Target brake pressure determination method, parking method, system, device, and medium

Abstract

The application relates to a target brake pressure determination method, a parking method, a system, a device and a medium, the target brake pressure determination method comprising the following steps: acquiring parking pressure of a vehicle, vehicle mass information, current adhesion coefficient information, slope information of a road where the vehicle is located at a plurality of historical sampling time points and a current time point, if the parking pressure is greater than 0, acquiring wheel speeds of all wheels at two different time points and corresponding time points, determining a motion state of the vehicle according to the wheel speeds of all wheels at the two different time points and the corresponding time points, and determining a target brake pressure based on the motion state, the current adhesion coefficient information, the vehicle mass information, the slope information of the road where the plurality of historical sampling time points are located, and the slope information of the road where the current time point is located. The application considers factors such as the slope, the vehicle mass, the motion state of the vehicle, the adhesion coefficient between the wheels and the road, and adjusts the target brake pressure, thereby improving the experience of the user.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to a method for determining target braking pressure, a parking method, a system, equipment, and a medium. Background Technology

[0002] Automatic Parking (AVH) is an automated driver assistance system designed to provide drivers with a more comfortable and safer driving experience, especially suitable for incline and descent. Broadly speaking, AVH typically covers scenarios such as bringing the vehicle to a complete stop, maintaining the vehicle at a standstill for an extended period, and moving the vehicle away from a standstill. When the driver applies brake pedal pressure to bring the moving vehicle to a stop, the AVH system activates upon detecting the vehicle's stillness. It arbitrates the current pedal pressure applied by the driver with a calculated target braking pressure and outputs and maintains this pressure to ensure the vehicle is smoothly held at a standstill. Once the AVH system is activated and the vehicle remains stationary, it should maintain pressure to ensure the vehicle remains stationary, provided there is no malfunction or manual cancellation by the driver. When the driver applies the accelerator to move the vehicle from a standstill, the AVH system should gradually and appropriately release pressure to ensure the vehicle moves away smoothly.

[0003] The working sequence of the automatic parking system is as follows Figure 1 As shown, in an ideal simulation environment, the driver brakes the vehicle from time t0 until the vehicle comes to a complete stop at time t2. At this point, the automatic parking system should transition from an inactive state to an active state. Since the braking pressure applied by the driver has decelerated the vehicle to a stop and held it, the braking force pressure can remain constant and prevent the vehicle from rolling. However, in reality, the relationship between the wheels and the ground is more complex. From the vehicle's perspective, braking involves not only rolling friction but also sliding friction between the tires and the ground, and this phenomenon is more pronounced at lower speeds. From the driver's perspective, to avoid significant pitching and swaying when the vehicle comes to a stop, commonly known as "brake dive," which affects ride comfort, the driver will gradually reduce the braking pressure as the vehicle approaches a stop and moderately increase the braking pressure when the vehicle comes to a complete stop to counteract the idling torque of the drive end, thereby keeping the vehicle stationary. Based on the above, the automatic parking system's state recognition usually results in it entering an active state before the vehicle comes to a complete stop due to the relationship between the vehicle and the ground (e.g., ...). Figure 1(As shown in the time intervals t0 to t2). At this time, the driver's braking pressure is captured. Simultaneously, to prevent the vehicle from rolling backward, redundant pressure is superimposed on this, becoming the target pressure output by the automatic parking system (i.e., the target braking pressure). Although this achieves the automatic parking function, it negatively impacts the vehicle's braking smoothness and comfort under certain conditions. Therefore, when the automatic parking system is activated, the output target braking pressure should not be a fixed constant value but should be dynamically adjusted.

[0004] In related technologies, the driving experience is improved by dynamically adjusting the unlocking pressure slope limit value when accelerating away from the parking state activated by the automatic parking system under different slope conditions. However, this technology does not dynamically adjust the target braking pressure when the vehicle enters the automatic parking system activation state, resulting in a poor user experience. Summary of the Invention

[0005] One objective of this invention is to provide a method for determining target braking pressure to improve the user experience; another objective is to provide a system for determining target braking pressure; a third objective is to provide a parking method; a fourth objective is to provide a parking system; a fifth objective is to provide an electronic device; and a sixth objective is to provide a computer-readable storage medium.

[0006] To solve the above-mentioned technical problems, the technical solution of this application is as follows:

[0007] In a first aspect, this application provides a method for determining a target braking pressure, the method comprising:

[0008] Acquire vehicle parking pressure, vehicle weight information, current adhesion coefficient information, and slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point;

[0009] If the parking pressure is greater than 0, obtain the wheel speeds of all wheels at two different time points and the corresponding time points;

[0010] The motion state of the vehicle is determined based on the wheel speeds of all wheels at two different time points and the corresponding time points.

[0011] Based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point, the target braking pressure is determined.

[0012] In an exemplary embodiment of this application, determining the motion state of the vehicle includes:

[0013] Determine the acceleration of the corresponding wheel based on the wheel speed at two different time points and the corresponding time points;

[0014] The vehicle's motion state is determined based on the acceleration of all wheels.

[0015] In an exemplary embodiment of this application, the motion state includes being in a stationary state and being in a non-stationary state, and determining the motion state of the vehicle includes:

[0016] If the acceleration of all wheels is 0, the motion state of the vehicle is determined to be stationary.

[0017] If the acceleration of one of the wheels is greater than 0 or less than 0, the vehicle's motion state is determined to be non-stationary.

[0018] In an exemplary embodiment of this application, determining the target braking pressure includes:

[0019] If the vehicle is stationary, the slope information of the road surface at several historical sampling time points is filtered to obtain several processed historical slope information.

[0020] Based on the processed historical slope information, the average slope value is determined.

[0021] Based on the current adhesion coefficient information, vehicle mass information, average slope, and the preset mapping relationship between adhesion coefficient, vehicle mass, average slope, and minimum target braking pressure, the minimum target braking pressure is determined.

[0022] The minimum target braking pressure is defined as the target braking pressure.

[0023] In an exemplary embodiment of this application, determining the target braking pressure further includes:

[0024] If the vehicle's motion state is determined to be non-stationary, the target braking pressure for hill parking is determined based on the current adhesion coefficient information, vehicle mass information, the slope information of the road surface at the current time point, and the preset mapping relationship between adhesion coefficient, vehicle mass, slope and hill parking target braking pressure. The target braking pressure for hill parking is greater than the minimum target braking pressure.

[0025] The target braking pressure for hill parking is defined as the target braking pressure.

[0026] Secondly, this application provides a parking method, the parking method comprising:

[0027] Acquire vehicle parking pressure, vehicle weight information, current adhesion coefficient information, and slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point;

[0028] If the parking pressure is greater than 0, obtain the wheel speeds of all wheels at two different time points and the corresponding time points;

[0029] Determine the acceleration of the corresponding wheel based on the wheel speeds of all wheels at two different time points and the corresponding time points;

[0030] The vehicle's motion state is determined based on the acceleration of all wheels;

[0031] Based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point, the target braking pressure is determined.

[0032] The vehicle is parked according to the target braking pressure.

[0033] Thirdly, this application provides a target braking pressure determination system, the target braking pressure determination system comprising:

[0034] The first data acquisition module is configured to acquire the vehicle's parking pressure, vehicle weight information, current adhesion coefficient information, and the slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point.

[0035] The second acquisition module is configured to acquire the vehicle speed and the wheel speed of all wheels if the parking pressure is greater than 0.

[0036] The first determining module is configured to determine the motion state of the vehicle based on the vehicle speed and wheel speed.

[0037] The second determining module is configured to determine the target braking pressure based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point.

[0038] Fourthly, this application provides a parking system, the parking system comprising:

[0039] The first data acquisition module is configured to acquire the vehicle's parking pressure, vehicle weight information, current adhesion coefficient information, and the slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point.

[0040] The second acquisition module is configured to acquire the wheel speeds of all wheels at two different time points and the corresponding time points if the parking pressure is greater than 0.

[0041] The first determining module is configured to determine the motion state of the vehicle based on the wheel speeds of all wheels at two different time points and the corresponding time points;

[0042] The second determining module is configured to determine the target braking pressure based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point.

[0043] The control module is configured to control the vehicle to park according to the target braking pressure.

[0044] Fifthly, this application provides an electronic device, the electronic device comprising:

[0045] One or more processors;

[0046] A storage device for storing one or more programs that, when executed by one or more processors, cause the electronic device to perform the method described above.

[0047] In a sixth aspect, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the method described above.

[0048] The beneficial effects of this invention are:

[0049] This invention acquires the vehicle's parking pressure, vehicle mass information, current adhesion coefficient information, and the slope information of the road surface at several historical sampling time points and the current time point. If the parking pressure is greater than 0, it acquires the vehicle speed and the wheel speed of all wheels. Based on the vehicle speed and wheel speed, it determines the vehicle's motion state. Based on the motion state, current adhesion coefficient information, vehicle mass information, and the slope information of the road surface at several historical sampling time points and the current time point, it determines the target braking pressure. In other words, this application takes into account factors such as slope, vehicle mass, vehicle motion state, and adhesion coefficient between the wheels and the road surface when determining the target braking pressure, thereby adjusting the target braking pressure and improving the user experience.

[0050] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0052] Figure 1 This is a timing diagram of the automatic parking system.

[0053] Figure 2 A flowchart illustrating a target braking pressure determination method as an exemplary embodiment of this application;

[0054] Figure 3 for Figure 2 The flowchart illustrating the determination of the vehicle's motion state in an exemplary embodiment is shown below.

[0055] Figure 4 for Figure 3 The flowchart illustrating the determination of the vehicle's motion state in an exemplary embodiment is shown below.

[0056] Figure 5 for Figure 2 The flowchart illustrating the determination of target braking pressure in an exemplary embodiment is shown below.

[0057] Figure 6 for Figure 2 A flowchart illustrating the determination of the target braking pressure in another exemplary embodiment;

[0058] Figure 7 A flowchart illustrating a parking method as an exemplary embodiment of this application;

[0059] Figure 8 A flowchart illustrating a parking method according to a specific embodiment of this application;

[0060] Figure 9 A block diagram illustrating a target braking pressure determination system as shown in an exemplary embodiment of this application;

[0061] Figure 10 A block diagram illustrating a parking system as shown in an exemplary embodiment of this application;

[0062] Figure 11 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0063] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0064] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0065] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0066] Please see Figure 2 , Figure 2 A flowchart illustrating a target braking pressure determination method for an exemplary embodiment of this application.

[0067] like Figure 2 As shown in an exemplary embodiment of this application, the target braking pressure determination method includes at least steps S210 to S240, which are described in detail below:

[0068] Step S210. Obtain the vehicle's parking pressure, vehicle mass information, current adhesion coefficient information, and the slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point;

[0069] Step S220. If the parking pressure is greater than 0, obtain the wheel speeds of all wheels at two different time points and the corresponding time points;

[0070] Step S230. Determine the motion state of the vehicle based on the wheel speeds of all wheels at two different time points and the corresponding time points;

[0071] Step S240. Determine the target braking pressure based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point.

[0072] In related technologies, the driving experience is improved by dynamically adjusting the unlocking pressure slope limit value when accelerating away from the parking state activated by the automatic parking system under different slope conditions. However, after analyzing the aforementioned related technologies, the inventors found that they do not dynamically adjust the target pressure when the vehicle enters the automatic parking system activation state, resulting in an inability to adapt to different situations and requiring further improvement in the user experience. Therefore, the inventors considered obtaining the vehicle's parking pressure, vehicle mass information, current adhesion coefficient information, and the slope information of the road surface at several historical sampling time points and the current time point. If the parking pressure is greater than 0, the inventors obtained the wheel speeds of all wheels at two different time points and the corresponding time points. Based on the wheel speeds of all wheels at two different time points and the corresponding time points, the vehicle's motion state was determined. Based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point, the target braking pressure was determined. That is, in the process of determining the target braking pressure, this application takes into account factors such as slope, vehicle mass, vehicle motion state, and adhesion coefficient between wheels and road surface, and then adjusts the target braking pressure accordingly to improve the user experience.

[0073] Please see Figure 3 , Figure 3 for Figure 2 The flowchart shown in the embodiment illustrates the determination of the vehicle's motion state in an exemplary embodiment.

[0074] like Figure 3 As shown in an exemplary embodiment of this application, Figure 2 The process of determining the motion state of the vehicle in the illustrated embodiment includes steps S310 to S320, which are described in detail below:

[0075] Step S310. Determine the acceleration of the corresponding wheel based on the wheel speed at two different time points and the corresponding time points;

[0076] Specifically, the quotient of the difference in wheel speed at two different time points and the difference between the corresponding time points, that is, the difference in wheel speed / the difference between time points, is the acceleration of the corresponding wheel.

[0077] Step S320. Determine the motion state of the vehicle based on the acceleration of all wheels.

[0078] Please see Figure 4 , Figure 4 for Figure 3 The flowchart illustrating the determination of the vehicle's motion state in an exemplary embodiment is shown.

[0079] like Figure 4As shown in an exemplary embodiment of this application, the motion state includes being in a stationary state and being in a non-stationary state. Figure 3 The process of determining the motion state of the vehicle in the illustrated embodiment includes steps S410 to S420, which are described in detail below:

[0080] Step S410. If the acceleration of all wheels is 0, determine the motion state of the vehicle as being at rest;

[0081] Step S420. If the acceleration of one of the wheels is greater than 0 or less than 0, the motion state of the vehicle is determined to be in a non-stationary state.

[0082] Please see Figure 5 , Figure 5 for Figure 2 The flowchart shown in the embodiment for determining the target braking pressure in an exemplary embodiment.

[0083] like Figure 5 As shown in an exemplary embodiment of this application, Figure 2 The process of determining the target braking pressure in the illustrated embodiment includes steps S510 to S540, which are described in detail below:

[0084] Step S510. If the vehicle is stationary, filter the slope information of the road surface at several historical sampling time points to obtain several processed historical slope information.

[0085] Step S520. Based on the processed historical slope information, confirm the average slope value;

[0086] Specifically, the quotient of the sum of the slopes corresponding to these processed historical slope information and the number of slope information is the average slope.

[0087] Step S530. Based on the current adhesion coefficient information, vehicle mass information, average slope and the preset mapping relationship between adhesion coefficient, vehicle mass, average slope and minimum target braking pressure, determine the minimum target braking pressure;

[0088] Step S540. Determine the minimum target braking pressure as the target braking pressure.

[0089] Please see Figure 6 , Figure 6 for Figure 2 The flowchart illustrating the determination of the target braking pressure in another exemplary embodiment is shown.

[0090] like Figure 6 As shown in another exemplary embodiment of this application, Figure 2The process of determining the target braking pressure in the illustrated embodiment further includes steps S610 to S620, which are described in detail below:

[0091] Step S610. If the vehicle's motion state is determined to be non-stationary, the target braking pressure for hill parking is determined based on the current adhesion coefficient information, vehicle mass information, slope information of the road surface at the current time point, and the preset mapping relationship between adhesion coefficient, vehicle mass, slope and hill parking target braking pressure.

[0092] It should be noted that the target braking pressure for parking on a slope is greater than the minimum target braking pressure.

[0093] Step S620. Determine the target braking pressure for hill parking as the target braking pressure.

[0094] Please see Figure 7 , Figure 7 A flowchart illustrating a parking method for an exemplary embodiment of this application.

[0095] like Figure 7 As shown, in an exemplary embodiment of this application, the parking method includes at least steps S710 to S750, which are described in detail below:

[0096] Step S710. Obtain the vehicle's parking pressure, vehicle mass information, current adhesion coefficient information, and the slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point;

[0097] Step S720. If the parking pressure is greater than 0, obtain the wheel speeds of all wheels at two different time points and the corresponding time points;

[0098] Step S730. Determine the motion state of the vehicle based on the wheel speeds of all wheels at two different time points and the corresponding time points;

[0099] Step S740. Based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points and slope information of the road surface at the current time point, determine the target braking pressure;

[0100] Step S750. Control the vehicle to park according to the target braking pressure.

[0101] Please see Figure 8 , Figure 8 The flowchart illustrates a parking method according to a specific embodiment of this application.

[0102] like Figure 8 As shown, in one specific embodiment, the parking method steps are as follows:

[0103] If the vehicle is parked and waiting, obtain the parking pressure of the vehicle;

[0104] If the parking pressure is greater than 0, if the slope signal is valid, obtain the slope information of the road surface where the vehicle is located at several historical sampling time points and the current time point; if the vehicle mass signal is valid, obtain the vehicle mass information; if the road surface adhesion coefficient signal is valid, obtain the current adhesion coefficient information; and obtain the wheel speed of all wheels at two different time points and the corresponding time points.

[0105] Based on the wheel speeds of all wheels at two different time points and the corresponding time points, the acceleration of the corresponding wheel is determined. Specifically, the quotient of the difference between the wheel speeds at two different time points and the difference between the corresponding time points, that is, the difference in wheel speed / the difference between time points, is the acceleration of the corresponding wheel.

[0106] The motion state of the vehicle is determined based on the acceleration of all wheels. Specifically, if the acceleration of all wheels is 0, the motion state of the vehicle is determined to be stationary. If the acceleration of one wheel is greater than 0 or less than 0, the motion state of the vehicle is determined to be non-stationary.

[0107] Based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point, the target braking pressure is determined. Specifically:

[0108] If the vehicle is stationary, the slope information of the road surface at several historical sampling time points is filtered to obtain several processed historical slope information.

[0109] Based on historical slope information, determine the average slope value;

[0110] Based on the current adhesion coefficient information, vehicle mass information, average slope, and the preset mapping relationship between adhesion coefficient, vehicle mass, average slope, and minimum target braking pressure, the minimum target braking pressure is determined.

[0111] The minimum target braking pressure is defined as the target braking pressure.

[0112] If the vehicle's motion state is determined to be non-stationary, the target braking pressure for hill parking is determined based on the current adhesion coefficient information, vehicle mass information, current slope information, and the preset mapping relationship between adhesion coefficient, vehicle mass, slope and hill parking target braking pressure. The target braking pressure for hill parking is greater than the minimum target braking pressure.

[0113] The target braking pressure for hill parking is defined as the target braking pressure.

[0114] The vehicle is parked according to the target braking pressure.

[0115] Please see Figure 9 , Figure 9 A block diagram illustrating a target braking pressure determination system for an exemplary embodiment of this application.

[0116] like Figure 9 As shown, in an exemplary embodiment of this application, the target braking pressure determination system M900 includes:

[0117] The first acquisition module M910 is configured to acquire the vehicle's parking pressure, vehicle weight information, current adhesion coefficient information, and the slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point.

[0118] The second acquisition module M920 is configured to acquire the wheel speeds of all wheels at two different time points and the corresponding time points if the parking pressure is greater than 0.

[0119] The first determining module M930 is configured to determine the motion state of the vehicle based on the wheel speeds of all wheels at two different time points and the corresponding time points.

[0120] The second determining module M940 is configured to determine the target braking pressure based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point.

[0121] Please see Figure 10 , Figure 10 A block diagram illustrating a parking system for an exemplary embodiment of this application.

[0122] like Figure 10 As shown, in an exemplary embodiment of this application, the parking system M1000 includes:

[0123] The first acquisition module M1010 is configured to acquire the vehicle's parking pressure, vehicle weight information, current adhesion coefficient information, and the slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point.

[0124] The second acquisition module M1020 is configured to acquire the wheel speeds of all wheels at two different time points and the corresponding time points if the parking pressure is greater than 0.

[0125] The first determining module M1030 is configured to determine the motion state of the vehicle based on the wheel speeds of all wheels at two different time points and the corresponding time points.

[0126] The second determining module M1040 is configured to determine the target braking pressure based on the motion state, current adhesion coefficient information, vehicle mass information, slope information of the road surface at several historical sampling time points, and slope information of the road surface at the current time point.

[0127] The control module M1050 is configured to control the vehicle to park according to the target braking pressure.

[0128] It should be noted that the target braking pressure determination system and the target braking pressure determination method provided in the above embodiments belong to the same concept, and the parking system and the parking method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the target braking pressure determination system and parking system provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0129] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the target braking pressure determination method or parking method provided in the above embodiments.

[0130] Figure 11 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 11 The computer system 1100 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0131] like Figure 11 As shown, the computer system 1100 includes a Central Processing Unit (CPU) 1101, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1102 or programs loaded from storage portion 1108 into Random Access Memory (RAM) 1103, such as performing the methods described in the above embodiments. Various programs and data required for system operation are also stored in RAM 1103. The CPU 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. An Input / Output (I / O) interface 1105 is also connected to bus 1104.

[0132] The following components are connected to I / O interface 1105: an input section 1106 including a keyboard, mouse, etc.; an output section 1107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to I / O interface 1105 as needed. Removable media 1111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1110 as needed so that computer programs read from them can be installed into storage section 1108 as needed.

[0133] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1109, and / or installed from removable medium 1111. When the computer program is executed by central processing unit (CPU) 1101, it performs various functions defined in the system of this application.

[0134] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0135] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0136] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0137] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the target braking pressure determination method or parking method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0138] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the target braking pressure determination method or parking method provided in the various embodiments described above.

[0139] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for determining target braking pressure, characterized in that, The method for determining the target braking pressure includes: Acquire vehicle parking pressure, vehicle weight information, current adhesion coefficient information, and slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point; If the parking pressure is greater than 0, obtain the wheel speeds of all wheels at two different time points and the corresponding time points; The motion state of the vehicle is determined based on the wheel speeds of all wheels at two different time points and the corresponding time points. The motion state includes being in a stationary state and being in a non-stationary state. If the vehicle is stationary, the slope information of the road surface at several historical sampling time points is filtered to obtain several processed historical slope information; based on the processed historical slope information, the average slope is determined; based on the current adhesion coefficient information, vehicle mass information, average slope and the preset mapping relationship between adhesion coefficient, vehicle mass, average slope and minimum target braking pressure, the minimum target braking pressure is determined and set as the target braking pressure; If the vehicle's motion state is determined to be non-stationary, the target braking pressure for hill parking is determined based on the current adhesion coefficient information, vehicle mass information, the slope information of the road surface at the current time point, and the preset mapping relationship between adhesion coefficient, vehicle mass, slope and hill parking target braking pressure. The target braking pressure for hill parking is greater than the minimum target braking pressure; the target braking pressure for hill parking is determined as the target braking pressure.

2. The method for determining the target braking pressure as described in claim 1, characterized in that, Determine the vehicle's motion state, including: Based on the wheel speed at two different time points and the corresponding time points, determine the acceleration of the corresponding wheel; The vehicle's motion state is determined based on the acceleration of all wheels.

3. The method for determining the target braking pressure as described in claim 2, characterized in that, Determine the vehicle's motion state, including: If the acceleration of all wheels is 0, the motion state of the vehicle is determined to be stationary. If the acceleration of one of the wheels is greater than 0 or less than 0, the vehicle's motion state is determined to be non-stationary.

4. A parking method, characterized in that, The parking method includes: Acquire vehicle parking pressure, vehicle weight information, current adhesion coefficient information, and slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point; If the parking pressure is greater than 0, all slope information is valid, and the wheel speeds of all wheels at two different time points and the corresponding time points are obtained. The motion state of the vehicle is determined based on the wheel speeds of all wheels at two different time points and the corresponding time points. The motion state includes being in a stationary state and being in a non-stationary state. If the vehicle is stationary, the slope information of the road surface at several historical sampling time points is filtered to obtain several processed historical slope information; based on the processed historical slope information, the average slope is determined; based on the current adhesion coefficient information, vehicle mass information, average slope and the preset mapping relationship between adhesion coefficient, vehicle mass, average slope and minimum target braking pressure, the minimum target braking pressure is determined and set as the target braking pressure; If the vehicle's motion state is determined to be non-stationary, the target braking pressure for hill parking is determined based on the current adhesion coefficient information, vehicle mass information, the slope information of the road surface at the current time point, and the preset mapping relationship between adhesion coefficient, vehicle mass, slope and hill parking target braking pressure. The target braking pressure for hill parking is greater than the minimum target braking pressure; the target braking pressure for hill parking is determined as the target braking pressure. The vehicle is parked according to the target braking pressure.

5. A target braking pressure determination system, characterized in that, The target braking pressure determination system includes: The first data acquisition module is configured to acquire the vehicle's parking pressure, vehicle weight information, current adhesion coefficient information, and the slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point. The second acquisition module is configured to acquire the wheel speeds of all wheels at two different time points and the corresponding time points if the parking pressure is greater than 0. The first determining module is configured to determine the motion state of the vehicle based on the wheel speeds of all wheels at two different time points and the corresponding time points, the motion state including being in a stationary state and being in a non-stationary state. The second determining module, if the vehicle's motion state is stationary, is configured to filter the slope information of the road surface at several historical sampling time points to obtain processed historical slope information; based on the processed historical slope information, confirm the average slope; and determine the minimum target braking pressure based on the current adhesion coefficient information, vehicle mass information, average slope, and a preset mapping relationship between the adhesion coefficient, vehicle mass, average slope, and minimum target braking pressure, and set the minimum target braking pressure as the target braking pressure; if the vehicle's motion state is determined to be non-stationary, it is configured to determine the target braking pressure for hill parking based on the current adhesion coefficient information, vehicle mass information, slope information of the road surface at the current time point, and a preset mapping relationship between the adhesion coefficient, vehicle mass, slope, and hill parking target braking pressure, wherein the target braking pressure for hill parking is greater than the minimum target braking pressure; and set the target braking pressure for hill parking as the target braking pressure.

6. A parking system, characterized in that, The parking system includes: The first data acquisition module is configured to acquire the vehicle's parking pressure, vehicle weight information, current adhesion coefficient information, and the slope information of the road surface where the vehicle is located at several historical sampling time points and at the current time point. The second acquisition module is configured to acquire the wheel speeds of all wheels at two different time points and the corresponding time points if the parking pressure is greater than 0. The first determining module is configured to determine the motion state of the vehicle based on the wheel speeds of all wheels at two different time points and the corresponding time points, the motion state including being in a stationary state and being in a non-stationary state. The second determining module, if the vehicle's motion state is stationary, is configured to filter the slope information of the road surface at several historical sampling time points to obtain processed historical slope information; based on the processed historical slope information, confirm the average slope; and determine the minimum target braking pressure based on the current adhesion coefficient information, vehicle mass information, average slope, and a preset mapping relationship between the adhesion coefficient, vehicle mass, average slope, and minimum target braking pressure, and set the minimum target braking pressure as the target braking pressure; if the vehicle's motion state is determined to be non-stationary, it is configured to determine the target braking pressure for hill parking based on the current adhesion coefficient information, vehicle mass information, slope information of the road surface at the current time point, and a preset mapping relationship between the adhesion coefficient, vehicle mass, slope, and hill parking target braking pressure, wherein the target braking pressure for hill parking is greater than the minimum target braking pressure; and set the target braking pressure for hill parking as the target braking pressure. The control module is configured to control the vehicle to park according to the target braking pressure.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to perform the method as described in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the method as described in any one of claims 1-4.

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