Parking control method, device and vehicle
By obtaining the driver's position and controlling the vehicle to a standstill when the vehicle's electronic parking system fails, and outputting a takeover prompt, the problem of vehicle rollover is solved, achieving parking safety and driver takeover time at a low cost, and avoiding the risk of rollover.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GREAT WALL MOTOR CO LTD
- Filing Date
- 2023-07-07
- Publication Date
- 2026-06-05
AI Technical Summary
In the existing technology, when the vehicle's electronic parking system fails, vehicles without multiple EPB controllers or a mechanical P gear are at risk of rolling backwards, making it difficult to ensure parking safety at a low cost.
When the vehicle's electronic parking system fails, the system obtains the driver's current location, controls the vehicle to remain stationary at a preset position on the parking route, outputs a takeover prompt message, and waits for the driver to trigger the takeover control signal through the in-vehicle control components to prevent the vehicle from rolling backwards.
It improves parking safety at a low cost, prevents vehicles from rolling back, gives drivers time to return to the vehicle and take control, ensures the vehicle is stationary after parking, and reduces the risk of collision.
Smart Images
Figure CN116691618B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of vehicle technology, and in particular relates to a parking control method, device and vehicle. Background Technology
[0002] With the development of the automotive industry, vehicles are increasingly involved in people's lives and work. Faced with various usage scenarios and needs, intelligent vehicle services are gradually becoming an important research direction in the automotive field.
[0003] Automated parking systems are one type of in-vehicle system that provides intelligent services. Currently, some vehicles' automated parking systems allow drivers to park the car remotely from outside the vehicle using a remote parking function. The remote parking function allows drivers to use a remote control device (such as a smartphone, smart key, etc.) to remotely control the vehicle to perform operations such as parking in, parking out, straight-in, and straight-out. Electronic Park Brake (EPB) systems can automatically park the vehicle after it has been parked. During remote parking, if the electronic parking system fails, the vehicle may roll away due to the absence of an occupant, posing a potential risk of collision with the driver or other road users.
[0004] Some related technologies employ dual EPB controllers or an EPB controller combined with a mechanical P (parking) gear to achieve dual-link parking and avoid the aforementioned problems. In the event of a single EPB controller failure, the vehicle can still park using another EPB controller or the mechanical P gear. This method requires the vehicle to be equipped with multiple EPB controllers or mechanical P gears, increasing vehicle costs. For vehicles without multiple EPB controllers and mechanical P gears, the risk of rolling back remains, making it difficult to guarantee parking safety at a low cost. Summary of the Invention
[0005] This application provides a parking control method, device, and vehicle, which can solve the problem in related technologies that it is difficult to ensure parking safety at a low cost.
[0006] The first aspect of this application provides a parking control method, comprising: when a vehicle completes automatic parking according to a parking route, if the electronic parking system of the vehicle is detected to be in a fault state, obtaining the current position of the driver; if the current position of the driver is outside the vehicle, controlling the vehicle to remain stationary at a preset position, the preset position being any position on the parking route; and outputting a takeover prompt message to wait for the driver to trigger a takeover control signal through a control component inside the vehicle.
[0007] A parking control device provided in the second aspect of this application includes: an acquisition unit, configured to acquire the driver's current position when the vehicle completes automatic parking according to a parking route and the electronic parking system of the vehicle is detected to be in a faulty state; a control unit, configured to control the vehicle to remain stationary at a preset position if the driver's current position is outside the vehicle, the preset position being any position on the parking route; and a takeover prompting unit, configured to output takeover prompting information to wait for the driver to trigger a takeover control signal through a control component inside the vehicle.
[0008] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the parking control method described above.
[0009] A fourth aspect of this application provides a vehicle equipped with an automatic parking system and an electronic parking system. The vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the parking control method described above.
[0010] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the parking control method described above.
[0011] A sixth aspect of this application provides a computer program product that, when run on an electronic device / vehicle, causes the electronic device / vehicle to execute the parking control method described in the first aspect above.
[0012] In the embodiments of this application, when the vehicle completes automatic parking according to the parking route, if the vehicle's electronic parking system is detected to be in a faulty state, the driver's current position is obtained. If the driver's current position is outside the vehicle, the vehicle is controlled to remain stationary at any position on the parking route and a takeover prompt message is output to wait for the driver to trigger the takeover control signal through the control components inside the vehicle. This allows the vehicle to remain stationary at a preset position when the electronic parking system is in a failure scenario, giving the driver time to return to the vehicle and take over the vehicle, thus preventing the vehicle from rolling back after parking. This method does not require the vehicle to be equipped with a redundant EPB controller or mechanical P gear, allowing the vehicle to balance cost and safety issues and ensure parking safety at a low cost. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0014] Figure 1 This is a schematic diagram illustrating the implementation process of a parking control method provided in an embodiment of this application;
[0015] Figure 2 This is a schematic diagram of the architecture of the automatic parking system provided in the embodiments of this application;
[0016] Figure 3 This is a schematic diagram illustrating the specific implementation process of suppressing the automatic parking function provided in the embodiments of this application;
[0017] Figure 4 This is a schematic diagram illustrating the specific implementation process of controlling the vehicle to remain stationary at the parking end position according to an embodiment of this application;
[0018] Figure 5 This is a schematic diagram of the structure of a parking control device provided in an embodiment of this application;
[0019] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application;
[0020] Figure 7 This is a schematic diagram of the vehicle structure provided in the embodiments of this application. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are protected by this application.
[0022] Electronic parking systems can automatically park a vehicle after it has been parked. However, if the electronic parking system malfunctions during remote parking, the vehicle may roll away if no one is inside, posing a potential risk of collision with the driver or other road users.
[0023] Some related technologies employ dual EPB controllers or an EPB controller combined with a mechanical P-gear to achieve dual-link parking and avoid the aforementioned problems. In the event of a single EPB controller failure, the vehicle can still park using another EPB controller or a mechanical P-gear. This approach requires multiple EPB controllers or mechanical P-gears, increasing vehicle costs. For vehicles without multiple EPB controllers and mechanical P-gears, the risk of rolling back remains, making it difficult to guarantee parking safety at a low cost.
[0024] In view of this, this application proposes a parking control method that can provide the driver with a buffer time to return to the vehicle and take control of the vehicle in the event of failure of the electronic parking system. When the vehicle is equipped with only a single EPB controller, it can prevent the vehicle from rolling backwards, thus balancing the safety of parking control and the cost of the vehicle.
[0025] To illustrate the technical solution of this application, specific embodiments are described below.
[0026] Figure 1 The illustration shows a schematic diagram of the implementation process of a parking control method provided in an embodiment of this application, which can be applied to situations where parking safety needs to be improved at a low cost.
[0027] It should be noted that, Figure 1 The parking control method shown can be executed by a processor, which can be integrated into the vehicle or onto a separate electronic device. This electronic device can be a computer, smartphone, in-vehicle system, or other intelligent device used for vehicle parking control. When the processor is integrated into the vehicle, the vehicle can... Figure 1 The parking control method shown achieves autonomous parking control. Furthermore, the aforementioned vehicle can be a new energy vehicle, a fuel vehicle, or other types of vehicle. This application does not impose any restrictions in this regard.
[0028] Specifically, the above parking control method may include the following steps S101 to S103.
[0029] Step S101: When the vehicle completes automatic parking according to the parking route, if the electronic parking system of the vehicle is detected to be in a faulty state, the driver's current location is obtained.
[0030] The vehicles mentioned above are those that require automatic parking control, such as the aforementioned vehicles.
[0031] Specifically, the aforementioned vehicles may be equipped with automatic parking systems, electronic parking systems, and powertrain systems. For example... Figure 2As shown, the automatic parking system collects environmental information about the vehicle's surroundings through sensors configured within the sensing system. Based on this information, it plans a parking route and sends acceleration / deceleration requests, gear selection requests, and EPB (Electronic Parking Brake) requests to the brake controller within the system, enabling the vehicle to automatically park according to the parking route. When the acceleration / deceleration request is for acceleration, the brake controller's acceleration module converts the request into positive torque output to the vehicle's powertrain. When the deceleration request is for deceleration, the brake controller's deceleration module converts the request into braking torque output to the hydraulic module for vehicle deceleration. For gear selection requests, the brake controller's gear selection module relays the request to the vehicle's powertrain. For EPB requests, the brake controller relays the request to the electronic parking brake system for parking control. The vehicle's powertrain controller can respond to the brake controller's acceleration requests to accelerate the vehicle and respond to the brake controller's gear selection requests to change the vehicle's gears.
[0032] In some implementations, if the electronic parking system detects a link failure or hardware failure through self-test, or if the external controller cannot receive the signal sent by the electronic parking system, the system status of the electronic parking system can be confirmed as a fault state, which indicates that the electronic parking system has a fault.
[0033] For example, such as Figure 2 As shown, the system status of the aforementioned electronic parking system can be detected by the brake controller and fed back to the automatic parking system.
[0034] If the electronic parking system is detected to be in a fault state, it means that the electronic parking system is in a failure scenario and cannot lock to prevent rolling on the slope according to the EPB request. At this time, the processor needs to obtain the driver's current location to analyze the current vehicle usage scenario.
[0035] The driver's current position can be detected by the vehicle's Driver Monitor System (DMS), which analyzes whether the driver is in the driver's seat using a weight sensor or an in-vehicle camera. The driver's current position can also be determined based on the distance between the remote control and the vehicle when the driver performs remote parking. This application does not impose any restrictions on this.
[0036] Step S102: If the driver's current position is outside the vehicle, control the vehicle to remain stationary at a preset position.
[0037] In the embodiments of this application, the vehicle usage scenarios can be divided into two categories: the driver is inside the vehicle and the driver is outside the vehicle. It is understood that the ease of taking over the vehicle varies depending on the driver's location. If the driver's current location is outside the vehicle, the driver needs to return to the vehicle before taking over. During the driver's return, the vehicle may roll backwards because it is not fully parked. To avoid this rolling backwards problem, the processor can control the vehicle to remain stationary at a preset position.
[0038] The preset location can be any location on the parking route, such as the parking end position where the vehicle is when automatic parking is completed, or the parking start position when automatic parking begins.
[0039] Step S103: Output a takeover prompt message to wait for the driver to trigger a takeover control signal through the control components in the vehicle.
[0040] Specifically, the processor can communicate instantly with the driver's mobile phone, for example, by sending takeover prompts to applications on the phone, or by outputting takeover prompts through the vehicle's display system, in-vehicle audio system, horn, and other vehicle output components, prompting the driver to trigger a takeover control signal through the control components in the vehicle.
[0041] The control components can refer to the steering wheel, brake pedal, etc. The driver can trigger a takeover control signal by turning the steering wheel or pressing the brake pedal. In response to the takeover control signal, the vehicle can disengage the automatic parking function, and the driver takes over vehicle control.
[0042] In the embodiments of this application, when the vehicle completes automatic parking according to the parking route, if the vehicle's electronic parking system is detected to be in a faulty state, the driver's current position is obtained. If the driver's current position is outside the vehicle, the vehicle is controlled to remain stationary at any position on the parking route and a takeover prompt message is output to wait for the driver to trigger the takeover control signal through the control components inside the vehicle. This allows the vehicle to remain stationary at a preset position when parking on a slope and the electronic parking system is in a faulty scenario, giving the driver time to return to the vehicle and take over the vehicle, thus preventing the vehicle from rolling back after parking. This method does not require the vehicle to be equipped with a redundant EPB controller or mechanical P gear, allowing the vehicle to balance cost and safety issues and ensure parking safety at a low cost.
[0043] In the embodiments of this application, the vehicle can monitor the slope information of the vehicle's location and the system status of the electronic parking system in real time.
[0044] Upon receiving a parking request, the processor can select to trigger or suppress the automatic parking function based on the second slope information of the parking start position and the system status of the electronic parking system.
[0045] Specifically, such as Figure 3 As shown, before the vehicle completes automatic parking according to the parking route, the following steps S301 to S302 may be included.
[0046] Step S301: Obtain the second slope information of the parking start position on the parking route.
[0047] When automatic parking begins, the vehicle can obtain the slope information of its current location, which is also known as the second slope information of the parking starting position. The second slope information is used to characterize the slope of the parking starting position.
[0048] In step S302, if the second slope information meets the rolling back condition and the vehicle's electronic parking system is detected to be in a faulty state, then automatic parking is stopped.
[0049] If the slope is greater than the first slope threshold (e.g., 1%), then the second slope information can be confirmed to meet the rollback condition. If the second slope information meets the rollback condition, it means that the vehicle is in a slope environment, indicating that the parking end position may also have a certain slope. At this time, if the vehicle's electronic parking system is detected to be in a faulty state, it means that the vehicle is at risk of rolling back when parking is completed. The processor can stop automatic parking and suppress the automatic parking function.
[0050] Considering the risk of rolling back even after parking on very steep slopes, a second slope threshold can be set. When the slope exceeds this threshold, the processor can directly stop automatic parking, suppressing the automatic parking function. This second slope threshold is greater than the first slope threshold, for example, by 10%.
[0051] In other implementations, after obtaining the second slope information of the parking start position, if the second slope information meets the rollback condition and the vehicle's electronic parking system is detected to be in normal working condition, the processor can trigger the automatic parking function to control the vehicle to complete automatic parking according to the parking route, since the electronic parking system can complete parking normally to avoid rollback.
[0052] The normal operating status indicates that the electronic parking system has not detected any faults.
[0053] Preferably, since the vehicle still faces a certain risk of rolling back when the second slope information meets the rolling back condition, and the electronic parking system of the vehicle is detected to be in normal working condition, the processor can detect the distance between the driver and the vehicle, and when the distance is less than or equal to a preset take-off distance threshold, control the vehicle to automatically park according to the parking route.
[0054] The distance between the driver and the vehicle can be determined by the signal strength of the driver's remote control device or by information collected from the vehicle's sensors; this application does not impose any restrictions on this. The takeover distance threshold can be set based on empirical values, such as 7 meters, to ensure that the driver can take over the vehicle in a timely manner.
[0055] In other words, when the vehicle is on a slope but the electronic parking system is working properly, it can limit the distance between the driver and the vehicle and trigger the automatic parking function. If the vehicle malfunctions during the automatic parking process, such as rolling backwards, the driver can take over the vehicle in time.
[0056] In other implementations, after obtaining the second slope information of the parking start position, if the second slope information does not meet the rolling back condition, it means that the vehicle is in a flat road environment and the risk of rolling back is small. At this time, regardless of whether the electronic parking system is detected to be in a faulty state or a normal working state, the processor can trigger the automatic parking function and control the vehicle to complete the automatic parking according to the parking route.
[0057] For example, by setting the first slope threshold to 1%, the second slope threshold to 10%, and the distance threshold to 7 meters, the triggering process of the automatic parking function can be represented by the following table:
[0058]
[0059] Once the parking function is triggered, the vehicle can reach the parking end position according to the parking route and complete automatic parking. At this time, the processor can select the automatic parking termination logic based on the first slope information of the parking end position and the system status of the electronic parking system.
[0060] Specifically, the parking end position refers to the final position of the automatic parking process. This can be a suitable parking location determined by the automatic parking system through lane line analysis, or a parking space set by the driver, etc. Figure 2 Taking an example, an automatic parking system can transmit monitoring signals to the power sensors to monitor the parking status and confirm whether automatic parking has been completed. When the vehicle completes automatic parking according to the parking route, the vehicle can collect the first slope information of the parking end position through sensors such as the Inertial Measurement Unit (IMU) and infrared probes. The first slope information represents the slope of the parking end position.
[0061] In the first scenario, when the slope at the parking end position is less than or equal to the first slope threshold (e.g., 1%), it can be confirmed that the second slope information does not meet the rollback condition. In this case, the likelihood of the vehicle rolling back at the parking end position is low. If the vehicle's electronic parking system is detected to be functioning normally, it can be controlled to automatically park, and the automatic parking function can be terminated normally after the electronic parking system completes automatic parking.
[0062] In the second scenario, if the slope at the parking end position is less than or equal to the first slope threshold, it can be confirmed that the second slope information does not meet the rollback condition. In this case, if the vehicle's electronic parking system is detected to be malfunctioning, the processor can output a fault warning message and send fault information to the power controller.
[0063] The fault indication information is used to alert the driver that the electronic parking system is malfunctioning. The output method is similar to that of the aforementioned takeover indication information, and will not be elaborated upon here. The fault information instructs the power controller to stop outputting creep torque to the motor and shift the vehicle's gear to N (neutral) or P (park) to prevent the vehicle from moving. After the power controller completes its response to the fault information, the processor can terminate the automatic parking function.
[0064] In the third scenario, when the slope is greater than or equal to the first slope threshold, it indicates a risk of the vehicle rolling away at the parking end position. The processor can confirm that the first slope information at the parking end position meets the rolling away condition. In this case, the vehicle may roll away at the parking end position. If the electronic parking system is detected to be in normal working condition, the processor can control the electronic parking system to automatically park, and after the electronic parking system completes automatic parking, the automatic parking function will normally terminate.
[0065] It should be understood that in the above three situations, because the slope of the parking end position is small, or the electronic parking system can complete automatic parking, the risk of the vehicle rolling back is small, and the automatic parking function can end normally.
[0066] In the fourth case, if the first slope information at the parking end position meets the rolling back condition and the vehicle's electronic parking system is detected to be in a faulty state, the processor needs to obtain the driver's current position in order to analyze the vehicle's usage scenario.
[0067] Specifically, if the driver's current location is outside the vehicle, the processor can execute steps S102 to S103 to wait for the driver to trigger a takeover control signal through the control components inside the vehicle.
[0068] In step S102, in order to allow the vehicle to wait for the driver to take over in a safe position, the processor can obtain the second slope information of the parking starting position on the parking route, and when the second slope information does not meet the rolling back condition, the parking starting position is used as the preset position, and the vehicle is controlled to return and remain stationary at the parking starting position.
[0069] The second slope information at the parking starting position can be the slope information collected when the vehicle begins automatic parking. It should be understood that when the second slope information does not meet the rollback condition, it means that the slope of the vehicle at the parking starting position is small, and even if automatic parking is not completed, the risk of the vehicle rolling back is relatively low. At this time, the processor can control the vehicle to return to the parking starting position according to the parking route and keep the vehicle stationary at the parking starting position.
[0070] Specifically, after the vehicle returns to the initial parking position, the processor can output a fault warning message and send fault information to the power controller. The specific uses of the fault warning message and fault information are detailed in the foregoing description and will not be repeated here.
[0071] In this way, the vehicle can wait for the driver to return to the vehicle and take over the vehicle at a position with a smaller slope on the parking route, reducing the possibility of collision due to rolling back and improving parking safety. In addition, the slope of the starting parking position is smaller, and the cost required for the vehicle to remain stationary at the starting parking position (such as power consumption, controller heat generation, etc.) is less.
[0072] In other implementations, if the second slope information meets the rolling back condition, the parking end position can be used as a preset position, and the vehicle can be controlled to remain stationary at the parking end position by the vehicle's brake controller and / or power controller.
[0073] Specifically, such as Figure 4 As shown, controlling the vehicle to remain stationary at the parking end position may include the following steps S401 to S403.
[0074] Step S401: Control the brake controller to apply hydraulic braking to the vehicle to keep the vehicle stationary at the parking end position.
[0075] Specifically, the hydraulic module of the brake controller generates hydraulic pressure, which is transmitted from the brake fluid through pipelines to the brake assemblies of each wheel, thereby applying a certain force to the wheels to keep the vehicle stationary in the parking end position. While the vehicle is stationary in the parking end position, the processor can output a takeover prompt message, waiting for the driver to trigger a takeover control signal through the control components within the vehicle.
[0076] Step S402: Obtain the duration of hydraulic braking.
[0077] In step S403, when the duration exceeds the duration threshold, hydraulic braking is stopped, and the motor is controlled to output negative torque through the power controller to keep the vehicle stationary at the parking end position.
[0078] During hydraulic braking, the processor can record the duration of the hydraulic braking. It should be understood that if the hydraulic braking duration is too long, the brake controller will overheat, which may damage the brake controller in severe cases. Therefore, the processor can set a duration threshold. When the duration exceeds the duration threshold, hydraulic braking is stopped, and the power controller controls the motor to output negative torque to keep the vehicle stationary at the parking end position.
[0079] The aforementioned duration threshold can be adjusted according to actual circumstances, for example, set to 3 minutes.
[0080] Specifically, the power controller can calculate the required negative torque based on the first slope information at the parking end position and control the motor to output negative torque. When the motor outputs negative torque, it rotates in the opposite direction to provide a reverse torque to the wheels, thereby achieving the effect of keeping the vehicle stationary at the parking end position. During the process of controlling the motor to output negative torque through the power controller, the processor can output a takeover prompt message again, waiting for the driver to trigger the takeover control signal through the control components in the vehicle.
[0081] It should be noted that if the processor detects a fault in the brake controller, it can directly control the motor to output negative torque through the power controller in order to keep the vehicle stationary at the parking end position.
[0082] Furthermore, in some implementations, the duration of the negative torque output by the motor can be further obtained. When the duration of the negative torque output by the motor exceeds the duration threshold, the control of the motor output negative torque through the power controller is stopped, and hydraulic braking is restarted. This allows the brake controller and the power controller to take turns controlling the motor, thus avoiding overheating problems caused by a single controller working for a long time.
[0083] In the embodiments of this application, by changing the parking position (i.e., returning to the parking start position), or by controlling the vehicle to remain stationary at the parking end position through the brake controller and / or power controller, a certain buffer time can be given to the driver, allowing the driver outside the vehicle to return to the vehicle and take over the vehicle, thus avoiding the problem of rolling back and improving the safety of automatic parking.
[0084] In other implementations, if the driver is currently inside the vehicle, the processor can output a takeover prompt message and, through the vehicle's brake controller and / or power controller, control the vehicle to remain stationary at the parking end position, waiting for the driver to trigger a takeover control signal through the control components inside the vehicle.
[0085] Specifically, since the driver is currently inside the vehicle, they do not need to return from outside to take over immediately. Therefore, the processor can output a takeover prompt and, through the vehicle's brake controller and / or power controller, keep the vehicle stationary at the parking end position, awaiting driver takeover. In this way, the driver does not need to re-park from the parking start position if the vehicle returns to it.
[0086] It should be noted that the above-mentioned output takeover prompts and the method of controlling the vehicle to remain stationary at the parking end position can be referred to the previous description, and will not be repeated in this application.
[0087] If the vehicle receives a takeover control signal while it is stationary in a preset position, the automatic parking function can be disengaged, and the driver can take control of the vehicle.
[0088] For example, if the first slope threshold is set to 1% and the duration threshold is set to 3 minutes, the termination process of the automatic parking function can be represented by the following table:
[0089]
[0090] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders.
[0091] like Figure 5 The diagram shown is a schematic diagram of a parking control device 500 provided in an embodiment of this application. The parking control device 500 is disposed on a processor.
[0092] Specifically, the parking control device 500 may include:
[0093] The acquisition unit 501 is used to acquire the driver's current location when the vehicle completes automatic parking according to the parking route and the electronic parking system of the vehicle is detected to be in a fault state.
[0094] Control unit 502 is used to control the vehicle to remain stationary at a preset position if the driver's current position is outside the vehicle, the preset position being any position on the parking route;
[0095] The takeover prompt unit 503 is used to output takeover prompt information to wait for the driver to trigger a takeover control signal through the control components in the vehicle.
[0096] In some embodiments of this application, the acquisition unit 501 described above may be specifically used to: acquire first slope information of the parking end position; if the first slope information meets the slippage condition and the electronic parking system is detected to be in the fault state, then acquire the driver's current position.
[0097] In some embodiments of this application, the control unit 502 may be specifically used to: obtain second slope information of the parking starting position on the parking route; if the second slope information does not meet the rolling back condition, then take the parking starting position as the preset position, and control the vehicle to return and remain stationary at the parking starting position.
[0098] In some embodiments of this application, the control unit 502 may be specifically used to: if the second slope information satisfies the rolling slope condition, then take the parking end position as the preset position, and control the vehicle to remain stationary at the parking end position through the vehicle's brake controller and / or power controller.
[0099] In some embodiments of this application, the control unit 502 may be specifically used to: control the brake controller to apply hydraulic braking to the vehicle to keep the vehicle stationary at the parking end position; obtain the duration of the hydraulic braking; when the duration exceeds a duration threshold, stop applying hydraulic braking, and control the motor to output negative torque through the power controller to keep the vehicle stationary at the parking end position.
[0100] In some embodiments of this application, the control unit 502 may be specifically used to: if the driver's current position is inside the vehicle, output the takeover prompt information, and control the vehicle to remain stationary at the parking end position through the vehicle's brake controller and / or power controller, so as to wait for the driver to trigger the takeover control signal through the control components inside the vehicle.
[0101] In some embodiments of this application, the parking control device 500 may include a parking trigger unit for: acquiring second slope information of the parking start position on the parking route; if the second slope information meets the rollback condition and the electronic parking system of the vehicle is detected to be in a fault state, then stopping the automatic parking.
[0102] In some embodiments of this application, the parking trigger unit described above can be specifically used to: if the second slope information satisfies the rolling slope condition and the electronic parking system of the vehicle is detected to be in normal working condition, then detect the distance between the driver and the vehicle; when the distance is less than or equal to a preset take-off distance threshold, control the vehicle to automatically park according to the parking route.
[0103] It should be noted that, for the sake of convenience and brevity, the specific working process of the parking control device 500 described above can be found in the following reference: Figures 1 to 4 The corresponding process of the method will not be described in detail here.
[0104] like Figure 6 The diagram shown is a schematic representation of an electronic device provided in an embodiment of this application. Specifically, the electronic device 6 may include: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a parking control program. When the processor 60 executes the computer program 62, it implements the steps in the various parking control method embodiments described above, for example... Figure 1 Steps S101 to S103 are shown. Alternatively, when the processor 60 executes the computer program 62, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 5 The functions of the acquisition unit 501, control unit 502, and takeover prompt unit 503 are shown.
[0105] The computer program can be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.
[0106] For example, the computer program can be divided into: an acquisition unit, a control unit, and a takeover prompt unit. The specific functions of each unit are as follows: the acquisition unit, used to acquire the driver's current position when the vehicle completes automatic parking according to the parking route, if a malfunction is detected in the vehicle's electronic parking system; the control unit, used to control the vehicle to remain stationary at a preset position if the driver's current position is outside the vehicle, the preset position being any position on the parking route; and the takeover prompt unit, used to output takeover prompt information to wait for the driver to trigger a takeover control signal through the control components within the vehicle.
[0107] The electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6 This is merely an example of an electronic device and does not constitute a limitation on the electronic device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.
[0108] The processor 60 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.
[0109] The memory 61 can be an internal storage unit of the electronic device, such as a hard drive or memory. The memory 61 can also be an external storage device of the electronic device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 61 can include both internal and external storage units. The memory 61 is used to store the computer program and other programs and data required by the electronic device. The memory 61 can also be used to temporarily store data that has been output or will be output.
[0110] It should be noted that, for the sake of convenience and brevity, the structure of the above-mentioned electronic device can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.
[0111] like Figure 7 The diagram shown is a schematic representation of a vehicle according to an embodiment of this application. Specifically, the vehicle 7 may be equipped with the aforementioned automatic parking system and electronic parking system. The vehicle 7 may include: a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70, such as a parking control program. When the processor 70 executes the computer program 72, it implements the steps in the various parking control method embodiments described above, for example... Figure 1 Steps S101 to S103 are shown. Alternatively, when the processor 70 executes the computer program 72, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 5 The functions of the acquisition unit 501, control unit 502, and takeover prompt unit 503 are shown. Specifically, the vehicle 7 can implement the above-mentioned automatic parking control method through an automatic parking system.
[0112] It should be noted that, for the sake of convenience and brevity, the structure of the vehicle described above can also be referred to the description in the electronic device embodiment and the specific description of the structure in the method embodiment, which will not be repeated here.
[0113] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments 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. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0114] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0115] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for various specific applications, but such implementations should not be considered beyond the scope of this application.
[0116] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, 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 couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.
[0117] 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 network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0118] Furthermore, the functional units in the various embodiments of this application 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.
[0119] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.
[0120] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.
Claims
1. A parking control method, characterized in that, include: When the vehicle completes automatic parking according to the parking route, if the electronic parking system of the vehicle is detected to be in a faulty state, the driver's current location is obtained. If the driver's current position is outside the vehicle, then the second slope information of the parking starting position on the parking route is obtained. If the slope of the parking starting position is less than or equal to the first slope threshold, it is confirmed that the second slope information does not meet the rolling back condition. If the second slope information does not meet the rolling back condition, then the parking starting position is used as a preset position to control the vehicle to return and remain stationary at the parking starting position. Output a takeover prompt message to await the driver's triggering of a takeover control signal via the control components within the vehicle.
2. The parking control method as described in claim 1, characterized in that, The process of obtaining the driver's current location includes: Obtain the first slope information at the end position of parking; If the first slope information meets the slippage condition and the electronic parking system is detected to be in the fault state, then the driver's current location is obtained.
3. The parking control method as described in claim 1, characterized in that, After obtaining the second slope information of the parking start position on the parking route, the method further includes: If the second slope information satisfies the rolling slope condition, the parking end position is taken as the preset position, and the vehicle is controlled to remain stationary at the parking end position by the vehicle's brake controller and / or power controller.
4. The parking control method as described in claim 3, characterized in that, Controlling the vehicle to remain stationary at the parking end position via the vehicle's brake controller and / or power controller includes: The brake controller is controlled to apply hydraulic braking to the vehicle to keep the vehicle stationary at the parking end position; Obtain the duration of the hydraulic braking; When the duration exceeds the duration threshold, hydraulic braking is stopped, and the motor is controlled by the power controller to output negative torque to keep the vehicle stationary at the parking end position.
5. The parking control method according to any one of claims 1 to 4, characterized in that, After obtaining the driver's current location, the following is included: If the driver's current location is inside the vehicle, the takeover prompt message is output, and the vehicle is controlled to remain stationary at the parking end position via the vehicle's brake controller and / or power controller, in order to wait for the driver to trigger the takeover control signal through the control components inside the vehicle.
6. The parking control method according to any one of claims 1 to 4, characterized in that, Before the vehicle completes automatic parking according to the parking route, the following is included: Obtain the second slope information of the parking start position on the parking route; If the second slope information meets the rolling slope condition and the vehicle's electronic parking system is detected to be in a faulty state, then the automatic parking will be stopped.
7. The parking control method as described in claim 6, characterized in that, After obtaining the second slope information of the parking start position, the process also includes: If the second slope information meets the slippage condition and the vehicle's electronic parking system is detected to be in normal working condition, then the distance between the driver and the vehicle is detected. When the distance is less than or equal to a preset takeover distance threshold, the vehicle is controlled to automatically park according to the parking route.
8. A parking control device, characterized in that, include: The acquisition unit is used to acquire the driver's current location when the vehicle completes automatic parking according to the parking route and the electronic parking system of the vehicle is detected to be in a fault state. The control unit is configured to, if the driver's current position is outside the vehicle, acquire second slope information of the parking starting position on the parking route; if the slope of the parking starting position is less than or equal to a first slope threshold, confirm that the second slope information does not meet the rollback condition; if the second slope information does not meet the rollback condition, set the parking starting position as a preset position to control the vehicle to return and remain stationary at the parking starting position. The takeover prompt unit is used to output takeover prompt information to wait for the driver to trigger a takeover control signal through the control components in the vehicle.
9. A vehicle equipped with an automatic parking system and an electronic parking system, the vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the parking control method as described in any one of claims 1 to 7.