Vehicle control method, device and vehicle

Abstract

A vehicle control method and device are provided. The control method includes: obtaining a first user instruction for instructing activation of the automatic parking function; controlling the automatic parking system to switch to an awake state based on the first user instruction; obtaining vehicle status information; and switching the automatic parking system state based on the vehicle status information. This method replaces the use of a physical switch to wake up the automatic parking system, reduces the difficulty of center console layout design, and prevents false triggering of the automatic parking system.

Description

Technical Field

[0001] The present application relates to the automotive field, and in particular to a vehicle control method, device, and vehicle. Background Art

[0002] With the increasing popularity of vehicles, more and more people are choosing to drive. This has led to an increase in the number of vehicles on the road and frequent traffic jams. In congested traffic environments, vehicles frequently start and stop, and drivers need to constantly control the accelerator and brake pedals, which not only increases driver fatigue but can also lead to traffic accidents due to improper operation.

[0003] To avoid this, automatic parking technology has emerged. The driver can activate the automatic parking function by pressing the brake pedal, or by pressing the automatic parking start button, thus reducing the number of parking maneuvers required by the driver. However, triggering the automatic parking function by pressing the brake pedal can cause accidental or ineffective activation, and the placement of an automatic parking start button increases the complexity of center console layout design.

[0004] Therefore, how to accurately activate the automatic parking system and reduce the difficulty of center console layout design has become an urgent problem that needs to be solved in the industry. Summary of the Invention

[0005] In view of the above problems, the embodiments of the present application provide a vehicle control method, a control device, and a vehicle, which can switch the state of the automatic parking system according to the user's instructions, cancel the layout of the start button of the automatic parking function, reduce the difficulty of the center console layout design, and at the same time ensure the reliability of the automatic parking system state switching and avoid the false triggering of the automatic parking function.

[0006] A first aspect of an embodiment of the present application provides a vehicle control method, including: obtaining a first user instruction, the first user instruction being used to instruct to turn on an automatic parking function; controlling the automatic parking system to switch to an awake state according to the first user instruction; obtaining vehicle status information; and switching the state of the automatic parking system according to the vehicle status information.

[0007] Through the above settings, the state of the automatic parking system is awakened. After the automatic parking system is awakened, the state of the automatic parking system is switched according to the vehicle status information to avoid false triggering of the automatic parking system and ensure the reliability of the automatic parking operation.

[0008] In a possible implementation, switching the state of the automatic parking system according to the vehicle state information includes: obtaining a user intention when the vehicle state information satisfies a first condition; and switching the state of the automatic parking system according to the user intention.

[0009] Through the above settings, a second confirmation of the user's intention to use the automatic parking function is achieved, further avoiding erroneous switching of the automatic parking system state; and improving the reliability of the automatic parking system function.

[0010] In one possible implementation, obtaining the user intention specifically includes: sending a first prompt message, where the first prompt message is used to prompt the user to confirm the execution of the automatic parking operation; obtaining a second user instruction in response to the first prompt message; and switching the state of the automatic parking system according to the user intention specifically includes: when the second user instruction is used to indicate confirmation of the execution of the automatic parking operation, controlling the automatic parking system to switch to an activated state.

[0011] When the second user instruction is used to instruct to turn off the automatic parking function, the automatic parking system is controlled to switch to a dormant state.

[0012] Through the above settings, users can turn off the automatic parking function at any time according to their needs, thereby improving the user experience; the automatic parking system that enters the dormant state can quickly enter the activated state the next time the user needs automatic parking, and then perform the automatic parking operation in time.

[0013] In a possible implementation, when the status information of the vehicle does not meet the first condition, the method further includes: sending a second prompt message, where the second prompt message is used to inform the user of the status information of at least one vehicle that does not meet the first condition.

[0014] Through the above settings, the user is reminded of the conditions that are not met when executing the automatic parking operation, thereby improving the user experience and ensuring the reliability of the automatic parking operation.

[0015] In one possible implementation, the first condition includes at least one of the following: brake pedal travel is greater than a first threshold, brake pedal force is greater than a second threshold, brake system pressure is greater than a third threshold, vehicle speed is 0, and accelerator pedal travel is 0, accelerator pedal force is 0.

[0016] Through the above settings, the automatic parking operation meets the conditions required for automatic parking, thereby improving the reliability of the automatic parking function.

[0017] In a possible implementation, the first condition further includes at least one of the following: the automatic parking system has no faults, the vehicle door is in a closed state, and the user's seat belt is fastened.

[0018] Among them, whether the seat belt is worn can be identified through audio and video information. For example, the user's image information can be obtained through a camera, and the image information can be identified using image recognition and other methods to eliminate the influence of false seat belt buckles.

[0019] Through the above settings, the automatic parking operation meets safety requirements and improves user safety.

[0020] In one possible implementation, the electronic parking system is turned on when the vehicle status information meets a second condition; wherein the second condition includes at least one of the following: the user's seat belt is unfastened, at least one vehicle door is open, the automatic parking system working time exceeds a fourth threshold, and the user leaves the vehicle.

[0021] In one possible implementation, the method further includes: controlling the automatic parking system to switch to a dormant state according to a third user instruction or when the vehicle status information satisfies a third condition;

[0022] Among them, the third user instruction is used to instruct to turn off the automatic parking function; the third condition includes at least one of the following: the accelerator pedal travel is not 0, the accelerator pedal force is not 0, the gear is the parking gear, and the electronic parking system is turned on.

[0023] Through the above settings, the automatic parking system can switch states according to user instructions, improving the user experience; switching states through the third condition can ensure driving safety.

[0024] The user instruction is at least one of the following: a user's voice instruction, a user's operation instruction on the touch screen, and a user's gesture instruction.

[0025] Through the above settings, the automatic parking function is started or exited instead of using a physical switch, which reduces the difficulty of center console layout design.

[0026] According to a second aspect of an embodiment of the present application, a vehicle control device includes: a transceiver unit configured to obtain a first user instruction, the first user instruction being configured to instruct activation of an automatic parking function; a control unit configured to control the automatic parking system to switch to an awake state according to the first user instruction; and the transceiver unit further configured to obtain vehicle status information.

[0027] The control unit is also used to switch the state of the automatic parking system according to the vehicle status information.

[0028] In a possible implementation, the control unit is specifically configured to: obtain a user intention when the vehicle status information satisfies a first condition; and switch the status of the automatic parking system according to the user intention.

[0029] In one possible implementation, the control unit is specifically used to: send a first prompt message, where the first prompt message is used to prompt the user to confirm the execution of the automatic parking operation; obtain a second user instruction in response to the first prompt message; and the control unit is specifically used to: when the second user instruction is used to indicate confirmation of the execution of the automatic parking operation, control the automatic parking system to switch to an activated state.

[0030] In a possible implementation, the control unit is further configured to control the automatic parking system to switch to a dormant state when the second user instruction is used to instruct to turn off the automatic parking function.

[0031] In a possible implementation, the transceiver unit is further configured to send a second prompt message when the vehicle status information does not meet the first condition, and the second prompt message is configured to inform the user of the status information of at least one vehicle that does not meet the first condition.

[0032] In one possible implementation, the first condition includes at least one of the following: brake pedal travel is greater than a first threshold, brake pedal force is greater than a second threshold, brake system pressure is greater than a third threshold, vehicle speed is 0, and accelerator pedal travel is 0, accelerator pedal force is 0.

[0033] In a possible implementation, the first condition further includes at least one of the following: the automatic parking system has no faults, the vehicle door is in a closed state, and the user's seat belt is fastened.

[0034] In one possible implementation, the control unit is further used to activate the electronic parking system when the vehicle status information meets a second condition; wherein the second condition includes at least one of the following: the user's seat belt is unfastened, at least one door is open, the automatic parking system working time exceeds a fourth threshold, and the user leaves the vehicle.

[0035] In one possible implementation, the control unit is further used to control the automatic parking system to switch to a sleep state according to a third user instruction, or when the vehicle status information meets a third condition; wherein the third user instruction is used to indicate that the automatic parking function is turned off; the third condition includes at least one of the following: the accelerator pedal travel is not 0, the accelerator pedal force is not 0, the gear is in the parking gear, and the electronic parking system is turned on.

[0036] In a possible implementation, the user instruction is at least one of the following: a user's voice instruction, a user's operation instruction on the touch screen, and a user's gesture instruction.

[0037] The technical effects brought about by the control device provided in the second aspect of the embodiment of the present application and its possible implementation methods are the same as the technical effects brought about by the control method provided in the first aspect of the embodiment of the present application and its possible implementation methods. For the sake of brevity, they will not be repeated here.

[0038] According to a third aspect of an embodiment of the present application, an electronic device is provided, including a memory and a processor, wherein the memory stores executable code, and the processor executes the executable code to implement the control method provided by the first aspect of the embodiment of the present application and its possible implementation methods.

[0039] The fourth aspect of the embodiments of the present application provides a computer-readable storage medium having program instructions stored thereon. When the program instructions are executed by a computer, the computer executes the control method provided by the first aspect of the embodiments of the present application and its possible implementation methods.

[0040] The fifth aspect of the embodiments of the present application provides a computer program product, which, when run on a computing device, enables the computing device to execute the control method provided by the first aspect of the embodiments of the present application and its possible implementation methods.

[0041] According to a sixth aspect of an embodiment of the present application, a vehicle is provided, comprising the device provided by the second aspect of the embodiment of the present application and its possible implementation.

[0042] These and other aspects of the present application will become more apparent from the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The following further illustrates the various features of the present invention and the relationships between the various features with reference to the accompanying drawings. The accompanying drawings are all exemplary, and some features are not shown in actual proportion. In addition, some drawings may omit features that are customary in the field to which this application relates and are not necessary for this application, or additional features that are not necessary for this application may be shown. The combination of the various features shown in the accompanying drawings is not intended to limit this application. In addition, throughout this specification, the same reference numerals refer to the same content. The specific description of the drawings is as follows:

[0044] Figure 1 This is a schematic diagram of an application scenario of the vehicle control method provided in an embodiment of the present application;

[0045] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0046] Figure 3 This is a flowchart of a specific implementation of the vehicle control method provided in an embodiment of the present application;

[0047] Figure 4 is a module schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0048] Figure 5 This is a module diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0050] In the following description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the steps can be interchanged or they can be executed simultaneously.

[0051] The term "comprising" as used in the specification and claims should not be construed as limiting to what is listed thereafter; it does not exclude other elements or steps. Thus, it should be interpreted as specifying the presence of the features, integers, steps, or components mentioned, but not excluding the presence or addition of one or more other features, integers, steps, or components, or groups thereof. Thus, the expression "a device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0052] References in this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "in one embodiment" or "in an embodiment" throughout this specification do not necessarily refer to the same embodiment, but may do so. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0053] Automatic Vehicle Hold (AVH): When the automatic hold function is activated, sensors installed on the vehicle determine the vehicle's tilt and wheel torque, and then calculate the parking force required to park the vehicle. When the user steps on the accelerator, the driving force to propel the vehicle is calculated based on the information provided by the sensors. When the driving force is greater than the parking force, the automatic hold function is disengaged, allowing the vehicle to start smoothly. After the automatic hold function is enabled, there is no need to brake for a long time when the vehicle is stationary. The automatic hold function can prevent the vehicle from rolling on various road surfaces when it is stationary, keeping the vehicle in a safe and stationary state.

[0054] The Electronic Stability Control System (ESC), also known as the Electronic Stability Program (ESP), Vehicle Stability Control (VSC), Vehicle Stability Assist (VSA), or Dynamic Stability Control (DSC), is a vehicle anti-skid control system that can control both the driving and driven wheels. It typically includes a control unit, sensors (e.g., a steering sensor that monitors the steering wheel angle, wheel sensors that monitor the speed of each wheel, side slip sensors that monitor vehicle rotation about a vertical axis, lateral acceleration sensors that monitor centrifugal force during cornering, accelerator pedal sensors that monitor accelerator pedal depression, and brake pedal sensors that monitor brake pedal depression), and actuators (e.g., wheel braking systems). The control unit determines the deviation of the vehicle's trajectory from a preset trajectory based on sensor information. If the deviation is too large, it controls the wheel braking system to apply brakes to reduce the deviation.

[0055] Integrated Brake System (IBS): It can include sensors, power-assist motors, control units and hydraulic units. The control unit calculates the size of the brake assist based on the information obtained by the sensors and sends an execution signal to the power-assist motor. The power-assist motor connects the push rod and the brake hydraulic pump through a gear rack structure and provides additional torque to the brake hydraulic pump to achieve the assist effect. It can realize the vehicle's ABS / ESC / AVH and other braking functions.

[0056] Electronic Parking Brake (EPB): It can include a control unit, sensors, and a wheel braking system. The control unit can calculate the slope of the plane on which the vehicle is located based on the data obtained by the longitudinal acceleration sensor, thereby calculating the downward force generated by the gravity on the vehicle on the slope, and sending an execution signal to the motor to control the motor to apply braking force to the rear wheels to balance the downward force, so that the vehicle can stop on the slope. When the vehicle starts to move upward on a slope, the control unit can calculate the braking force required to keep the vehicle on the slope through the data obtained from the displacement sensor on the clutch pedal and the throttle sensor on the accelerator pedal. At the same time, the control unit communicates with the engine computer through the high-speed vehicle bus to obtain the size of the engine traction, and reduces the braking force according to the increase in the engine traction. When the traction is sufficient to overcome the downward force, the control unit controls the motor to release the brake, thereby achieving a smooth start of the vehicle.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of this application. In the event of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit this application.

[0058] like Figure 1 As shown, the vehicle control method and control device provided by the embodiments of the present application can be applied in scenarios where traffic is congested and the vehicle needs to be frequently started and stopped, especially on congested roads with slopes. In these scenarios, the vehicle control method provided by the embodiments of the present application eliminates the need for the driver to frequently operate the accelerator and brake pedals, simplifying driver operations.

[0059] Below, refer to Figure 2 The vehicle control method provided in the embodiment of the present application is described.

[0060] The vehicle control method in the embodiments of the present application can be executed by a terminal, such as a vehicle, or by an electronic device used in the vehicle's ESC, IBS, EPB, etc., such as an electronic control unit (ECU), a system chip, and a general-purpose chip. The ECU can obtain and process data collected by a microphone or sensors (such as a brake pedal travel sensor or brake pedal force sensor, a brake pressure sensor, a wheel speed sensor, and an accelerator pedal position sensor), output corresponding control signals to the wheel braking system, and thereby control the execution of the automatic parking operation.

[0061] Figure 2A flow chart of a vehicle control method provided by an embodiment of the present application is shown. Figure 2 As shown, the vehicle control method provided in the embodiment of the present application may include the following steps:

[0062] Step S100: Obtain a first user instruction.

[0063] The first user command is used to activate the automatic parking function. The automatic parking function is a function in which the automatic parking system automatically performs the parking operation without the driver performing a braking operation or activating the electronic parking brake. This function can prevent the vehicle from sliding and ensure a smooth start when the driver intends to actuate the vehicle to move. The automatic parking system may include: brake system-related components such as the master cylinder, wheel cylinders, brake lines, booster, actuators (disc brakes, drum brakes), etc., as well as sensors (such as an IMU-side accelerometer that calculates slope based on acceleration, or a slope sensor), and a controller (domain controller, ECU, MCU, etc.). The controller can calculate the parking force required to perform the parking operation based on the data provided by the sensors and control the braking system to output the corresponding braking force. When the user steps on the accelerator, the driving force to propel the vehicle is calculated based on the data provided by the sensors. When the driving force exceeds the parking force, the automatic parking function is disabled, allowing the vehicle to start smoothly.

[0064] In some embodiments, the user instruction may include at least one of the following: a voice instruction, an operation instruction of the user on the touch screen, a gesture instruction of the user, etc.

[0065] The user's first user command can be stored. When the user repeatedly sends the first user command, a prompt message is sent to remind the user that the first user command has been sent. The prompt message can be, for example, one or more of the following: voice message, text message on the central control screen, image message on the central control screen, etc.

[0066] Step S200: According to the first user instruction, the automatic parking system is controlled to switch to the awake state.

[0067] Among them, if the first user instruction is not obtained, the automatic parking system can be in a dormant state, and the controller of the automatic parking system is in a low power consumption state, and it cannot perform relevant calculations and operations of automatic parking. Only the wake-up circuit or wake-up chip of the controller is in an operating state.

[0068] Step S300: Obtain vehicle status information.

[0069] In some embodiments, the status information may include one or more of the following: brake pedal travel information, brake pedal pressure information, brake system pressure information, vehicle speed information, accelerator pedal travel information, accelerator pedal force information, etc.

[0070] In some embodiments, the status information may further include one or more of the following: information on whether the automatic parking system has faults, door opening and closing information, and seat belt wearing information.

[0071] Step S400: Switch the state of the automatic parking system according to the vehicle status information.

[0072] The state of the automatic parking system may include at least one of the following: a dormant state, a wake-up state, an enabled state, and an activated state.

[0073] In the sleep state, the controller of the automatic parking system is in a low power consumption state and cannot perform relevant calculations and operations of the automatic parking. Only the wake-up circuit or wake-up chip of the controller is in an operating state.

[0074] In the wake-up state, the controller of the automatic parking system is powered on under the control of the wake-up circuit or the wake-up chip, but has not yet obtained status information that meets the first condition;

[0075] In the enabled state, the controller of the automatic parking system is in a powered-on state and has obtained status information that meets the first condition, but has not yet obtained a user's instruction for confirming the execution of the automatic parking operation;

[0076] In the activated state, the controller of the automatic parking system is in a powered-on state, and obtains an instruction for confirming the execution of the automatic parking operation, and starts to perform relevant calculations and operations of the automatic parking.

[0077] Among them, in step S1, since the user's first user instruction can be stored, when the user repeatedly sends the first user instruction, the prompt information sent can also remind the user of the current status of the automatic parking system. For example, after the user repeatedly sends the first user instruction, but before obtaining the user's instruction for indicating confirmation to execute the automatic parking operation, the user is reminded that the automatic parking system is in an enabled state.

[0078] In some embodiments, step S400 may specifically include: when the vehicle status information satisfies a first condition, obtaining the user intention; and switching the status of the automatic parking system according to the user intention.

[0079] Among them, in some embodiments, the first condition may include: at least one of the brake pedal travel is greater than a first threshold, the brake pedal force is greater than a second threshold, the braking system pressure is greater than a third threshold, the vehicle speed is 0, and at least one of the accelerator pedal travel is 0 and the accelerator pedal force is 0.

[0080] In some embodiments, the first condition further includes at least one of the following: the automatic parking system is not faulty, the vehicle door is closed, and the user's seat belt is fastened.

[0081] Among them, whether the seat belt is worn can be identified through audio and video information. For example, the user's image information can be obtained through a camera, and the image information can be identified using image recognition and other methods to eliminate the influence of false seat belt buckles.

[0082] In some embodiments, the user's intent may include switching the automatic parking system to one of the following: sleep, wake, enable, or activate. For example, the user may toggle the automatic parking system state by issuing a voice command, using a gesture, or operating the central control screen.

[0083] In some embodiments, obtaining the user's intention may specifically include: sending a first prompt message, the first prompt message is used to prompt the user to confirm the execution of the automatic parking operation; obtaining a second user instruction in response to the first prompt message; switching the state of the automatic parking system according to the user's intention, specifically including: when the second user instruction is used to indicate confirmation of the execution of the automatic parking operation, controlling the automatic parking system to switch to an activated state.

[0084] Among them, the first prompt information may include at least one of the following: voice prompts (for example, "Please confirm whether to turn on automatic parking", "Do you want to turn on automatic parking?" or "Start parking will be turned on, please confirm", etc.), sound prompts, light prompts, central control screen display prompts, vibration prompts of the vehicle or vehicle seat, etc., and this application does not impose any restrictions on this; the second user instructions may include: voice instructions (for example: "Okay", "OK", "Confirm", "Yes", "Please execute automatic parking", "Please turn on automatic parking" and "Please turn on automatic parking", etc.), operation instructions for the central control screen, gesture instructions, etc., and this application does not impose any restrictions on this.

[0085] In some embodiments, when the second user instruction is used to instruct to turn off the automatic parking function, the automatic parking system is controlled to switch to a dormant state.

[0086] The second user instruction may include at least one of the following: a voice instruction, an operation instruction of the user on the touch screen, a gesture instruction of the user, etc.

[0087] In some embodiments, when the status information of the vehicle does not meet the first condition, the method further includes: sending a second prompt message, where the second prompt message is used to inform the user of the status information of at least one vehicle that does not meet the first condition.

[0088] Among them, the second prompt message can be at least one of the following: voice information (for example, when the wheel speed is not 0, the second prompt message can be: "The vehicle has not stopped, please stop the vehicle"; when the accelerator is not released, the second prompt message can be: "Please release the accelerator"; when the seat belt is not fastened, the second prompt message can be: "Please fasten your seat belt"), central control screen prompt information (for example: text or pictures are displayed on the central control screen for prompts).

[0089] In some embodiments, the electronic parking system is turned on when the vehicle status information meets a second condition; wherein the second condition includes at least one of the following: the user's seat belt is unfastened, at least one door is open, the automatic parking system working time exceeds a fourth threshold, and the user leaves the vehicle.

[0090] The electronic parking system may include a control unit, sensors (e.g., a longitudinal acceleration sensor, an accelerator pedal travel sensor, a clutch displacement sensor, etc.), and a wheel brake system (e.g., including a motor, brake caliper, and brake housing). The control unit can calculate the slope of the vehicle's surface based on data from the longitudinal acceleration sensor, thereby determining the downward force generated by gravity on the vehicle on the slope. The control unit then sends an execution signal to the motor of the wheel brake system, controlling the motor to apply a corresponding braking force to the rear wheels to balance the downward force, thereby allowing the vehicle to stop on the slope. When the vehicle starts moving upward on a slope, the control unit uses data from the clutch pedal displacement sensor and the accelerator pedal sensor to calculate the braking force required to maintain the vehicle on the slope. Simultaneously, the control unit communicates with the engine computer via a high-speed vehicle bus to obtain engine traction. The control unit reduces the braking force as the engine traction increases. When traction is sufficient to overcome the downward force, the control unit controls the motor to release the brakes, thereby enabling a smooth vehicle start.

[0091] When the automatic parking system works for more than a certain time, such as 10 minutes, the electronic parking system takes over and the mechanical brake replaces the hydraulic brake to ensure safe parking for a long time.

[0092] In some embodiments, it also includes: according to a third user instruction, or when the vehicle status information meets a third condition, controlling the automatic parking system to switch to a sleep state; wherein the third user instruction is used to indicate to turn off the automatic parking function; the third condition includes at least one of the following: the accelerator pedal travel is not 0, the accelerator pedal force is not 0, the gear is in the parking gear, and the electronic parking system is turned on.

[0093] In some embodiments, when the automatic parking system is powered off and then back on, a third prompt message may be displayed to the user based on the automatic parking system status stored at the time of power off, prompting the user to issue the first user command to wake up the automatic parking system. For example, if a vehicle unexpectedly loses power during an automatic parking operation, a third prompt message may be displayed to the user upon restarting the vehicle, prompting the user to wake up the automatic parking system.

[0094] Figure 3 A flowchart showing a specific implementation of the vehicle control method provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the control method of the vehicle provided in the embodiment of the present application may include the following steps:

[0095] Step S1: Obtain the user's voice parking instruction.

[0096] The user's voice parking command can be captured by an onboard microphone or microphone array. The microphone is used to convert sound signals into electrical signals, for example, converting a voice parking command into an electrical signal. When sending a voice message, the user can speak through their mouth to input the sound signal into the microphone. In addition to collecting sound signals, noise reduction can also be implemented. Voice parking commands can include, for example, "Please turn on the automatic parking function," "Please park automatically," "Turn on automatic parking," and "Turn on automatic parking."

[0097] Step S2: Determine whether the user's voice parking instruction is true.

[0098] In some embodiments, whether the user's voice parking instruction is true can be determined through voice recognition or a natural language processing model. The natural language processing model can be a natural language processing model based on deep learning, and this embodiment does not impose any specific restrictions on the natural language processing model.

[0099] When the voice parking command is true, step S3 is executed: waking up the automatic parking system.

[0100] Among them, when the automatic parking operation is not performed, the automatic parking system can be in a dormant state. When the automatic parking system is in a dormant state, only the processing circuit or chip with lower power consumption (for example, SBC chip or SOC chip) of the automatic parking control circuit board is in a working state, and other functional chips (for example, MCU) are powered off and stop running. When the voice parking command is true, the automatic parking system is awakened, and the power chip of the automatic parking control circuit board starts to supply power to other functional chips inside the system. At this time, the automatic parking system is in an awakened state.

[0101] When the voice parking command is false, execute steps S2.1-S2.3.

[0102] Step S2.1: Issue a parking command prompt message.

[0103] The parking command prompt information is used to prompt the user whether the voice parking command is true. For example, the message can be: "Try, please turn on the automatic parking function" or "Try, please automatically park."

[0104] Step S2.2: Obtain the voice parking command again as soon as possible.

[0105] When the voice parking command is received within the first time, step S2.3 is executed: determining whether the voice parking command is true. When the voice parking command is not received within the first time, the automatic parking system remains in the dormant state.

[0106] In step S2.3, the method for determining whether the voice parking command is true is the same as that in step S2 and will not be repeated here.

[0107] When the voice command is true, step S3 is executed: waking up the automatic parking system.

[0108] When the voice command is false, the automatic parking system remains in a dormant state.

[0109] Step S4: Obtain an enabling condition signal.

[0110] The enabling condition signal is used to determine the safety conditions required to perform the automatic parking operation. In some embodiments, the enabling condition signal may include: a door opening and closing signal, a seat belt wearing signal, and an automatic parking system status signal.

[0111] Step S5: Determine whether the enabling condition signal satisfies a first preset condition.

[0112] The first preset condition may include: the vehicle door is closed, the seat belt is fastened, and the automatic parking system has no faults.

[0113] When the enabling condition does not meet the first preset condition, steps S5.1 to S5.3 are executed.

[0114] Step S5.1: Sending enabling condition prompt information.

[0115] The enabling condition prompt message is used to inform the user that the first preset condition has not been met. For example, if the car door is not closed, the enabling condition prompt message may be: "Please close the car door" or "The car door is not closed"; if the seat belt is not fastened, the enabling condition prompt message may be: "Seat belt is not fastened" or "Please fasten the seat belt."

[0116] Step S5.2: Obtain the enable condition signal again.

[0117] The enabling condition signal corresponding to the unsatisfied first preset condition may be obtained, for example, when the door is not closed, only the door signal may be obtained. Alternatively, all enabling condition signals may be obtained.

[0118] In step S5.3, it is determined whether the enabling condition signal satisfies a first preset condition.

[0119] When the enabling condition signal does not meet the first preset condition, the automatic parking system is controlled to enter a dormant state.

[0120] When the enabling condition signal satisfies the first preset condition, step S6 is executed: obtaining a braking condition signal.

[0121] The braking condition signal may include: a brake pedal signal, a brake system pressure signal, a vehicle speed signal, and an accelerator pedal signal.

[0122] In some embodiments, the brake pedal signal can be obtained through a brake pedal travel sensor or a brake pedal force sensor; the brake pressure signal can be obtained through a brake pressure sensor; the vehicle speed signal can be obtained through a wheel speed sensor; and the accelerator pedal signal can be obtained through an accelerator pedal position sensor.

[0123] Step S7: Determine whether the braking condition signal meets a second preset condition.

[0124] Among them, the second preset condition may include: at least one of the brake pedal stroke is greater than the first threshold, the brake pedal force is greater than the second threshold, the brake system pressure is greater than the third threshold, the vehicle speed is 0, and at least one of the accelerator pedal stroke is 0 and the accelerator pedal force is 0.

[0125] When it is determined that the braking condition signal does not meet the second preset condition, steps S7.1-S7.3 are executed.

[0126] Step S7.1: Issue a braking condition prompt message.

[0127] The braking condition prompt information is used to prompt the user that the second preset condition has not been met. For example, the braking condition prompt information may include: "Brake pedal not depressed", "Insufficient hydraulic brake pressure", "Please stop the vehicle", or "Please release the accelerator".

[0128] Step S7.2: Obtain the braking condition signal again.

[0129] The braking condition signal corresponding to the unsatisfied second preset condition may be obtained, for example, when the brake pedal is not depressed, only the brake pedal signal may be obtained. Alternatively, all braking condition signals may be obtained.

[0130] In step S7.3, it is determined whether the braking condition signal meets a second preset condition.

[0131] When the braking condition signal does not meet the second preset condition, the automatic parking system is controlled to enter a dormant state.

[0132] It should be noted that the braking condition signal and the enabling condition signal are also referred to as vehicle status information in this application, and the first preset condition and the second preset condition are also referred to as the first condition and the second condition respectively in this application.

[0133] When the braking condition signal satisfies the second preset condition, step S8 is executed: a first prompt message is issued, the first prompt message is used to prompt the user to confirm the execution of the automatic parking operation;

[0134] The first prompt information may include: "Please confirm automatic braking and parking", "Do you want to perform automatic parking operation?" or "Automatic parking is ready, please confirm", etc.

[0135] Step S9: Obtain voice confirmation instruction.

[0136] Among them, the voice confirmation instructions may include: "OK", "OK", "Confirm", "Please execute", "Please turn on", "Please turn on", "OK, please park automatically", "OK, please park automatically", "Confirm, park automatically", etc.

[0137] Step S10: Determine whether the user's voice confirmation instruction is true.

[0138] In some embodiments, the method for determining whether the voice confirmation instruction is true is the same as that in step S2 and will not be repeated here.

[0139] The voice confirmation command may be, for example: "OK", "Confirm", "Please execute", "Please turn on", "Please open", etc.

[0140] When the user's voice confirmation instruction is true, step S11 is executed: the automatic parking operation is executed.

[0141] When the user's voice confirmation command is false, the automatic parking system is controlled to enter a dormant state.

[0142] In some embodiments, during the execution of the automatic parking operation, step S12 is further included: obtaining a voice exit instruction, obtaining an enabling condition signal, or obtaining a braking condition signal.

[0143] Step S13: Determine whether the voice exit instruction is true, whether the enabling condition signal satisfies a first preset condition, or whether the braking condition signal satisfies a second preset condition.

[0144] When the voice exit command is true, the enabling condition signal does not meet the first preset condition, or the braking condition signal does not meet the second preset condition, step S14 is executed: controlling the automatic parking system to exit the automatic parking operation and enter a dormant state.

[0145] For example, when a user issues the command "Please exit the automatic parking operation," the automatic parking system is controlled to enter a dormant state. For another example, when the enabling condition signal does not meet a first preset condition or the braking condition signal does not meet a second preset condition, that is, when at least one of the following signals is obtained: a vehicle door open signal, a seat belt unfastened signal, an automatic parking system power shortage signal (for example, the voltage of the automatic parking system may be lower than a preset voltage), a brake pedal travel less than a first travel, a hydraulic brake pressure less than a first pressure, a vehicle speed greater than 0, and an accelerator pedal travel greater than 0, the automatic parking system is controlled to enter a dormant state.

[0146] In some embodiments, during the execution of the automatic parking operation, when the voice exit command is true, the enabling condition signal does not meet the first preset condition or the braking condition signal does not meet the second preset condition, the automatic parking system can also be controlled to exit the automatic parking operation but maintain the awake state, and be used to send a parking reminder message to the user the next time the enabling condition signal meets the first preset condition and the braking condition signal meets the second preset condition, prompting the user whether the automatic parking function needs to be started, and after the user confirms, the automatic parking operation is performed again.

[0147] Figure 4 A module schematic diagram of a control device for an automatic parking system provided in an embodiment of the present application is shown, including: a transceiver unit 1000 and a control unit 2000.

[0148] The transceiver unit 1000 is used to obtain a first user instruction, which is used to instruct to turn on the automatic parking function; the control unit 2000 is used to control the automatic parking system to switch to an awake state according to the first user instruction; the transceiver unit 1000 is also used to obtain vehicle status information; the control unit 2000 is also used to switch the state of the automatic parking system according to the vehicle status information.

[0149] In some embodiments, the control unit 2000 is specifically used to: obtain the user intention when the vehicle status information meets the first condition; and switch the status of the automatic parking system according to the user intention.

[0150] In some embodiments, the control unit 2000 is specifically used to: send a first prompt message, the first prompt message is used to prompt the user to confirm the execution of the automatic parking operation; obtain a second user instruction in response to the first prompt message; the control unit 2000 is specifically used to: when the second user instruction is used to indicate confirmation of the execution of the automatic parking operation, control the automatic parking system to switch to an activated state.

[0151] In some embodiments, the control unit 2000 is further configured to control the automatic parking system to switch to a dormant state when the second user instruction is used to instruct to turn off the automatic parking function.

[0152] In some embodiments, the transceiver unit 1000 is further used to send a second prompt message when the status information of the vehicle does not meet the first condition, and the second prompt message is used to inform the user of the status information of at least one vehicle that does not meet the first condition.

[0153] In some embodiments, the first condition includes: at least one of a brake pedal travel greater than a first threshold, a brake pedal force greater than a second threshold, a brake system pressure greater than a third threshold, a vehicle speed of 0, and an accelerator pedal travel of 0 and an accelerator pedal force of 0.

[0154] In some embodiments, the first condition further includes at least one of the following: the automatic parking system is not faulty, the vehicle door is closed, and the user's seat belt is fastened.

[0155] In some embodiments, the control unit 2000 is also used to activate the electronic parking system when the vehicle status information meets a second condition; wherein the second condition includes at least one of the following: the user's seat belt is unbuckled, at least one door is open, the automatic parking system working time exceeds a fourth threshold, and the user leaves the vehicle.

[0156] In some embodiments, the control unit 2000 is also used to control the automatic parking system to switch to a sleep state according to a third user instruction, or when the vehicle status information meets a third condition; wherein the third user instruction is used to indicate that the automatic parking function is turned off; the third condition includes at least one of the following: the accelerator pedal travel is not 0, the accelerator pedal force is not 0, the gear is in the parking gear, and the electronic parking system is turned on.

[0157] In some embodiments, the user instruction is at least one of the following: a user's voice instruction, a user's operation instruction on the touch screen, and a user's gesture instruction.

[0158] Each of the above modules, namely the transceiver unit 1000 and the control unit 2000, is used to execute the relevant steps of the above method. For example, the transceiver unit 1000 is used to execute the relevant contents of step S100, step S300, step S1, step S2.1, etc.; the control unit 2000 is used to execute the relevant contents of step S200, step S400, etc.

[0159] In this embodiment, the control device of the automatic parking system is presented in the form of a unit. The "unit" here can refer to an application-specific integrated circuit (ASIC), a processor and memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions. In addition, the above transceiver unit 1000 and control unit 2000 can be Figure 5 The processor 1510 of the computing device is shown as being implemented.

[0160] Figure 5 15 is a schematic structural diagram of a computing device 1500 provided in an embodiment of the present application. The computing device 1500 includes: a processor 1510 and a memory 1520.

[0161] The processor 1510 may be connected to a memory 1520. The memory 1520 may be used to store the program code and data. Therefore, the memory 1520 may be a storage unit within the processor 1510, an external storage unit independent of the processor 1510, or a component including both a storage unit within the processor 1510 and an external storage unit independent of the processor 1510.

[0162] Optionally, the computing device 1500 may further include a bus. The memory 1520 and the communication interface may be connected to the processor 1510 via a bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, for example. Buses may be classified as address buses, data buses, control buses, and the like. It should be understood that in the embodiments of the present application, the processor 1510 may employ a central processing unit (CPU). The processor may also be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, for example. Alternatively, the processor 1510 may employ one or more integrated circuits for executing relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0163] The memory 1520 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1510. A portion of the processor 1510 may also include a non-volatile random access memory. For example, the processor 1510 may also store information about the device type.

[0164] When the computing device 1500 is running, the processor 1510 executes the computer-executable instructions in the memory 1520 to perform the operating steps of the above method.

[0165] It should be understood that the computing device 1500 according to the embodiment of the present application can correspond to the corresponding subject in executing the method according to each embodiment of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 1500 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0166] Those skilled in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0167] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0168] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0170] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0171] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0172] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it is used to execute a vehicle control method, which includes at least one of the solutions described in the above embodiments.

[0173] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media.Computer-readable media can be computer-readable signal media or computer-readable storage media.Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof.More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connection with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination thereof.In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0174] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0175] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0176] The computer program code for performing the operations of the present application can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0177] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present application has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Obtaining a first user instruction, where the first user instruction is used to instruct to activate an automatic parking function; According to the first user instruction, controlling the automatic parking system to switch to the awake state; Obtaining status information of the vehicle; Switching the state of the automatic parking system according to the vehicle state information includes: when the vehicle state information satisfies a first condition, obtaining a user intention, wherein obtaining the user intention specifically includes: sending a first prompt message, the first prompt message being used to prompt the user to confirm execution of the automatic parking operation; obtaining a second user instruction in response to the first prompt message; Switching the state of the automatic parking system according to the user intention includes: when the second user instruction is used to indicate confirmation of executing the automatic parking operation, controlling the automatic parking system to switch to an active state.

2. The method according to claim 1, characterized in that When the second user instruction is used to instruct to turn off the automatic parking function, the automatic parking system is controlled to switch to a dormant state.

3. The method according to claim 1 or 2, characterized in that When the status information of the vehicle does not meet the first condition, the method further includes: A second prompt message is sent, where the second prompt message is used to inform the user of status information of at least one of the vehicles that does not meet the first condition.

4. The method according to claim 1 or 2, characterized in that The first condition includes: at least one of the following: brake pedal travel is greater than a first threshold, brake pedal force is greater than a second threshold, brake system pressure is greater than a third threshold, vehicle speed is 0, accelerator pedal travel is 0, accelerator pedal force is 0.

5. The method according to claim 1 or 2, characterized in that The first condition also includes at least one of the following: the automatic parking system has no faults, the vehicle door is closed, and the user's seat belt is fastened.

6. The method according to claim 1 or 2, characterized in that When the status information of the vehicle meets a second condition, turning on the electronic parking system; The second condition includes at least one of the following: the user's seat belt is unfastened, at least one vehicle door is open, the automatic parking system operating time exceeds a fourth threshold, and the user leaves the vehicle.

7. The method according to claim 1 or 2, characterized in that The method further includes: controlling the automatic parking system to switch to a dormant state according to a third user instruction or when the status information of the vehicle satisfies a third condition; Among them, the third user instruction is used to instruct to turn off the automatic parking function; the third condition includes at least one of the following: the accelerator pedal travel is not 0, the accelerator pedal force is not 0, the gear is the parking gear, and the electronic parking system is turned on.

8. The method according to claim 1 or 2, characterized in that The user instruction is at least one of the following: a voice instruction of the user, an operation instruction of the user on the touch screen, and a gesture instruction of the user.

9. A vehicle control device, characterized in that: include: a transceiver unit, configured to obtain a first user instruction, wherein the first user instruction is used to instruct to activate the automatic parking function; a control unit, configured to control the automatic parking system to switch to a wake-up state according to the first user instruction; The transceiver unit is further used to obtain status information of the vehicle; The control unit is further configured to switch the state of the automatic parking system according to the state information of the vehicle; The control unit is specifically configured to: obtain a user intention when the vehicle status information satisfies a first condition; and switch the state of the automatic parking system according to the user intention; The control unit is specifically configured to: send a first prompt message, the first prompt message being used to prompt a user to confirm the execution of an automatic parking operation; and obtain a second user instruction in response to the first prompt message. The control unit is specifically configured to control the automatic parking system to switch to an active state when the second user instruction is used to indicate confirmation of executing the automatic parking operation.

10. The device according to claim 9, characterized in that The control unit is further configured to control the automatic parking system to switch to a dormant state when the second user instruction is used to instruct to turn off the automatic parking function.

11. The device according to claim 9 or 10, characterized in that The transceiver unit is further configured to, when the vehicle status information does not meet the first condition, A second prompt message is sent, where the second prompt message is used to inform the user of status information of at least one of the vehicles that does not meet the first condition.

12. The device according to claim 9 or 10, characterized in that The first condition includes at least one of the following: brake pedal travel is greater than a first threshold, brake pedal force is greater than a second threshold, brake system pressure is greater than a third threshold, vehicle speed is 0, and accelerator pedal travel is 0, accelerator pedal force is 0.

13. The device according to claim 9 or 10, characterized in that The first condition also includes at least one of the following: the automatic parking system has no faults, the vehicle door is closed, and the user's seat belt is fastened.

14. The device according to claim 9 or 10, characterized in that The control unit is further configured to activate an electronic parking system when the vehicle status information satisfies a second condition; The second condition includes at least one of the following: the user's seat belt is unfastened, at least one vehicle door is open, the automatic parking system operating time exceeds a fourth threshold, and the user leaves the vehicle.

15. The device according to claim 9 or 10, characterized in that The control unit is further configured to control the automatic parking system to switch to a dormant state according to a third user instruction or when the vehicle status information satisfies a third condition; Among them, the third user instruction is used to instruct to turn off the automatic parking function; the third condition includes at least one of the following: the accelerator pedal travel is not 0, the accelerator pedal force is not 0, the gear is the parking gear, and the electronic parking system is turned on.

16. The device according to claim 9 or 10, characterized in that The user instruction is at least one of the following: a voice instruction of the user, an operation instruction of the user on the touch screen, and a gesture instruction of the user.

17. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores executable code, and the processor executes the executable code to implement the vehicle control method according to any one of claims 1 to 8.

18. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a computer, the computer is caused to execute the vehicle control method according to any one of claims 1 to 8.

19. A computer program product, characterized in that When the computer program product is run on a computing device, the computing device is enabled to execute the vehicle control method according to any one of claims 1 to 8.

20. A vehicle, characterized in that: A vehicle control device comprising the vehicle control device according to any one of claims 9 to 16.

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