Parking control method and device, electronic equipment and vehicle

Abstract

The application is suitable for the technical field of vehicles, and provides a parking control method, device, electronic equipment and vehicle. The parking control method comprises the following steps: acquiring a parking map; determining a backup parking area of a vehicle according to map information recorded in the parking map, wherein first slope information of the backup parking area meets a safety slope condition; when the vehicle completes parking in a target parking area, if second slope information of the target parking area does not meet the safety slope condition, and it is detected that an electronic parking system of the vehicle is in a fault state, the vehicle is controlled to move to the backup parking area for parking. The embodiment of the application can improve parking safety.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and particularly relates to a parking control method, device, electronic equipment 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 from outside using remote parking functionality. Remote parking allows drivers to use remote control devices (such as smartphones, smart keys, etc.) to remotely control the vehicle to perform parking maneuvers 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. However, during ramp parking, if the EPB system malfunctions, the vehicle may roll back, posing a potential risk of collision with the driver or other road users, resulting in lower parking safety. Summary of the Invention

[0004] This application provides a parking control method, device, electronic device, and vehicle, which can solve the problem of low parking safety in related technologies.

[0005] The first aspect of this application provides a parking control method, comprising: acquiring a parking map; determining a backup parking area for a vehicle based on map information recorded in the parking map, wherein a first slope information of the backup parking area satisfies a safe slope condition; and when the vehicle completes parking in a target parking area, if a second slope information of the target parking area does not meet the safe slope condition, and the vehicle's electronic parking system is detected to be in a fault state, then controlling the vehicle to move to the backup parking area for parking.

[0006] A parking control device provided in a second aspect of this application includes: an acquisition unit for acquiring a parking map; a determination unit for determining a backup parking area for a vehicle based on map information recorded in the parking map, wherein a first slope information of the backup parking area satisfies a safe slope condition; and a control unit for controlling the vehicle to move to the backup parking area for parking when the vehicle completes parking in a target parking area, if the second slope information of the target parking area does not meet the safe slope condition and the vehicle's electronic parking system is detected to be in a fault state.

[0007] 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.

[0008] A fourth aspect of this application provides a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor. The vehicle is equipped with an electronic parking system and an automatic parking system. When the processor executes the computer program, it implements the steps of the parking control method described above.

[0009] 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.

[0010] 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.

[0011] In the embodiments of this application, a backup parking area for the vehicle is determined by acquiring a parking map and determining the backup parking area based on the map information recorded in the parking map. When the vehicle completes parking in the target parking area, if the second slope information of the target parking area does not meet the safe slope condition and the vehicle's electronic parking system is detected to be in a faulty state, the vehicle is controlled to move to the backup parking area where the first slope information meets the safe slope condition for parking. This allows the vehicle to be controlled to move to a lower slope position for parking when parking on a slope and the electronic parking system is in a faulty scenario, preventing the vehicle from rolling back and improving parking safety. Attached Figure Description

[0012] 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.

[0013] Figure 1 This is a schematic diagram illustrating the implementation process of a parking control method provided in an embodiment of this application;

[0014] Figure 2 This is a schematic diagram of the architecture of the automatic parking system provided in the embodiments of this application;

[0015] Figure 3This is a schematic diagram illustrating the specific implementation process of adjusting the backup parking area provided in the embodiments of this application;

[0016] Figure 4 This is a schematic diagram illustrating the specific implementation process of determining the backup parking area provided in the embodiments of this application;

[0017] Figure 5 This is a schematic diagram illustrating the specific implementation process of the output takeover prompt information provided in the embodiments of this application;

[0018] Figure 6 This is a schematic diagram of the structure of a parking control device provided in an embodiment of this application;

[0019] Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application;

[0020] Figure 8 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] The Electronic Park Brake (EPB) system automatically parks the vehicle after it has been parked. However, if the EPB malfunctions during ramp parking, the vehicle may roll back, posing a potential risk of collision with the driver or other road users, resulting in lower parking safety.

[0023] In view of this, this application proposes a parking control method that can pre-determine parking areas with lower slopes using a parking map. When the vehicle is on a slope and the electronic parking system fails, the method can control the vehicle to park in a parking area with a lower slope, thereby preventing the vehicle from rolling back and improving parking safety.

[0024] To illustrate the technical solution of this application, specific embodiments are described below.

[0025] 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.

[0026] It should be noted that, Figure 1The 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.

[0027] Specifically, the above parking control method may include the following steps S101 to S103.

[0028] Step S101: Obtain the parking map.

[0029] The parking map refers to an electronic map used for automatic vehicle parking. For example, a parking map can be a map constructed by the vehicle scanning the parking environment (such as a parking lot). For instance, the vehicle can use a SLAM (Simultaneous Localization and Mapping) algorithm to scan the environment and construct a parking map. The parking map can also be an electronic map drawn based on a design drawing of the parking environment. It should be noted that the parking map can be a raster map, a vector map, or other types of map; this application does not impose any limitations on this.

[0030] Step S102: Determine the backup parking area for the vehicle based on the map information recorded in the parking map.

[0031] In embodiments of this application, the parking map may record map information, which may include the location information of prohibitory markings (such as lane lines, parking space lines, etc.) within the parking environment, the location information of static obstacles, and the slope information of the road surface. Based on the map information, the processor can determine backup parking areas for vehicles within the parking environment from the parking map.

[0032] The backup parking area is a safe parking zone used when parking is unavailable, allowing vehicles to park safely in unexpected situations. Specifically, the first slope information of the backup parking area meets a safe slope condition. This first slope information characterizes the slope of the backup parking area; when the slope of the backup parking area is less than or equal to a slope threshold, the processor can confirm that the first slope information of the backup parking area meets the safe slope condition. The slope threshold can be set based on experience, for example, it can be set to 1%.

[0033] In some implementations, the parking map may include multiple layers, each recording different map information. For example, the parking map may include a parking line layer, a road surface layer, a static obstacle layer, etc. The processor extracts the parking line layer and the road surface layer from the parking map. Based on the parking line information in the parking line layer and the obstacle information in the obstacle layer, it can determine the areas where vehicles are allowed to park. Based on the slope information in the road surface layer, it can determine areas where the slope information meets the safe slope conditions within the areas where vehicles are allowed to park, and then at least one of these areas is used as a backup parking area.

[0034] Step S103: When the vehicle completes parking in the target parking area, if the second slope information of the target parking area does not meet the safe slope condition and the vehicle's electronic parking system is detected to be in a fault state, then the vehicle is controlled to move to the backup parking area for parking.

[0035] In the embodiments of this application, the vehicle can perform automatic parking in response to an automatic parking request triggered by a user. The target parking area is the target location for automatic parking, which can be a parking area set by the user (e.g., the user's parking space) or the nearest parking space identified by the automatic parking system from the vicinity of the vehicle.

[0036] Specifically, the aforementioned vehicles may be equipped with automatic parking systems, electronic parking systems, and powertrain systems. For example... Figure 2 As 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 complete automatic parking 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 gears. The automatic parking system can transmit monitoring signals to the power sensors to monitor the parking status and confirm whether automatic parking has been completed.

[0037] When the vehicle completes parking in the target parking area, it can detect the system status of the vehicle's electronic parking system and perform parking control based on the second slope information of the target parking area and the system status.

[0038] The second slope information represents the slope of the target parking area. The processor can obtain the second slope information through the parking map, or through sensors such as the Inertial Measurement Unit (IMU) and infrared probes.

[0039] 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.

[0040] When the slope of the target parking area exceeds the slope threshold, for example, when the slope is greater than 1%, it indicates that the vehicle is at risk of rolling back in the target parking area. In this case, it can be confirmed that the second slope information of the target parking area does not meet the safe slope condition. If, at this time, the vehicle's electronic parking system is detected to be in a faulty state, indicating that the electronic parking system is in a failure scenario and cannot lock to prevent rolling back according to the EPB request, the processor can control the vehicle to move to the backup parking area for parking, preventing the vehicle from rolling back in the target parking area.

[0041] Specifically, vehicles can plan routes based on parking maps to determine the route from the target parking area to the backup parking area, and then control the vehicle to move to the backup parking area for parking based on that route.

[0042] In the embodiments of this application, a backup parking area for the vehicle is determined by acquiring a parking map and determining the backup parking area based on the map information recorded in the parking map. When the vehicle completes parking in the target parking area, if the second slope information of the target parking area does not meet the safe slope condition and the vehicle's electronic parking system is detected to be in a faulty state, the vehicle is controlled to move to the backup parking area where the first slope information meets the safe slope condition for parking. This allows the vehicle to be controlled to move to a lower slope position for parking when parking on a slope and the electronic parking system is in a faulty scenario, preventing the vehicle from rolling back and improving parking safety.

[0043] In the embodiments of this application, the above-mentioned vehicle can perform automatic parking by using a self-built map or by using a known map.

[0044] Specifically, for vehicles using a self-built map for automatic parking, the parking map is an electronic map constructed based on information from the first sensor. This electronic map is a local map of the parking environment. The first sensor information is information pre-collected by the vehicle's sensors. These sensors, located on the vehicle, can be sensors with environmental information collection capabilities, such as lidar or cameras, and can collect information while the vehicle is moving. Based on the pre-collected first sensor information, the processor can build a self-built map and determine the vehicle's backup parking area.

[0045] Considering that vehicle sensors such as LiDAR and cameras typically have blind spots, resulting in some information gaps in the initial parking map, and that there are updates to the parking environment between the current moment and the moment the first sensor data was collected, the backup parking area determined based on the initial parking map may not be the optimal backup parking area. For example, it may be far from the target parking area, or the path cost to the backup parking area may be high. Therefore, if... Figure 3 As shown, in some embodiments, after determining the backup parking area for the vehicle based on the map information recorded in the parking map, the steps S301 to S302 may also be included.

[0046] Step S301: During the process of the vehicle moving to the target parking area, the map information of the parking map is updated based on the second sensor information collected by the vehicle sensors.

[0047] In the embodiments of this application, as the vehicle moves to the target parking area, the vehicle sensors can collect information in real time to obtain second sensor information. The second sensor information collected by vehicle sensors such as LiDAR and cameras may include new sensor information other than that from the first sensor. At this time, the processor can update the parking map information based on the second sensor information collected by the vehicle sensors.

[0048] Step S302: Adjust the backup parking area according to the updated map information.

[0049] Specifically, the updated map information may include new parking line information, new static obstacle information, and new slope information. Based on the updated map information, the processor can analyze the parking environment to determine if there are new backup parking areas. If new backup parking areas exist, they can be adjusted to become the new backup parking areas.

[0050] In some implementations, the processor can compare the new backup parking area with the original backup parking area and choose whether to adjust the backup parking area based on the comparison result.

[0051] Specifically, if the distance between the new backup parking area and the target parking area is less than the distance between the original backup parking area and the target parking area, the processor can adjust the original backup parking area to the new backup parking area. Alternatively, if the path cost from the target parking area to the new backup parking area is less than the path cost from the target parking area to the original backup parking area, the processor can adjust the original backup parking area to the new backup parking area. The path cost is related to path length, number of turns, etc.

[0052] Thus, during the automatic parking process, as the parking map is updated, the processor can continuously adjust the backup parking area. When the second slope information of the target parking area does not meet the safe slope conditions and the vehicle's electronic parking system is detected to be in a faulty state, the processor controls the vehicle to move to the adjusted backup parking area for parking.

[0053] For vehicles using known maps for automated parking, the parking map is a pre-built electronic map of the target area. The target area refers to the aforementioned parking environment, which covers the target parking area. For example, when the target parking area is a parking space in a parking lot, the target area can refer to the parking lot itself; when the target parking area is a temporary parking spot, the target area can refer to the road where the temporary parking spot is located.

[0054] For the target area, staff can typically pre-build a high-definition electronic map using design drawings or by scanning equipment. At this point, the parking map records complete information about the parking environment, and the processor can use the pre-built parking map to find backup parking areas.

[0055] Specifically, such as Figure 4 As shown, in some embodiments, determining the backup parking area for the vehicle based on map information recorded in the parking map may include the following steps S401 to S402.

[0056] Step S401: Extract the slope information of each parking area within the target area based on the map information recorded in the parking map.

[0057] Specifically, the map information recorded in the parking map can include parking space line information, static obstacle information, and slope information within the entire target area. Based on the parking space line information and static obstacle information, the processor can determine the various parking areas within the target area. A parking area is an area where vehicles are allowed to park, such as a parking space. After determining each parking area, the slope information of each parking area can be extracted.

[0058] Step S402: Parkable areas whose slope information meets the safe slope conditions are identified as backup parking areas.

[0059] Specifically, using slope information, the processor can compare the slope of each parking area with a slope threshold. If the slope is less than the slope threshold, the corresponding parking area can be confirmed to meet the safe slope condition, and the parking area whose slope information meets the safe slope condition is identified as a backup parking area. At this time, the slope information of the backup parking area is also the aforementioned first slope information.

[0060] In some implementations, when determining a backup parking area for a vehicle based on map information recorded in the parking map, the processor can select the parking area that is closest to the target parking area and whose slope information meets the safe slope conditions as the backup parking area, based on the map information recorded in the parking map.

[0061] In other implementations, when determining backup parking areas for vehicles based on map information recorded in the parking map, the processor can use the map information recorded in the parking map to select the parking area with the gentlest slope that meets the safe slope conditions as the backup parking area.

[0062] This application does not impose any restrictions on the method for determining backup parking areas.

[0063] In this way, the processor can use the known map to analyze the optimal backup parking area, and when the second slope information of the target parking area does not meet the safe slope condition and the vehicle's electronic parking system is detected to be in a faulty state, it can control the vehicle to move to the optimal backup parking area for parking.

[0064] During the process of controlling the vehicle to move to the backup parking area, the processor can further analyze the vehicle's usage scenario. Specifically, the vehicle's usage scenario can be divided into two categories: when the driver is inside the vehicle and when the driver is outside the vehicle. Since the driver can take over the vehicle to prevent it from rolling backwards, and the ease with which the driver can take over the vehicle varies in different usage scenarios, the processor can adopt different control methods in different usage scenarios.

[0065] Specifically, such as Figure 5As shown, the above-mentioned control of the vehicle to move to the backup parking area for parking may include the following steps S501 to S502.

[0066] Step S501: Detect the driver's current location.

[0067] The driver's current position can be detected by the vehicle's Driver Monitoring 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.

[0068] In step S502, if the driver's current position is outside the vehicle, the vehicle is moved to the backup parking area for parking, and a takeover prompt message is output.

[0069] 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 process, the vehicle may roll backwards because it is not fully parked. To prevent this, the processor can directly control the vehicle to move to the backup parking area and output a takeover prompt message.

[0070] Specifically, the processor can communicate instantly with the driver's mobile phone, for example, by sending a takeover prompt message to an application on the phone, or by outputting a takeover prompt message 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 vehicle's control components. These control components can refer to the steering wheel, brake pedal, etc., and the driver can trigger the 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, allowing the driver to take control of the vehicle.

[0071] After controlling the vehicle to move to the backup parking area, the processor can also control the motor to stop outputting creep torque and shift the vehicle's gear to N (neutral) or P (park) to keep the vehicle stationary in the backup parking area. After the vehicle's gear is shifted to N or P, the processor can output a takeover prompt signal again.

[0072] In this way, the vehicle can wait for the user to take over in a location where it is less likely to roll back (i.e., a backup parking area), which can improve parking safety.

[0073] In other implementations, if the driver is currently inside the vehicle, the processor can output a takeover prompt and control the vehicle to remain stationary in the target parking area.

[0074] Specifically, the processor, through the vehicle's brake controller and / or power controller, can keep the vehicle stationary within the target parking area. The brake controller's hydraulic module generates hydraulic pressure, which is transmitted through brake fluid lines to the brake assemblies of each wheel, applying a certain force to the wheels to keep the vehicle stationary within the target parking area. The power controller can calculate the required negative torque based on the second slope information and control the motor to output negative torque. When the motor outputs negative torque, it rotates in the opposite direction, providing a reverse torque to the wheels, thereby achieving the effect of keeping the vehicle stationary within the target parking area.

[0075] By recording the duration for which the vehicle remains stationary in the target parking area, if the duration exceeds a preset time threshold and the vehicle does not receive a takeover control signal triggered by the driver, the vehicle is controlled to move to a backup parking area for parking.

[0076] The duration threshold can be set according to the actual situation, for example, it can be set to 1 minute.

[0077] In other words, when the driver is inside the vehicle, they can take over the vehicle relatively quickly. The processor prioritizes outputting a takeover prompt and keeps the vehicle stationary for the driver to control. If the driver does not take over for an extended period, the vehicle will be kept in a location where it is less likely to roll back (i.e., a backup parking area) to wait for the user to take over, thereby improving parking safety.

[0078] Similarly, after controlling the vehicle to move to the backup parking area, the processor can also control the motor to stop outputting creep torque and shift the vehicle's gear to N or P to keep the vehicle stationary in the backup parking area. After the vehicle's gear is shifted to N or P, the processor can output a takeover prompt signal again.

[0079] For ease of understanding, the following diagram illustrates the vehicle parking control process:

[0080]

[0081]

[0082] In the embodiments of this application, classification control is performed based on different sources of parking maps and whether the driver is in the vehicle. In parking failure scenarios, a backup parking area is used to provide a safe parking environment for the vehicle, which can ensure the reliability of the automatic parking function and parking safety. For vehicles without redundant EPB controllers or mechanical P gears, automatic parking can also be achieved relatively safely using a single controller, thus helping to reduce vehicle costs.

[0083] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all 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.

[0084] like Figure 6 The diagram shown is a schematic diagram of a parking control device 600 provided in an embodiment of this application. The parking control device 600 is disposed on a processor.

[0085] Specifically, the parking control device 600 may include:

[0086] Acquisition unit 601 is used to acquire the parking map;

[0087] The determining unit 602 is used to determine the backup parking area of ​​the vehicle based on the map information recorded in the parking map, wherein the first slope information of the backup parking area meets the safe slope condition.

[0088] The control unit 603 is configured to, when the vehicle completes parking in the target parking area, if the second slope information of the target parking area does not meet the safe slope condition and the electronic parking system of the vehicle is detected to be in a fault state, control the vehicle to move to the backup parking area for parking.

[0089] In some embodiments of this application, the parking map is constructed based on first sensor information, which is information collected in advance by vehicle sensors. The determining unit 602 can also be used to: update the map information of the parking map based on second sensor information collected by the vehicle sensors during the process of the vehicle moving to the target parking area; and adjust the backup parking area based on the updated map information.

[0090] In some embodiments of this application, the parking map is a pre-constructed electronic map of the target area, which covers the target parking area; the determining unit 602 can be specifically used to: extract the slope information of each parking area in the target area based on the map information recorded in the parking map; and identify the parking areas whose slope information meets the safe slope conditions as the backup parking areas.

[0091] In some embodiments of this application, the determining unit 602 may be specifically used to: select the parking area that is closest to the target parking area and whose slope information meets the safe slope condition as the backup parking area based on the map information recorded in the parking map.

[0092] In some embodiments of this application, the control unit 603 may be specifically used to: detect the driver's current position; if the driver's current position is outside the vehicle, control the vehicle to move to the backup parking area for parking, and output takeover prompt information.

[0093] In some embodiments of this application, the control unit 603 may be specifically used to: if the driver's current location is inside the vehicle, output the takeover prompt information and control the vehicle to remain stationary in the target parking area; if the duration of the vehicle remaining stationary in the target parking area exceeds a preset duration threshold and the vehicle does not receive a takeover control signal triggered by the driver, control the vehicle to move to the backup parking area for parking.

[0094] In some embodiments of this application, the control unit 603 described above can be specifically used to: control the motor to stop outputting creep torque and switch the vehicle's gear to N or P to control the vehicle to remain stationary in the backup parking area.

[0095] It should be noted that, for the sake of convenience and brevity, the specific working process of the parking control device 600 described above can be found in the following reference: Figures 1 to 5 The corresponding process of the method will not be described in detail here.

[0096] like Figure 7 The diagram shown is a schematic representation of an electronic device provided in an embodiment of this application. Specifically, the electronic device 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 6 The functions of the acquisition unit 601, determination unit 602, and control unit 603 shown are illustrated.

[0097] The computer program can be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 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.

[0098] For example, the computer program can be divided into: an acquisition unit, a determination unit, and a control unit. The specific functions of each unit are as follows: the acquisition unit acquires a parking map; the determination unit determines a backup parking area for the vehicle based on map information recorded in the parking map, wherein the first slope information of the backup parking area meets the safe slope condition; the control unit, when the vehicle completes parking in the target parking area, if the second slope information of the target parking area does not meet the safe slope condition, and the vehicle's electronic parking system is detected to be malfunctioning, controls the vehicle to move to the backup parking area for parking.

[0099] The electronic device may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will understand that... Figure 7 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.

[0100] The processor 70 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.

[0101] The memory 71 can be an internal storage unit of the electronic device, such as a hard drive or RAM. The memory 71 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 71 can include both internal and external storage units. The memory 71 is used to store the computer program and other programs and data required by the electronic device. The memory 71 can also be used to temporarily store data that has been output or will be output.

[0102] 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.

[0103] 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.

[0104] like Figure 8 The diagram shown is a schematic representation of a vehicle according to an embodiment of this application. Specifically, the vehicle 8 may be equipped with the aforementioned automatic parking system and electronic parking system. The vehicle 8 may include: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as a parking control program. When the processor 80 executes the computer program 82, 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 80 executes the computer program 82, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 6 The functions of the acquisition unit 601, determination unit 602, and control unit 603 are shown. Specifically, the vehicle 8 can implement the above-mentioned automatic parking control method through an automatic parking system.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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: Get parking map; Based on the map information recorded in the parking map, a backup parking area for the vehicle is determined, and the first slope information of the backup parking area meets the safe slope condition. When the vehicle completes parking in the target parking area, if the second slope information of the target parking area does not meet the safe slope condition, and the electronic parking system of the vehicle is detected to be in a faulty state, the vehicle is controlled to move to the backup parking area for parking.

2. The parking control method as described in claim 1, characterized in that, The parking map is an electronic map constructed based on the information from the first sensor, which is information collected in advance by the vehicle's sensors. After determining the backup parking area for the vehicle based on the map information recorded in the parking map, the method further includes: During the process of the vehicle moving to the target parking area, the map information of the parking map is updated based on the second sensor information collected by the vehicle's sensors. The backup parking area was adjusted based on the updated map information.

3. The parking control method as described in claim 1, characterized in that, The parking map is a pre-built electronic map of the target area, and the target area covers the target parking area; The step of determining the backup parking area for the vehicle based on the map information recorded in the parking map includes: Based on the map information recorded in the parking map, extract the slope information of each parking area within the target area; Parking areas whose slope information meets the safe slope conditions are identified as backup parking areas.

4. The parking control method as described in claim 1, characterized in that, The step of determining the backup parking area for the vehicle based on the map information recorded in the parking map includes: Based on the map information recorded in the parking map, the parking area that is closest to the target parking area and whose slope information meets the safe slope condition is selected as the backup parking area.

5. The parking control method as described in claim 1, characterized in that, The step of controlling the vehicle to move to the backup parking area for parking includes: Detect the driver's current location; If the driver's current location is outside the vehicle, the vehicle is moved to the backup parking area for parking, and a takeover prompt message is output.

6. The parking control method as described in claim 5, characterized in that, Following the detection of the driver's current position, the method further includes: If the driver's current location is inside the vehicle, the takeover prompt message is output, and the vehicle is controlled to remain stationary in the target parking area. If the vehicle remains stationary in the target parking area for a duration exceeding a preset time threshold, and the vehicle does not receive a takeover control signal triggered by the driver, then the vehicle is controlled to move to the backup parking area for parking.

7. The parking control method according to any one of claims 1 to 6, characterized in that, After controlling the vehicle to move to the backup parking area for parking, the method further includes: The motor is controlled to stop outputting creep torque, and the vehicle's gear is switched to N or P to keep the vehicle stationary in the backup parking area.

8. A parking control device, characterized in that, include: The acquisition unit is used to acquire the parking map; The determining unit is used to determine the backup parking area of ​​the vehicle based on the map information recorded in the parking map, wherein the first slope information of the backup parking area meets the safe slope condition. The control unit is configured to, when the vehicle completes parking in the target parking area, if the second slope information of the target parking area does not meet the safe slope condition and the electronic parking system of the vehicle is detected to be in a fault state, control the vehicle to move to the backup parking area for parking.

9. An electronic device 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.

10. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the vehicle being equipped with an electronic parking system and an automatic parking system, 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.

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