesion information based on road surface type;

[0009] The parking brake parameters are determined according to the road adhesion information, and the parking brake is controlled on the target vehicle according to the parking brake parameters.

[0010] According to another aspect of the present invention, there is provided a vehicle parking brake control device, comprising:

[0011] An image acquisition and classification module is used to acquire an image of the road surface on which the target vehicle is currently traveling through an image acquisition device, and determine the road surface type based on the road surface image;

[0012] A road adhesion information acquisition module, used to determine road adhesion information according to road type;

[0013] The parking brake control module is used to determine parking brake parameters according to road adhesion information and perform parking brake control on the target vehicle according to the parking brake parameters.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor;

[0016] and a memory communicatively coupled to the at least one processor;

[0017] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the vehicle parking brake control method of any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the vehicle parking brake control method according to any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention uses an image acquisition device to capture an image of the road surface on which the target vehicle is currently traveling, and determines the road surface type based on the image. This step captures and classifies the current road surface image, resolving the issue of unclear road information and enabling categorized analysis of road information. Road adhesion information is determined based on the road surface type. This step distinguishes whether the road surface is high-adhesion or low-adhesion, determining the corresponding information for subsequent system control parameters. Parking brake parameters are determined based on the road adhesion information, and parking brake control is performed on the target vehicle based on the parking brake parameters. By using different braking parameters for different road adhesion information, the vehicle maintains stable driving on low-adhesion roads while maximizing the adhesion of high-adhesion roads, improving braking performance, reducing braking distance, and ensuring safe driving.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 This is a flow chart of a vehicle parking brake control method provided in Example 1 of the present invention;

[0023] Figure 2 A flowchart of another vehicle parking brake control method provided in the second embodiment of the present invention;

[0024] Figure 3 A schematic structural diagram of a vehicle parking brake control device provided in a third embodiment of the present invention;

[0025] Figure 4 A schematic structural diagram of an electronic device for implementing the vehicle parking brake control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "candidate", "target", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices.

[0028] Example 1

[0029] Figure 1 A flowchart of a vehicle parking brake control method is provided for the first embodiment of the present invention. This embodiment is applicable to the case where the vehicle service brake fails. The method can be executed by a vehicle parking brake control device. The vehicle parking brake control device can be implemented in the form of hardware and / or software. The vehicle parking brake control device can be configured in a vehicle. Figure 1 As shown, the method includes:

[0030] S110 , capturing an image of the road on which the target vehicle is currently traveling through an image capturing device, and determining a road type based on the image of the road.

[0031] The image acquisition device may be a device such as an onboard camera or an external surveillance camera that can capture images of the road surface on which the target vehicle is currently traveling. The target vehicle may be the vehicle currently being driven by the user. The road surface image may be an image of the road surface ahead of the vehicle. The road surface type may be a result of classifying the road surface based on its material composition. In this embodiment, the type of image acquisition device is not limited.

[0032] Specifically, an image acquisition device is used to capture images of the road ahead of the target vehicle while it is traveling. Feature information of the captured road surface image is extracted based on road surface features in the image. Road surface features can be characteristics that make up the road surface and distinguish it from surrounding objects, including color distribution, contours, edge gradients, and texture. The road surface is classified based on the extracted road surface information.

[0033] Optionally, determining the road surface type based on the road surface image includes:

[0034] The road surface image is input into a pre-trained road surface classifier to obtain the road surface type; wherein the road surface classifier is trained based on pre-collected sample road surface images, and the road surface types include at least asphalt road, asphalt road, ice surface, compacted snow surface, asphalt road after rain, and asphalt road after rain.

[0035] The classifier can be a model that uses the maximum probability value to classify and predict data based on a simple probability model. Exemplary road surface classifiers include decision trees, logistic regression, naive Bayes, neural networks, and other algorithms.

[0036] Specifically, a classifier is established in advance based on the association between road surface features in different road surface images and corresponding road surface types.

[0037] For example, assuming that a neural network model is used as a road surface classifier, by using a large number of pre-collected road surface samples, the system parameters are continuously iterated according to the relationship between road surface characteristics and road surface types to obtain parameters that can accurately classify road surface images, thereby ensuring the accuracy of the road surface classifier classification.

[0038] S120: Determine road adhesion information according to the road surface type.

[0039] The road adhesion information may be information indicating adhesion conditions between the road and the wheels.

[0040] Specifically, the road adhesion information is determined based on the mapping relationship between different road surface types and road adhesion information. The mapping relationship between the two can be determined by driving parameters generated by the vehicle driving on the road; it can also be pre-set based on experience; the adhesion can also be divided into parameters and judged based on the parameter range.

[0041] For example, vehicle driving parameters for different road types are pre-collected to determine road adhesion information based on these driving parameters. For example, driving parameters include vehicle speed information and accident frequency. Another example is to pre-determine a mapping relationship between road type and adhesion parameters, and determine the corresponding road adhesion information based on the adhesion parameters. For example, different intervals of adhesion parameter values ​​correspond to different road adhesion information.

[0042] S130 : Determine parking brake parameters according to the road adhesion information, and perform parking brake control on the target vehicle according to the parking brake parameters.

[0043] The parking brake, also known as the "handbrake," is a braking method used when the vehicle is parked to prevent sliding. The braking force is typically applied to the rear wheels. Parking brake parameters can be used to control the external force applied to the rear wheels when the vehicle is stopped. Parking brake control can be used to select appropriate parking brake parameters based on the current vehicle speed to ensure safe driving in the event of an emergency braking situation during driving.

[0044] Specifically, according to the determined road adhesion information and the mapping relationship between the adhesion information and the parking brake parameters, the vehicle control parameters of the current road section are obtained to achieve control of the vehicle.

[0045] For example, assuming that the current road surface is an icy or snowy road surface, according to the above mapping relationship, it is judged that it is a low-adhesion road surface. The corresponding control parameters are determined based on this information. When the vehicle brakes, the control system calls this set of parameter values ​​to control the vehicle.

[0046] The technical solution of this embodiment collects road surface information of the target vehicle's current driving section and classifies the collected images according to road surface characteristics to determine road adhesion information. Different control parameters are used for different adhesion information, which solves the problem of low utilization rate of different adhesion road surfaces, achieves higher braking performance, and ensures safe driving of the vehicle.

[0047] Example 2

[0048] Figure 2This is a flow chart of another vehicle parking brake control method provided by the second embodiment of the present invention. This embodiment is optimized based on the above embodiment. Figure 2 As shown, the method includes:

[0049] S210 , capturing a road surface image on which the target vehicle is currently traveling through an image capturing device, and determining a road surface type based on the road surface image.

[0050] S220 . Determine corresponding road adhesion information according to the road type based on a pre-established mapping relationship between candidate road types and candidate road adhesion information, wherein the candidate road adhesion information includes at least high-adhesion road surfaces and low-adhesion road surfaces.

[0051] The mapping relationship between candidate road surface types and candidate road surface adhesion information can be a relationship strategy that reflects the correspondence between road surface information and road surface adhesion information. High-adhesion road surfaces can be road surfaces with high road-to-wheel adhesion, typically including asphalt roads, tarmac roads, rain-soaked asphalt roads, and rain-soaked asphalt roads. Low-adhesion road surfaces can be road surfaces with low road-to-wheel adhesion, typically including ice surfaces and compacted snow surfaces.

[0052] Specifically, according to the road surface type of the acquired road surface image, it is determined whether the road surface is a high-adhesion road surface or a low-adhesion road surface.

[0053] For example, if the collected road surface is an asphalt road, then according to a preset mapping relationship, it can be obtained that the road surface is a high adhesion road surface.

[0054] By adopting the above method, the road surface types are classified and the corresponding adhesion information is obtained according to the mapping relationship, which can better realize the braking control of the vehicle under different road conditions.

[0055] S230 : Based on a pre-established mapping relationship between candidate road adhesion information and candidate parking brake parameters, determine corresponding parking brake parameters according to the road adhesion information.

[0056] The mapping relationship between road adhesion information and candidate parking brake parameters can be a one-to-one mapping relationship or a many-to-one mapping relationship. For example, all road surface types determined to be high-adhesion road surfaces can be controlled using the same set of control parameters. Alternatively, high-adhesion road surfaces can be configured as an information group consisting of different road surface types, with each road surface type in the information group corresponding to a set of control parameters.

[0057] Since different parking brake parameters need to be adopted under different road adhesion information, it is necessary to brake the vehicle in advance according to the determined candidate road adhesion information to determine the corresponding optimal candidate parking brake parameters and obtain a mapping relationship.

[0058] Optionally, the parking brake parameters include at least: a clamping slip rate threshold, a release slip rate threshold, a single clamping time threshold, and a single release time threshold.

[0059] Specifically, when the vehicle is in parking brake mode, the parking brake system will perform dynamic braking on the two rear wheel calipers, that is, perform a "clamp-hold-release" cycle control on the calipers to achieve control of the vehicle.

[0060] Among them, the slip rate can be the slip generated between the tire footprint and the road surface when the tire brakes or accelerates while moving straight; the clamping slip rate threshold can be the maximum slip distance between the tire and the road surface when the tire is clamped; the release slip rate threshold can be the maximum slip distance between the tire and the road surface when the tire is released; the single clamping time threshold can be the maximum time that the caliper clamps the tire and holds it for a single time; the single release time threshold can be the maximum time that the caliper holds the tire for a single time.

[0061] For example, assuming a single clamping time of 0.03s and a single release time of 0.01s, when emergency braking is required, the calipers are controlled to perform dynamic braking, executing a "clamp-hold-release" cycle: clamping the tire for 0.03s, releasing the wheel for 0.01s, and repeating this cycle until the vehicle stops. During this process, the vehicle's sliding distance cannot exceed the clamping slip rate and release slip rate thresholds. This process not only controls the rear wheel slip rate and wheel deceleration within a reasonable range, preventing the rear wheels from locking, but also prevents the vehicle from skidding.

[0062] Optionally, the mapping relationship between the candidate road adhesion information and the candidate parking brake parameters is established as follows:

[0063] determining initial parking brake parameters corresponding to the candidate road adhesion information, and controlling the vehicle to perform parking braking on the candidate road surface corresponding to the candidate road adhesion information based on the initial parking brake parameters to obtain braking feedback information;

[0064] The initial parking brake parameters are iteratively adjusted according to the braking feedback information to obtain adjusted parking brake parameters corresponding to the target braking feedback information, which are candidate parking brake parameters corresponding to the candidate road adhesion information.

[0065] The initial parking brake parameters are initial control parameters that roughly match the current road surface type, given based on vehicle driving information. Braking feedback information is control effect data obtained based on the current control parameters during a large number of vehicle experiments.

[0066] Specifically, before establishing the mapping relationship, the initial parking control parameters are first pre-set based on experience, the parameters are input into the control system, a braking test is performed on a candidate road surface, and the vehicle's current driving information is recorded. The obtained information is fed back to the control system, and the control parameters are continuously adjusted until a set of parameter values ​​is found that can ensure that the vehicle does not lose stability and has the maximum deceleration. These are used as the final control parameters, and the mapping relationship is now established.

[0067] Furthermore, the braking feedback information includes vehicle stability parameters and deceleration.

[0068] Among them, vehicle stability refers to the ability of a vehicle to restore its original driving state and direction in a short period of time after being disturbed by external factors during driving, so as not to cause loss of control, skidding (swinging) and overturning; deceleration refers to the ability of a vehicle to quickly reduce its speed until it stops while driving.

[0069] For example, when the road adhesion information indicates a high-adhesion road surface, a set of initial parameter values ​​that can ensure safe driving of the vehicle is set based on the control parameters obtained from the vehicle's previous driving on this type of road surface. The parameters are input into the control system for experimentation. Based on the initial values, dynamic braking is activated on the high-adhesion road surface to determine the vehicle's stability and deceleration, and the vehicle's state information during driving, such as changes in vehicle speed and the degree of wheel slip, is recorded. The parameter values ​​are continuously iteratively adjusted based on the stability parameters, deceleration, and state information until a set of parameter values ​​that can ensure vehicle stability and maximize deceleration is found. This set of parameters is used as the final control parameters for the high-adhesion road surface.

[0070] S240: Perform parking brake control on the target vehicle according to parking brake parameters.

[0071] The technical solution of this embodiment collects road surface information of the target vehicle's current driving section and classifies the collected images according to road surface characteristics to determine road adhesion information. Different control parameters are used for different adhesion information, which solves the problem of low utilization rate of different adhesion road surfaces, achieves higher braking performance, and ensures safe driving of the vehicle.

[0072] Example 3

[0073] Figure 3 This is a schematic diagram of the structure of a vehicle parking brake control device provided by the third embodiment of the present invention. Figure 3 As shown, the device includes:

[0074] Image acquisition and classification module 310: used to acquire an image of the road surface on which the target vehicle is currently traveling through an image acquisition device, and determine the road surface type based on the road surface image;

[0075] Road adhesion information acquisition module 320: used to determine road adhesion information according to road type;

[0076] The parking brake control module 330 is used to determine parking brake parameters according to the road adhesion information and perform parking brake control on the target vehicle according to the parking brake parameters.

[0077] Optionally, the image acquisition and classification module 310 is specifically configured to:

[0078] The road surface image is input into a pre-trained road surface classifier to obtain the road surface type; wherein the road surface classifier is trained based on pre-collected sample road surface images, and the road surface types include at least asphalt road, asphalt road, ice surface, compacted snow surface, asphalt road after rain, and asphalt road after rain.

[0079] Optionally, the road adhesion information acquisition module 320 is specifically configured to:

[0080] Based on a pre-established mapping relationship between candidate road surface types and candidate road surface adhesion information, corresponding road surface adhesion information is determined according to the road surface type; wherein the candidate road surface adhesion information includes at least high-adhesion road surfaces and low-adhesion road surfaces.

[0081] Optionally, the parking brake control module 330 is specifically configured to:

[0082] Based on a pre-established mapping relationship between candidate road adhesion information and candidate parking brake parameters, corresponding parking brake parameters are determined according to the road adhesion information.

[0083] The parking brake parameters include at least: a clamping slip rate threshold, a release slip rate threshold, a single clamping time threshold, and a single release time threshold.

[0084] Optionally, the device further includes a candidate road adhesion information and candidate parking brake parameter mapping module, specifically configured to:

[0085] determining initial parking brake parameters corresponding to the candidate road surface adhesion information, and controlling the vehicle to perform parking braking on the candidate road surface corresponding to the candidate road surface adhesion information based on the initial parking brake parameters to obtain braking feedback information;

[0086] The initial parking brake parameters are iteratively adjusted according to the braking feedback information to obtain adjusted parking brake parameters corresponding to the target braking feedback information, which are candidate parking brake parameters corresponding to the candidate road adhesion information.

[0087] Among them, the braking feedback information includes vehicle stability parameters and deceleration.

[0088] The technical solution of this embodiment collects road surface information of the target vehicle's current driving section and classifies the collected images according to road surface characteristics to determine road adhesion information. Different control parameters are used for different adhesion information, which solves the problem of low utilization rate of different adhesion road surfaces, achieves higher braking performance, and ensures safe driving of the vehicle.

[0089] The vehicle parking brake control device provided in the embodiment of the present invention can execute the vehicle parking brake control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0090] The acquisition, storage, use, and processing of data in the technical solution of the present invention comply with the relevant provisions of national laws and regulations and do not violate public order and good morals.

[0091] Example 4

[0092] According to an embodiment of the present disclosure, the present disclosure further provides an electronic device and a readable storage medium.

[0093] Figure 4 A schematic diagram of the structure of an electronic device for implementing a vehicle parking brake control method according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0094] like Figure 4 As shown, the electronic device 400 includes at least one processor 410 and a memory connected to the at least one processor 410, such as a read-only memory (ROM) 420, a random access memory (RAM) 430, etc., wherein the memory stores a computer program that can be executed by the at least one processor 410, and the processor 410 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 420 or the computer program loaded from the storage unit 480 to the random access memory (RAM) 430. Various programs and data required for the operation of the electronic device 400 can also be stored in the RAM 430. The processor 410, ROM 420 and RAM 430 are connected to each other via a bus 440. An input / output (I / O) interface 450 is also connected to the bus 440.

[0095] Multiple components in the electronic device 400 are connected to the I / O interface 450, including an input unit 460, such as a keyboard, a mouse, etc.; an output unit 470, such as various types of displays, speakers, etc.; a storage unit 480, such as a magnetic disk, an optical disk, etc.; and a communication unit 490, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 490 allows the electronic device 400 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0096] The processor 410 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 410 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors for running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 410 executes the various methods and processes described above, such as the vehicle parking brake control method.

[0097] In some embodiments, the vehicle parking brake control method can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as the storage unit 480. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 400 via the ROM 420 and / or the communication unit 490. When the computer program is loaded into the RAM 430 and executed by the processor 410, one or more steps of the vehicle parking brake control method described above can be performed. Alternatively, in other embodiments, the processor 410 can be configured to execute the vehicle parking brake control method in any other appropriate manner (e.g., by means of firmware).

[0098] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific reference products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0099] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0100] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0101] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0102] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0103] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0104] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0105] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle parking brake control method, characterized in that: An image acquisition device is configured on the vehicle, including: The image acquisition device is used to capture an image of the road surface on which the target vehicle is currently traveling, and the road surface type is determined based on the image of the road surface; wherein the target vehicle is the vehicle currently driven by the user; and the image acquisition device is used to capture an image of the road section ahead of the target vehicle during its driving process; Based on a pre-established mapping relationship between candidate road surface types and candidate road surface adhesion information, corresponding road surface adhesion information is determined according to the road surface type; wherein the candidate road surface adhesion information includes at least high-adhesion road surfaces and low-adhesion road surfaces; the high-adhesion road surfaces include asphalt roads, tarmac roads, asphalt roads after rain, and tarmac roads after rain; and the low-adhesion road surfaces include ice surfaces and compacted snow surfaces; the mapping relationship is determined based on driving parameters generated by the vehicle while driving on the road; the driving parameters include vehicle speed information and traffic accident frequency; Based on a pre-established mapping relationship between candidate road adhesion information and candidate parking brake parameters, the parking brake parameters are determined according to the road adhesion information, and parking brake control is performed on the target vehicle according to the parking brake parameters; wherein the parking brake parameters include at least: a clamping slip ratio threshold, a release slip ratio threshold, a single clamping time threshold, and a single release time threshold.

2. The method according to claim 1, characterized in that Determining a road surface type according to the road surface image includes: The road pavement image is input into a pre-trained pavement classifier to obtain a pavement type; wherein the pavement classifier is trained based on pre-collected sample road pavement images, and the pavement types include at least asphalt road, asphalt road, ice surface, compacted snow surface, asphalt road after rain, and asphalt road after rain.

3. The method according to claim 1, characterized in that The process of establishing the mapping relationship between the candidate road adhesion information and the candidate parking brake parameters is as follows: determining initial parking brake parameters corresponding to the candidate road surface adhesion information, and controlling the vehicle to perform parking braking on the candidate road surface corresponding to the candidate road surface adhesion information based on the initial parking brake parameters to obtain braking feedback information; The initial parking brake parameter is iteratively adjusted according to the braking feedback information to obtain an adjusted parking brake parameter corresponding to the target braking feedback information, which is a candidate parking brake parameter corresponding to the candidate road adhesion information.

4. The method according to claim 3, characterized in that The braking feedback information includes vehicle stability parameters and deceleration.

5. A vehicle parking brake control device, characterized in that: include: An image acquisition and classification module, configured to acquire an image of the road surface on which a target vehicle is currently traveling through an image acquisition device, and determine the road surface type based on the image; wherein the target vehicle is the vehicle currently driven by the user; and the image acquisition device is configured to acquire an image of the road ahead of the target vehicle during its travel; a road adhesion information acquisition module configured to determine corresponding road adhesion information according to a road surface type based on a pre-established mapping relationship between candidate road surface types and candidate road adhesion information; wherein the candidate road adhesion information includes at least high-adhesion road surfaces and low-adhesion road surfaces; the high-adhesion road surfaces include asphalt roads, tarmac roads, asphalt roads after rain, and tarmac roads after rain; and the low-adhesion road surfaces include ice surfaces and compacted snow surfaces; the mapping relationship is determined based on driving parameters generated by a vehicle traveling on the road; the driving parameters include vehicle speed information and traffic accident frequency; a parking brake control module configured to determine parking brake parameters based on a pre-established mapping relationship between candidate road adhesion information and candidate parking brake parameters, and to perform parking brake control on the target vehicle based on the parking brake parameters; wherein the parking brake parameters include at least a clamping slip ratio threshold, a release slip ratio threshold, a single clamping time threshold, and a single release time threshold.

6. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle parking brake control method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle parking brake control method according to any one of claims 1 to 4 when executed.

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