Vehicle parking control method, device, equipment and storage medium

Abstract

The present application discloses a method, device, equipment and storage medium for controlling vehicle parking, belonging to the field of vehicle control technology. The method includes: obtaining parking status information of a vehicle that performs automatic parking based on a speed control mode, wherein the speed control mode is a mode that realizes automatic parking by controlling the speed of the motor; when the parking status information meets the mode switching condition, determining that the vehicle is in a scene where the wheel rolling is blocked, and obtaining decision reference information that affects the parking safety of the vehicle; when the decision reference information meets the safety condition, switching the speed control mode to a torque control mode, and performing automatic parking based on the torque control mode, wherein the torque control mode is a mode that realizes automatic parking by controlling the torque of the motor. By replacing the speed control mode with the torque control mode, the vehicle is prevented from exiting the parking position due to the speed reaching the limit, thereby ensuring the continuity of the vehicle's automatic parking process.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle control technology, and in particular to a method, device, equipment, and storage medium for controlling vehicle parking. Background Art

[0002] With the development of vehicle control technology, automatic parking functions have become widely used. These functions use sensors located throughout the vehicle to detect the vehicle's surroundings and available parking spaces, plan a parking path, and control the vehicle's steering, acceleration, and deceleration, enabling the vehicle to automatically complete parking maneuvers. This means the vehicle can automatically park itself without manual control.

[0003] In the related art, automatic parking of a vehicle is achieved based on a speed control mode. The speed control mode refers to a mode in which the acceleration and deceleration of the vehicle are controlled by controlling the speed of the motor, thereby achieving automatic parking.

[0004] However, taking the parking scenario where the vehicle is climbing a slope or a bump as an example, since the vehicle needs the motor to output a large power when climbing a slope or a bump, and the vehicle is in speed control mode, if the output power of the motor cannot meet the requirements of climbing the slope or the bump, the output power will be increased by continuously increasing the speed of the motor. When the speed reaches the limit, the vehicle will exit parking. Summary of the Invention

[0005] The embodiments of the present application provide a method, device, equipment, and storage medium for controlling vehicle parking, which can solve the problems in the related art. The technical solution is as follows:

[0006] In one aspect, a method for controlling vehicle parking is provided, the method comprising:

[0007] Acquiring parking status information of the vehicle, wherein the vehicle is a vehicle that performs automatic parking based on a speed control mode, wherein the speed control mode is a mode for achieving automatic parking by controlling the speed of a motor;

[0008] If the parking state information satisfies a mode switching condition, determining that the vehicle is in a wheel rolling obstruction scenario, and obtaining decision reference information affecting parking safety of the vehicle, the decision reference information including at least one of vehicle operating state information, vehicle environment information, and vehicle driving path information;

[0009] When the decision reference information meets the safety condition, the speed control mode is switched to the torque control mode, and automatic parking is performed based on the torque control mode. The torque control mode is a mode for achieving automatic parking by controlling the torque of the motor.

[0010] In another aspect, a vehicle parking control device is provided, the device comprising:

[0011] a first acquisition module for acquiring parking status information of the vehicle, wherein the vehicle is a vehicle that performs automatic parking based on a speed control mode, wherein the speed control mode is a mode in which automatic parking is achieved by controlling the speed of a motor;

[0012] a second acquisition module, configured to, if the parking state information satisfies a mode switching condition, determine that the vehicle is in a wheel rolling obstruction scenario, and acquire decision reference information affecting parking safety of the vehicle, the decision reference information including at least one of vehicle operating state information, vehicle environment information, and vehicle travel path information;

[0013] A switching module is used to switch the speed control mode to a torque control mode when the decision reference information meets the safety conditions, and perform automatic parking based on the torque control mode. The torque control mode is a mode for achieving automatic parking by controlling the torque of the motor.

[0014] On the other hand, a computer device is provided, comprising a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the computer device implements any of the above methods.

[0015] On the other hand, a computer-readable storage medium is provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor to enable a computer to implement any of the above methods.

[0016] In another aspect, a computer program product or computer program is provided, the 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 any of the methods described above.

[0017] The technical solutions provided by the embodiments of the present application bring at least the following beneficial effects:

[0018] The technical solution provided by the embodiments of this application switches the speed control mode to the torque control mode when the parking status information meets the mode switching conditions and the decision reference information meets the safety conditions. The torque control mode allows the vehicle to increase the output power by increasing the motor torque when the vehicle's wheel rolling is blocked, thus avoiding the vehicle's exit from parking due to reaching the speed limit and ensuring the continuity of the vehicle's automatic parking process. Furthermore, this application switches the torque control mode only after determining that the vehicle meets the safety conditions, ensuring the vehicle's driving safety after switching to the torque control mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0021] Figure 2 This is a flow chart of a vehicle parking control method provided by an embodiment of the present application;

[0022] Figure 3 This is a parking information transmission flow chart provided by an embodiment of the present application;

[0023] Figure 4 1 is a schematic structural diagram of a vehicle parking control device provided in an embodiment of the present application;

[0024] Figure 5 This is a schematic diagram of the structure of a server provided in an embodiment of the present application;

[0025] Figure 6 This is a schematic diagram of the structure of a terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0027] It should be noted that the terms "first", "second", etc. (if any) in the specification of the present application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application.

[0028] This application embodiment provides a method for controlling vehicle parking. Figure 1 , which shows a schematic diagram of an implementation environment of the method provided in an embodiment of the present application. The implementation environment may include: a terminal 11 and a vehicle 12, wherein the terminal 11 and the vehicle 12 establish a communication connection via a wired or wireless network.

[0029] Terminal 11 is located on vehicle 12. Terminal 11 can obtain parking status information of vehicle 12 and decision-making reference information that affects the parking safety of vehicle 12. Terminal 11 can then switch the automatic parking mode of vehicle 12 from a speed control mode to a torque control mode based on the obtained parking status information and decision-making reference information. Optionally, terminal 11 can include multiple sensors and multiple actuators required to execute the method provided in the embodiments of the present application.

[0030] In one possible implementation, the implementation environment further includes a server 13, which is connected to the vehicle 12 and the terminal 11 through a wired or wireless network. Optionally, the terminal 11 can send the acquired parking status information and decision reference information to the server 13, and the server 13 obtains the control mode switching signal of the vehicle 12 based on the acquired parking status information and decision reference information. The server 13 sends the control mode switching signal of the vehicle 12 to the terminal 11, and the terminal 11 switches the automatic parking mode of the vehicle 12 from the speed control mode to the torque control mode based on the mode switching signal. In the embodiment of the present application, the server 13 can be a vehicle server, or a server cluster composed of multiple vehicle servers, or a cloud computing service center.

[0031] Those skilled in the art should understand that the above-mentioned terminal 11 and server 13 are only examples. Other existing or future terminals or vehicles that are applicable to this application should also be included in the scope of protection of this application and are included here by reference.

[0032] See also Figure 2 , Figure 2 A flowchart of a vehicle parking control method is provided in an embodiment of the present application. The method can be applied to Figure 1The implementation environment shown is, for example, Figure 1 The terminal 11 shown executes the method. Figure 2 As shown, the method includes but is not limited to the following steps 201 to 203.

[0033] In step 201 , parking status information of a vehicle is obtained. The vehicle is a vehicle that performs automatic parking based on a speed control mode. The speed control mode is a mode for achieving automatic parking by controlling the speed of a motor.

[0034] For example, the vehicle in the embodiment of the present application is a vehicle with an automatic parking function, which can automatically park the vehicle in a designated parking space without the need for driver intervention through the vehicle's sensors, cameras, control systems and other equipment.

[0035] Optionally, the automatic parking process includes, but is not limited to, the following steps: When a vehicle enters a parking lot or roadside parking area, the driver of the vehicle can activate the automatic parking system using a physical button on the vehicle or a soft button on the central control screen. The vehicle uses sensors and cameras to search for a suitable parking space, such as an empty parking space or a designated parking area. Once a parking space is identified, the automatic parking system calculates a parking route based on the dimensions of the parking space and the vehicle. This route is input into the vehicle's control system as the target path for automatic parking. After confirming the parking route, the driver of the vehicle can initiate the automatic parking procedure. The vehicle's control system controls the vehicle's steering and speed, gradually driving the vehicle into the parking space according to the parking route. During the automatic parking process, the driver can monitor the vehicle's operating status and manually intervene when necessary. When the vehicle reaches the parking space, the automatic parking system automatically stops the vehicle.

[0036] In the embodiment of the present application, the speed control mode is a mode for achieving automatic parking by controlling the speed of the motor. That is, the vehicle speed is controlled by controlling the speed of the vehicle's motor. For example, to increase the vehicle's speed, the motor speed is increased, and to decrease the vehicle's speed, the motor speed is decreased. In other words, during automatic parking based on the speed control mode, the vehicle's output power is regulated by the vehicle's control system by controlling the speed of the vehicle's motor.

[0037] If the vehicle encounters a hill or bump during automated parking, the low speed makes it difficult for the wheels to cross the hill or bump, resulting in a situation where the wheels are blocked from rolling. For example, in a bump scenario, if the tires' power output is insufficient to allow the vehicle to cross the bump, the vehicle's speed will drop to zero. To overcome the bump, the vehicle's execution layer will gradually increase the motor's speed to boost output power. If the speed exceeds the limit, the vehicle may experience a brief period of excessive speed and loss of control, posing a safety risk.

[0038] Among them, in order to ensure the driving safety of the vehicle during the parking process, the maximum speed of the vehicle when parking can be limited during the design and manufacturing process of the vehicle to prevent the vehicle from exceeding the safe speed of the vehicle's automatic parking system due to the motor speed exceeding the maximum speed after crossing the bump. In this case, if the vehicle's motor speed reaches the set maximum speed, if the vehicle is still unable to cross the bump, that is, the vehicle's speed has not exceeded the lower speed threshold, the vehicle will actively exit the automatic parking. In this way, the motor speed can be prevented from breaking through the limit, and the loss of control caused by short-term excessive speed can be avoided, ensuring driving safety, but it also leads to the failure of automatic parking. The lower speed threshold can be determined during the design and manufacturing process of the vehicle. For example, the lower speed threshold can be 5km / h (kilometer / hour) or 0km / h.

[0039] Optionally, if the vehicle's automatic parking system is unable to increase the vehicle's speed to a speed greater than or equal to a lower speed threshold within a reference time period, i.e., if the vehicle is unable to cross the hump, the system will automatically exit to ensure parking safety. The reference time is determined by the vehicle's automatic parking system programming; if the vehicle's motor speed exceeds the speed threshold after the reference time, the speed threshold will be exceeded. The lower speed threshold is determined during the vehicle's design and manufacturing process and, for example, may be 5 km / h (kilometers per hour).

[0040] The embodiments of the present application do not limit the content of the vehicle's parking status information, and it is sufficient that it can indicate the vehicle's driving status during the parking process. Optionally, the parking status information includes, but is not limited to, the vehicle's driving command and the vehicle's speed. The vehicle's driving command is used to control the vehicle's movements, and the vehicle's driving command includes, but is not limited to, forward, backward, and stop. The vehicle's speed is the vehicle's real-time speed during the parking process. Exemplarily, the vehicle obtains the vehicle's parking status information through the vehicle's control layer, and the vehicle's control layer determines whether the vehicle needs to switch modes based on the vehicle's parking status information. The control layer may obtain the parking status information by receiving the parking status information sent by the sensor; or by receiving the parking status information sent by the central processing unit.

[0041] Step 202: When the parking status information satisfies the mode switching condition, it is determined that the vehicle is in a wheel rolling obstruction scenario, and decision reference information affecting the parking safety of the vehicle is obtained. The decision reference information includes at least one of the vehicle operating status information, the vehicle environment information, and the vehicle driving path information.

[0042] In an embodiment of the present application, after obtaining the parking status information, it is determined whether the vehicle is in a wheel rolling obstruction scenario by judging whether the parking status information meets the mode switching conditions. For example, when the parking status information meets the mode switching conditions, it is determined that the vehicle is in a wheel rolling obstruction scenario; when the parking status information does not meet the mode switching conditions, it is determined that the vehicle is not in a wheel rolling obstruction scenario. The mode switching conditions can be flexibly adjusted according to different parking status information, and can indicate whether the vehicle is in a wheel rolling obstruction scenario, or can judge whether the vehicle needs to switch the torque control mode. For example, the mode switching conditions can be determined based on specific experiments or simulation experiments. Among them, the wheel rolling obstruction scenario refers to a scenario where the wheel encounters an obstacle and cannot roll, such as a climbing or bumping scenario.

[0043] Optionally, in the case where the parking status information includes the vehicle's driving command and the vehicle's speed, the mode switching condition may include the vehicle's driving command being forward or reverse, and the vehicle's speed being continuously less than a lower speed threshold value during a reference time period. The vehicle's driving command being forward or reverse indicates that the vehicle needs to perform a forward or reverse operation in order to execute the current driving plan. However, the vehicle's speed being continuously less than the lower speed threshold value indicates that the vehicle's forward or reverse operation is hindered. This embodiment of the application does not limit the type of obstacle, which may be a bump, pit, or slope, etc. The reference time may be determined based on the program of the vehicle's automatic parking system. The vehicle's motor speed is more likely to exceed the speed threshold value if it continues to accelerate for the reference time. Alternatively, the reference time may be flexibly adjusted according to the application scenario.

[0044] For example, if there's a 10-centimeter bump in a planned parking path, and the vehicle is automatically parking according to the planned parking path, the bump's height prevents the vehicle from moving forward. At this point, because the vehicle's forward movement command is in effect, the vehicle's motor will gradually increase its speed to increase its output power, allowing it to cross the bump and continue executing the forward movement command. Because the motor gradually increases its speed, it's possible that by the time the speed reaches the threshold required to cross the bump, the motor's speed may have already exceeded the threshold. In other words, if the motor crosses the bump at this speed, it may not be able to reduce its speed in time to control the vehicle's speed.

[0045] Optionally, in order to ensure that the speed does not exceed a speed threshold, embodiments of the present application limit the time during which the motor increases speed. For example, if the vehicle is commanded to move forward, but encounters a bump during travel, causing the vehicle's speed to drop to zero, the vehicle's motor begins to gradually increase its speed. To ensure that the motor speed does not exceed the speed threshold, a reference time of 10 seconds is set. If the vehicle speed remains at zero within 10 seconds, the vehicle's parking state information is determined to meet the mode switching condition.

[0046] For example, when the parking status information indicates that the vehicle meets the mode switching conditions, the vehicle's decision-making layer detects the vehicle's environment to determine whether switching modes at this time will affect vehicle safety. The decision-making reference information in the embodiments of the present application refers to relevant information that affects the vehicle's parking safety. For example, the decision-making reference information may include vehicle operating status information, vehicle environment information, and vehicle travel path information.

[0047] Among them, the vehicle's operating status information can indicate the vehicle's current operating status. For example, the vehicle's operating status information may include the vehicle's acceleration information, speed information, steering angle information and direction information; the vehicle's environmental information can indicate the environmental conditions around the vehicle. For example, the vehicle's environmental information includes the relative position information, distance information and relative speed information between the vehicle and at least one environmental object. The at least one environmental object may include other vehicles, pedestrians or obstacles around the vehicle. Obstacles may be road signs or road infrastructure. The vehicle's driving path information may include the vehicle's driving route and the driving routes of other vehicles around the vehicle.

[0048] In one possible implementation, obtaining decision-making reference information that impacts vehicle parking safety includes: obtaining vehicle operating status information through the vehicle's chassis domain, obtaining vehicle environmental information through the vehicle's perception layer application, and obtaining vehicle travel path information through the vehicle's prediction layer application. Optionally, the vehicle's chassis domain includes, among others, the transmission system, the travel system, the steering system, and the braking system. The transmission system is responsible for transmitting the motor's power to the drive wheels; the travel system connects the various parts of the vehicle into a single entity and provides support for the entire vehicle, including the frame, suspension, wheels, and axles; the steering system ensures that the vehicle can move in a straight line or turn as desired by the driver; and the braking system forces the road surface to exert a certain external force on the vehicle's wheels, opposite to the direction of travel, forcing the vehicle to a certain degree of forced braking, thereby decelerating the vehicle to a stop or performing a parking brake. The vehicle's chassis domain may include sensors corresponding to the transmission system, travel system, steering system, and braking system, and vehicle operating status information can be obtained based on these sensors.

[0049] The perception layer of the vehicle is used to perceive relevant information about the vehicle's environment through sensors, such as the road environment outside the vehicle, the vehicle's current position, and the relative position, distance, and relative speed between the vehicle and the surrounding environment. The sensors include at least one of a camera, a radar, a temperature sensor, a distance sensor, and a pressure sensor. The prediction layer of the vehicle is used to predict the vehicle's route based on the vehicle's operating status and traffic environment information. For example, by predicting and analyzing information such as the vehicle's status and traffic environment, the possible future behavior and state changes of the moving target can be obtained. The process of the prediction layer application obtaining the vehicle's driving path information may include predicting the vehicle's possible future behavior, such as acceleration, deceleration, and steering, based on the vehicle's current status and historical data; or predicting the road's traffic conditions, accident risks, etc. based on the road's geographic information, road condition data, and the travel trajectories of other vehicles or pedestrians.

[0050] Step 203 : When the decision reference information indicates that the vehicle meets the safety conditions, the speed control mode is switched to the torque control mode, and automatic parking is performed based on the torque control mode. The torque control mode is a mode for achieving automatic parking by controlling the torque of the motor.

[0051] For example, if the decision reference information is obtained in step 202, a determination is made as to whether the vehicle satisfies a safety condition as indicated by the decision reference information. In one possible implementation, the safety condition may include the decision reference information indicating that the vehicle will not collide with at least one environmental object during the automated parking process. Optionally, kinematic calculations based on vehicle operating state information, information about the vehicle's surroundings, and information about the vehicle's travel path can be used to predict whether the vehicle's planned parking path does not intersect or overlap with the travel paths of surrounding vehicles, thereby determining whether the vehicle will not collide with at least one environmental object during the automated parking process.

[0052] Exemplarily, the vehicle's decision-making layer determines whether the vehicle meets safety conditions based on decision-making reference information. This embodiment of the application uses kinematic calculations to determine whether the vehicle meets safety conditions as an example. Kinematic calculations refer to the process of analyzing and calculating the motion of an object in space, and can include establishing motion equations, predicting motion trajectories, and solving kinematic parameters. In an autonomous driving system, kinematic calculations include analyzing the vehicle's linear and steering motion, as well as avoiding collisions with other objects.

[0053] Optionally, kinematic calculations may include: calculating the vehicle's motion state in a straight-line driving condition, including the vehicle's travel distance, time, and speed, etc., based on the speed and acceleration included in the vehicle's operating status information; calculating the vehicle's motion state in a turning condition, including the vehicle's turning radius and lateral acceleration, etc., based on the vehicle's steering angle and speed included in the vehicle's operating status information; determining the vehicle's own position based on the direction information included in the vehicle's operating status information, where the direction information may be the angle between the vehicle's front direction and the north direction; judging whether there is a risk of collision based on the relative position information, distance information, and relative speed information between the vehicle and at least one environmental object included in the vehicle's environmental information; and calculating whether there is an intersecting or overlapping section between the vehicle and the driving paths of other vehicles around the vehicle, based on the vehicle's driving path information and the driving paths of other vehicles around the vehicle.

[0054] In the embodiments of the present application, kinematic calculations are generally performed based on the vehicle's dynamic model and kinematic equations, and factors such as the actual road environment also need to be taken into account. The aspects of kinematic calculations mentioned in the embodiments of the present application are for illustrative purposes only, and the kinematic calculation process needs to be rationally planned based on specific experimental measurements. Kinematic calculations performed in conjunction with the above-mentioned decision reference information can determine whether the current vehicle meets safety conditions. In addition, the decision reference information indicates that the vehicle will not collide with at least one environmental object during the automatic parking process, and may also include that the vehicle's motor is operating normally and there are no people or obstacles around the vehicle.

[0055] See also Figure 3 As shown in the parking information transmission flow chart, the decision-making layer in the intelligent driving domain can obtain vehicle status information, vehicle environment information (including perception layer information), vehicle driving path information (including prediction layer information), and mode switching control signals sent by the control layer through the chassis domain. The decision-making layer makes a safety condition judgment based on the above information and outputs mode switching information or a mode switching stop signal. The mode switching signal is used to switch the speed control mode to the torque control mode under safety conditions, and the mode switching stop signal is used to stop the speed control mode from switching to the torque control mode when safety conditions are not met.

[0056] If the decision reference information satisfies safety conditions, meaning that switching modes at this point will not affect vehicle safety, the automatic parking speed control mode can be switched to the torque control mode, and automatic parking can then be performed based on the torque control mode. Since the torque control mode achieves automatic parking by controlling the torque of the motor, the automatic parking process after switching to the torque control mode may include, when the speed of the motor controlling the vehicle is at a speed threshold, increasing the torque of the motor until the vehicle speed exceeds a lower speed threshold, i.e., the vehicle begins to move forward or backward, i.e., the vehicle's wheels begin to roll; and, upon determining based on the vehicle speed that the vehicle is not in a rolling obstruction scenario, switching the torque control mode to the speed control mode, and continuing automatic parking based on the speed control mode. The speed threshold may be determined based on an upper speed threshold when the vehicle is parked.

[0057] In the embodiment of the present application, if the vehicle speed is to reach a predetermined speed, the vehicle output power needs to be increased. Taking the vehicle output power P as an example, P = T*N / 9550, the unit of output power P is Kw (kilowatt), T is the torque of the motor, the unit is N*m (Newton-meter), N is the speed of the motor, the unit is r / min (Revolutions Per minute), and 9550 is a constant. According to the calculation formula of output power P, if the output power of the vehicle's motor is to be increased, the speed of the motor needs to be increased or the torque of the vehicle needs to be increased. The torque control mode in the embodiment of the present application adjusts the current and voltage of the motor so that the speed of the motor remains unchanged but the torque is increased.

[0058] Optionally, during the automatic parking process, a vehicle speed limit threshold (e.g., 5 km / h) is set. To prevent the vehicle speed from exceeding the upper speed threshold, the vehicle's motor speed must be controlled within the speed threshold. The speed threshold can be calculated using the following formula: R = V / C, where R is the speed threshold in r / min, V is the upper speed threshold in km / h, and C is the vehicle's tire circumference in meters. Thus, by controlling the motor speed within the speed threshold, the vehicle's output power is increased by adjusting the vehicle's torque, thereby enabling the vehicle to cross the bump.

[0059] In one possible implementation, increasing the torque of a vehicle's motor includes: generating a torque control command based on a torque control amount, where the torque control amount is determined based on parameters or standards corresponding to a chassis domain of the vehicle; sending the torque control command to the chassis domain, and instructing the chassis domain to control the torque of the motor to increase the torque control amount through the torque control command.

[0060] For example, the torque control amount of the motor determined based on parameters or standards corresponding to the chassis domain can be a target torque or an increased torque, etc. After the torque control command is generated, the torque control command is sent to the chassis domain, so that the chassis domain controls the torque of the motor according to the torque control command, thereby increasing the torque of the vehicle by the torque control amount. The torque control command includes at least one sub-command, and at least one sub-command corresponds to the operating mode of at least one module in the chassis domain. For example, if any sub-command includes a voltage of a first voltage value, then the voltage module corresponding to the chassis domain outputs the first voltage value to the motor.

[0061] Optionally, the above-mentioned process of controlling the torque of the motor can be executed by the control layer, which is used to receive and execute the electrical signal instructions issued by the control module to achieve precise control of the vehicle. When the control layer receives the mode switching signal, the control layer switches the control mode to the torque control mode. In this mode, the control quantity needs to be coordinated with the chassis domain to ensure the vehicle's dynamic performance and driving experience. After obtaining the control method of each control quantity of the chassis domain torque control mode, the control layer needs to add the code of the torque control mode. This process includes converting the input of the planning layer into the input of the torque control quantity, and generating a control command to output to the chassis domain. That is, the control layer needs to convert the torque parameters determined by the planning layer into a torque control command, and then send it to the chassis domain. The embodiment of the present application does not limit the conversion process. For example, it can be achieved through a conversion function.

[0062] For example, during the conversion process, the control layer needs to consider the characteristics of the chassis domain, the characteristics of the motor, and the dynamic model of the vehicle. For example, in the process of converting speed to torque, the control layer needs to consider factors such as the speed and load of the motor in order to determine the appropriate torque value. After determining the torque control command, the control layer sends it to the chassis domain. The chassis domain adjusts the torque of the motor according to the command, thereby realizing the torque control of the vehicle. In addition, this control method can also improve acceleration performance, reduce braking distance, optimize climbing performance, etc. At the same time, this collaborative working method can also make more refined adjustments according to different driving conditions and the driver's intentions to achieve a better driving experience and safety. Among them, the chassis domain can feed back the execution results to the control domain during the execution of the command, so that the control domain can adjust the command.

[0063] In one possible embodiment, automatic parking is performed based on a torque control mode, including performing automatic parking based on a torque control mode when the output power of the vehicle's motor does not reach a power upper limit threshold. In addition, when the output power of the vehicle's motor reaches the power upper limit threshold, if the vehicle's speed is less than the vehicle's speed lower limit threshold, the automatic parking is exited. For example, in the embodiment of the present application, the output power of the vehicle is increased by controlling the torque of the vehicle. However, in order to protect the normal use of the vehicle's motor and extend the life of the vehicle's motor, the output power of the vehicle needs to be limited to a certain extent during the specific operation process. The embodiment of the present application does not specifically set the power upper limit threshold, and it needs to be comprehensively considered according to the conditions of different vehicles and different motors. If the output power is increased to reach the power upper limit threshold by increasing the torque of the vehicle in the embodiment of the present application, it is still impossible to cross the threshold, that is, the vehicle's speed is less than the vehicle's speed lower limit threshold, then the automatic parking operation is exited and the control of the vehicle is transferred to the driver of the vehicle.

[0064] Optionally, when the vehicle exits the automatic parking state, the vehicle can remind the driver of the vehicle. This embodiment of the application does not limit the method of reminder, for example, a text prompt "Exit Automatic Parking" is displayed on the vehicle's central control screen; or a voice message is played to indicate the exit of automatic parking; or an indicator light on the vehicle indicates the exit of parking.

[0065] In summary, the vehicle parking control method provided in the embodiments of the present application switches from the speed control mode to the torque control mode when the parking status information satisfies the mode switching conditions and the decision reference information satisfies the safety conditions. The torque control mode allows the vehicle to increase the output power by increasing the motor torque when wheel rolling is blocked, thus avoiding the vehicle exiting the parking position due to reaching the speed limit and ensuring the continuity of the vehicle's automatic parking process. Furthermore, the present application switches to the torque control mode only after determining that the vehicle meets the safety conditions, thus ensuring the vehicle's driving safety after switching to the torque control mode.

[0066] See also Figure 4 , an embodiment of the present application provides a device, the device comprising:

[0067] A first acquisition module 401 is configured to acquire parking status information of a vehicle, wherein the vehicle is configured to automatically park based on a speed control mode, wherein the speed control mode is a mode for automatically parking by controlling the speed of a motor;

[0068] A second acquisition module 402 is configured to determine that the vehicle is in a wheel rolling obstruction scenario when the parking state information satisfies a mode switching condition, and acquire decision reference information affecting the parking safety of the vehicle, the decision reference information including at least one of vehicle operating state information, vehicle environment information, and vehicle travel path information;

[0069] The switching module 403 is used to switch the speed control mode to the torque control mode when the decision reference information meets the safety conditions, and perform automatic parking based on the torque control mode. The torque control mode is a mode that realizes automatic parking by controlling the torque of the motor.

[0070] In one possible implementation, the switching module 403 is configured to increase the torque of the vehicle's motor when controlling the speed of the vehicle's motor to be a speed threshold until the vehicle's speed exceeds a lower speed threshold, where the speed threshold is determined based on an upper speed threshold when the vehicle is in a parking state; and to determine based on the vehicle speed that the vehicle is not in a scenario where wheel rolling is obstructed, switch the torque control mode to the speed control mode, and perform automatic parking based on the speed control mode.

[0071] In one possible implementation, the switching module 403 is used to generate a torque control command based on the torque control amount, where the torque control amount is determined based on parameters or standards corresponding to the chassis domain of the vehicle; and to send the torque control command to the chassis domain, thereby instructing the chassis domain to control the torque of the motor to increase the torque control amount through the torque control command.

[0072] In one possible implementation, the parking status information includes the vehicle's driving command and the vehicle's speed, and the mode switching condition includes that the vehicle's driving command is forward or reverse, and the vehicle's speed is continuously less than the lower speed limit threshold within a reference time period.

[0073] In one possible implementation, the decision reference information includes vehicle operating status information, vehicle environment information, and vehicle driving path information. The vehicle operating status information includes vehicle acceleration information, speed information, steering angle information, and direction information. The vehicle environment information includes relative position information, distance information, and relative speed information between the vehicle and at least one environmental object. The vehicle driving path information includes the vehicle's driving route and the driving routes of other vehicles around the vehicle. The safety condition includes the decision reference information indicating that the vehicle will not collide with at least one environmental object during the automatic parking process.

[0074] In one possible implementation, the first acquisition module 401 is used to obtain vehicle operating status information through the vehicle's chassis domain, which includes a transmission system, a driving system, a steering system, and a braking system; obtain vehicle environment information through the vehicle's perception layer application, which is used to perceive relevant information about the vehicle's environment through sensors; and obtain vehicle driving path information through the vehicle's prediction layer application, which is used to predict the vehicle's driving route based on the vehicle's operating status and traffic environment information.

[0075] In one possible implementation, the switching module 403 is configured to perform automatic parking based on the torque control mode when the output power of the vehicle's motor does not reach an upper power limit threshold; the device also includes an exit module configured to exit automatic parking when the output power of the vehicle's motor reaches an upper power limit threshold and the vehicle speed is less than a lower speed limit threshold.

[0076] In summary, the vehicle parking control device provided in the embodiments of the present application switches from a speed control mode to a torque control mode when the parking status information satisfies the mode switching conditions and the decision reference information satisfies the safety conditions. The torque control mode allows the vehicle to increase the output power by increasing the motor torque when wheel rolling is blocked, thus avoiding the vehicle exiting the parking position due to reaching the speed limit and ensuring the continuity of the vehicle's automatic parking process. Furthermore, the present application switches to the torque control mode only after determining that the vehicle meets the safety conditions, thus ensuring the vehicle's driving safety after switching to the torque control mode.

[0077] It should be noted that the apparatus provided in the above embodiments is merely illustrated by the division of the above functional modules when implementing its functions. In actual functions, the above functions 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. In addition, the apparatus and method embodiments provided in the above embodiments are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0078] Figure 51 is a schematic diagram of the structure of a server provided in an embodiment of the present application. The server may vary significantly due to different configurations or performance. The server may include one or more processors 1101 and one or more memories 1102. The one or more memories 1102 store at least one computer program, which is loaded and executed by the one or more processors 1101 to enable the server to implement the vehicle parking control methods provided in the various method embodiments described above. Of course, the server may also include components such as a wired or wireless network interface, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which are not detailed here.

[0079] Figure 6 This is a schematic diagram of the structure of a terminal provided in an embodiment of the present application. The terminal may be, for example, a vehicle-mounted terminal, a smartphone, a tablet computer, a player, a laptop computer, or a desktop computer. The terminal may also be referred to as user equipment, portable terminal, laptop terminal, desktop terminal, or other names.

[0080] Typically, the terminal includes: a processor 1501 and a memory 1502 .

[0081] The processor 1501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1501 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 1501 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1501 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0082] Memory 1502 may include one or more computer-readable storage media, which may be non-transitory. Memory 1502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in memory 1502 is used to store at least one instruction, which is executed by processor 1501 to enable the terminal to implement the vehicle parking control method provided in the method embodiment of the present application.

[0083] In some embodiments, the terminal may optionally include a peripheral device interface 1503 and at least one peripheral device. The processor 1501, memory 1502, and peripheral device interface 1503 may be connected via a bus or signal lines. Each peripheral device may be connected to the peripheral device interface 1503 via a bus, signal lines, or circuit boards. Specifically, the peripheral device may include at least one of a radio frequency circuit 1504, a display screen 1505, a camera assembly 1506, an audio circuit 1507, and a power supply 1508.

[0084] The peripheral device interface 1503 can be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 1501 and the memory 1502. In some embodiments, the processor 1501, the memory 1502, and the peripheral device interface 1503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1501, the memory 1502, and the peripheral device interface 1503 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0085] RF circuit 1504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. RF circuit 1504 communicates with communication networks and other communication devices via electromagnetic signals. RF circuit 1504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. RF circuit 1504 may optionally include an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. RF circuit 1504 may communicate with other terminals via at least one wireless communication protocol. Such wireless communication protocols include, but are not limited to, metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, RF circuit 1504 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0086] Display screen 1505 is used to display a user interface (UI). This UI may include graphics, text, icons, videos, or any combination thereof. When display screen 1505 is a touchscreen display, it is also capable of collecting touch signals on or above the surface of display screen 1505. These touch signals can be input as control signals to processor 1501 for processing. Display screen 1505 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there can be a single display screen 1505, located on the front panel of the terminal. In other embodiments, there can be at least two display screens 1505, located on different surfaces of the terminal or in a foldable design. In still other embodiments, display screen 1505 can be a flexible display screen, located on a curved or foldable surface of the terminal. Display screen 1505 can also be configured as a non-rectangular, irregular shape, also known as a special-shaped screen. Display screen 1505 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0087] The camera assembly 1506 is used to capture images or videos. Optionally, the camera assembly 1506 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal, and the rear camera is arranged on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1506 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0088] The audio circuit 1507 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals that are input into the processor 1501 for processing, or input into the radio frequency circuit 1504 to achieve voice communication. For the purpose of stereo sound collection or noise reduction, there may be multiple microphones, each disposed at different locations of the terminal. The microphone may also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert electrical signals from the processor 1501 or the radio frequency circuit 1504 into sound waves. The speaker may be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert electrical signals into sound waves audible to humans, but also convert electrical signals into sound waves inaudible to humans for purposes such as distance measurement. In some embodiments, the audio circuit 1507 may also include a headphone jack.

[0089] Power supply 1508 is used to power various components in the terminal. Power supply 1508 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1508 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0090] In some embodiments, the terminal further includes one or more sensors 1509 , including but not limited to: an acceleration sensor 1510 , a gyroscope sensor 1511 , a pressure sensor 1512 , an optical sensor 1513 , and a proximity sensor 1514 .

[0091] The accelerometer 1510 can detect the magnitude of acceleration along the three coordinate axes of the coordinate system established by the terminal. For example, the accelerometer 1510 can be used to detect the components of gravity acceleration along the three coordinate axes. The processor 1501 can control the display screen 1505 to display the user interface in a landscape or portrait view based on the gravity acceleration signal collected by the accelerometer 1510. The accelerometer 1510 can also be used to collect game or user motion data.

[0092] The gyroscope sensor 1511 can detect the terminal's body orientation and rotation angle. It can also work with the accelerometer 1510 to collect the user's 3D movements on the terminal. Based on the data collected by the gyroscope sensor 1511, the processor 1501 can implement the following functions: motion sensing (such as changing the UI based on the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0093] The pressure sensor 1512 can be set in the side frame of the terminal and / or the lower layer of the display screen 1505. When the pressure sensor 1512 is set in the side frame of the terminal, it can detect the user's grip signal of the terminal, and the processor 1501 performs left and right hand recognition or shortcut operations based on the grip signal collected by the pressure sensor 1512. When the pressure sensor 1512 is set in the lower layer of the display screen 1505, the processor 1501 controls the operable controls on the UI interface based on the user's pressure operation on the display screen 1505. Operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0094] Optical sensor 1513 is used to detect ambient light intensity. In one embodiment, processor 1501 can control the display brightness of display screen 1505 based on the ambient light intensity detected by optical sensor 1513. Specifically, when the ambient light intensity is high, the display brightness of display screen 1505 is increased; when the ambient light intensity is low, the display brightness of display screen 1505 is decreased. In another embodiment, processor 1501 can also dynamically adjust the shooting parameters of camera assembly 1506 based on the ambient light intensity detected by optical sensor 1513.

[0095] Proximity sensor 1514, also known as a distance sensor, is typically located on the front panel of the terminal. Proximity sensor 1514 is used to detect the distance between the user and the front of the terminal. In one embodiment, when proximity sensor 1514 detects that the distance between the user and the front of the terminal is gradually decreasing, processor 1501 controls display screen 1505 to switch from the screen-on state to the screen-off state. When proximity sensor 1514 detects that the distance between the user and the front of the terminal is gradually increasing, processor 1501 controls display screen 1505 to switch from the screen-off state to the screen-on state.

[0096] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the terminal, and may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0097] In an exemplary embodiment, a computer device is further provided, comprising a processor and a memory, wherein the memory stores at least one computer program. The at least one computer program is loaded and executed by one or more processors to enable the computer device to implement any of the above-mentioned vehicle parking control methods.

[0098] In an exemplary embodiment, a computer-readable storage medium is further provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-mentioned vehicle parking control methods.

[0099] In one possible implementation, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0100] In an exemplary embodiment, a computer program product or computer program is also provided. The computer program product or computer program includes 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 any of the above-described vehicle parking control methods.

[0101] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, storage, and display, etc.), and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the parking information involved in this application was obtained with full authorization.

[0102] It should be understood that the term "plurality" used herein refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0103] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for controlling vehicle parking, characterized in that: The method comprises: Acquiring parking status information of a vehicle, wherein the vehicle is a vehicle that performs automatic parking based on a speed control mode, wherein the speed control mode is a mode for achieving automatic parking by controlling the speed of a motor; If the parking state information satisfies a mode switching condition, determining that the vehicle is in a wheel rolling obstruction scenario, and obtaining decision reference information affecting parking safety of the vehicle, the decision reference information including at least one of vehicle operating state information, vehicle environment information, and vehicle driving path information; If the decision reference information satisfies a safety condition, switching the speed control mode to a torque control mode, and performing automatic parking based on the torque control mode, wherein the torque control mode is a mode in which automatic parking is achieved by controlling the torque of the motor; The automatic parking based on the torque control mode includes: increasing the torque of the motor of the vehicle when the speed of the motor of the vehicle is controlled to be a speed threshold until the speed of the vehicle exceeds a lower speed threshold, wherein the speed threshold is determined based on an upper speed threshold when the vehicle is in a parked state; It is determined based on the vehicle speed that the vehicle is not in the wheel rolling obstruction scenario, the torque control mode is switched to the speed control mode, and automatic parking is performed based on the speed control mode.

2. The method according to claim 1, characterized in that Increasing the torque of the motor of the vehicle includes: generating a torque control command based on a torque control amount, wherein the torque control amount is determined based on parameters or standards corresponding to a chassis domain of the vehicle; The torque control command is sent to the chassis domain, and the chassis domain is instructed by the torque control command to control the torque of the motor to increase the torque control amount.

3. The method according to claim 1, characterized in that The parking status information includes the vehicle's driving command and the vehicle's speed. The mode switching condition includes that the vehicle's driving command is forward or reverse, and the vehicle's speed is continuously less than a lower speed threshold within a reference time period.

4. The method according to claim 1, wherein The decision reference information includes the vehicle operating status information, the vehicle's environmental information and the vehicle's driving path information. The vehicle operating status information includes the vehicle's acceleration information, speed information, steering angle information and direction information. The vehicle's environmental information includes the relative position information, distance information and relative speed information between the vehicle and at least one environmental object. The vehicle's driving path information includes the vehicle's driving route and the driving routes of other vehicles around the vehicle. The safety condition includes the decision reference information indicating that the vehicle will not collide with the at least one environmental object during the automatic parking process.

5. The method according to claim 4, characterized in that The obtaining of decision reference information affecting the parking safety of the vehicle includes: Acquiring the vehicle operating status information through a chassis domain of the vehicle, where the chassis domain includes a transmission system, a driving system, a steering system, and a braking system; Acquiring information about the vehicle's environment through a perception layer application of the vehicle, wherein the perception layer application is used to perceive relevant information about the vehicle's environment through sensors; The vehicle driving path information is obtained through the vehicle's prediction layer application, and the prediction layer application is used to predict the vehicle's driving route based on the vehicle's operating status and traffic environment information.

6. The method according to any one of claims 1 to 5, characterized in that: The automatic parking based on the torque control mode includes: When the output power of the motor of the vehicle does not reach the upper power limit threshold, performing automatic parking based on the torque control mode; The method further comprises: When the output power of the motor of the vehicle reaches the upper power limit threshold, if the vehicle speed is less than the lower speed limit threshold, the automatic parking is exited.

7. A vehicle parking control device, characterized in that: The device comprises: a first acquisition module, configured to acquire parking status information of the vehicle, wherein the vehicle is a vehicle that performs automatic parking based on a speed control mode, wherein the speed control mode is a mode for achieving automatic parking by controlling the speed of a motor; a second acquisition module, configured to, if the parking state information satisfies a mode switching condition, determine that the vehicle is in a wheel rolling obstruction scenario, and acquire decision reference information affecting parking safety of the vehicle, the decision reference information including at least one of vehicle operating state information, vehicle environment information, and vehicle travel path information; a switching module, configured to switch the speed control mode to a torque control mode if the decision reference information satisfies a safety condition, and perform automatic parking based on the torque control mode, wherein the torque control mode is a mode in which automatic parking is achieved by controlling the torque of the motor; The automatic parking based on the torque control mode includes: when the speed of the vehicle's motor is controlled to be a speed threshold, increasing the torque of the vehicle's motor until the vehicle speed exceeds a lower speed threshold, the speed threshold being determined based on an upper speed threshold of the vehicle in the parking state; determining based on the vehicle speed that the vehicle is not in the wheel rolling obstruction scenario, switching the torque control mode to the speed control mode, and performing automatic parking based on the speed control mode.

8. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor, so that the computer device implements the vehicle parking control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor to enable the computer to implement the vehicle parking control method according to any one of claims 1 to 6.

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