Parking method, device and equipment of vehicle and computer readable storage medium

Abstract

This application provides a vehicle parking method, apparatus, device, and storage medium. The method includes: receiving a user's parking request; issuing a first control command to a first controller to control a first caliper to clamp, and issuing a second control command to a second controller to control a second caliper to clamp; acquiring the actual states of the first and second calipers; if either the first or second caliper is in a released state, detecting the actual parking slope of the vehicle; comparing the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle; if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or if the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, outputting a safety warning message to the user. Applying this invention can improve parking safety.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more specifically to a parking method, apparatus, device, and computer-readable storage medium for a vehicle. Background Technology

[0002] Currently, in order to improve the reliability of vehicle braking systems, dual-caliper braking is often used in existing technologies. However, during parking, if the controller of one caliper fails and the slope is steep, the parking force of a single caliper may not be sufficient for the vehicle's slope. If the vehicle is put directly into parking gear at this time, it will cause the vehicle to roll away, which will pose a great safety hazard.

[0003] It is evident that in existing technologies, a single caliper in a dual-caliper configuration cannot meet the parking force, leading to vehicle slippage. Summary of the Invention

[0004] In view of the above problems, this application provides a vehicle parking method, apparatus, device and computer-readable storage medium to solve the problem in the prior art where a single caliper in a dual-caliper system cannot meet the parking force, resulting in vehicle slippage.

[0005] According to a first aspect of the embodiments of this application, a parking method for a vehicle is provided. The method includes: receiving a parking request from a user; issuing a first control command to a first controller to control a first caliper to clamp, and issuing a second control command to a second controller to control a second caliper to clamp; acquiring the actual states of the first caliper and the second caliper; if the actual state of either the first caliper or the second caliper is in a released state, detecting the actual parking slope of the vehicle; comparing the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle; if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, outputting a safety warning message to the user.

[0006] In one optional approach, the step of outputting a safety warning message to the user if the parking force of the first caliper is less than the parking force required for the actual parking slope where the vehicle is currently located, or the parking force of the second caliper is less than the parking force required for the actual parking slope where the vehicle is currently located, further includes: if the parking force of the first caliper is less than the parking force required for the actual parking slope where the vehicle is currently located, or the parking force of the second caliper is less than the parking force required for the actual parking slope where the vehicle is currently located, detecting the current frontal orientation of the vehicle; if the frontal orientation is upward relative to the slope where the vehicle is currently located, controlling the motor to rotate forward and outputting a safety warning message to the user.

[0007] In one optional embodiment, the step of controlling the motor to rotate forward if the front of the vehicle is facing upward relative to the slope currently occupied by the vehicle further includes: if the front of the vehicle is facing upward relative to the slope currently occupied by the vehicle, obtaining a first absolute parking force based on the parking force of the first caliper and the parking force required for the actual parking slope currently occupied by the vehicle, or obtaining a second absolute parking force based on the parking force of the second caliper and the parking force required for the actual parking slope currently occupied by the vehicle; controlling the motor to rotate forward based on the first absolute parking force or the second absolute parking force, so that the vehicle remains stationary on the current slope.

[0008] In one optional approach, the step of outputting a safety warning message to the user if the parking force of the first caliper is less than the parking force required for the actual parking slope where the vehicle is currently located, or the parking force of the second caliper is less than the parking force required for the actual parking slope where the vehicle is currently located, further includes: if the parking force of the first caliper is less than the parking force required for the actual parking slope where the vehicle is currently located, or the parking force of the second caliper is less than the parking force required for the actual parking slope where the vehicle is currently located, then detecting the current frontal orientation of the vehicle; if the frontal orientation is downward relative to the slope where the vehicle is currently located, then controlling the motor to reverse and outputting a safety warning message to the user.

[0009] In one optional approach, the step of controlling the motor to reverse if the vehicle's front is facing downhill relative to the slope currently occupied by the vehicle further includes: if the vehicle's front is facing downhill relative to the slope currently occupied by the vehicle, obtaining a first absolute parking force based on the parking force of the first caliper and the parking force required for the actual parking slope currently occupied by the vehicle, or obtaining a second absolute parking force based on the parking force of the second caliper and the parking force required for the actual parking slope currently occupied by the vehicle; controlling the motor to reverse based on the first absolute parking force or the second absolute parking force, so that the vehicle remains stationary on the current slope.

[0010] In one optional approach, after comparing the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle, the method further includes: if the parking force of the first caliper is greater than or equal to the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is greater than or equal to the parking force required for the actual parking slope of the vehicle, then controlling the actual gear of the vehicle to switch to parking gear.

[0011] In one alternative approach, after obtaining the actual states of the first caliper and the second caliper, the method further includes: if the actual states of the first caliper and the second caliper are both in a clamped state, then controlling the actual gear position of the vehicle to switch to parking gear.

[0012] According to a second aspect of the embodiments of this application, a parking device for a vehicle is provided, comprising: a receiving module for receiving a parking request from a user; a control module for issuing a first control command to a first controller to control a first caliper to clamp, and issuing a second control command to a second controller to control a second caliper to clamp; an acquisition module for acquiring the actual states of the first caliper and the second caliper; a detection module for detecting the actual parking slope of the vehicle if the actual state of either the first caliper or the second caliper is in a released state; a comparison module for comparing the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle; and an output module for outputting a safety warning message to the user if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle.

[0013] According to a third aspect of the embodiments of this application, a parking device for a vehicle is provided, comprising: a controller; and a memory for storing one or more programs, wherein when the controller executes one or more programs, the controller implements the following steps of the parking method for a vehicle: receiving a parking request from a user; issuing a first control command to a first controller to control a first caliper to clamp, and issuing a second control command to a second controller to control a second caliper to clamp; acquiring the actual states of the first caliper and the second caliper; if the actual state of either the first caliper or the second caliper is in a released state, detecting the actual parking slope of the vehicle; comparing the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle; if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, outputting a safety warning message to the user.

[0014] According to a fourth aspect of the present application, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction, the executable instruction causing a parking device / equipment of a vehicle to perform the following operations: receiving a user's parking request; issuing a first control instruction to a first controller to control a first caliper to clamp, and issuing a second control instruction to a second controller to control a second caliper to clamp; acquiring the actual states of the first caliper and the second caliper; if the actual state of either the first caliper or the second caliper is in a released state, detecting the actual parking slope of the vehicle; comparing the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle; if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, outputting a safety warning message to the user.

[0015] This application embodiment utilizes a vehicle parking method that, based on a parking request, issues a first control command to a first controller to clamp a first caliper, and issues a second control command to a second controller to clamp a second caliper. The first and second controllers operate independently; if one controller fails, the other maintains control over the other caliper, ensuring the vehicle retains a certain parking capability. The parking slope meets the parking capability of a single caliper, allowing one caliper to fulfill some parking requirements. The actual states of the first and second calipers are obtained, and a judgment is made... If either the first or second caliper is released, the system detects the vehicle's current parking slope and calculates the required parking force. It then determines whether the parking force of either caliper meets the required parking force for the actual parking slope. If either the first or second caliper's parking force is less than the required parking force for the current parking slope, a safety warning is sent to the user to remind them to find another parking spot, thus preventing the vehicle from rolling away.

[0016] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0017] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0018] Figure 1 A flowchart illustrating a first embodiment of the parking method for the vehicle of this application is shown;

[0019] Figure 2 A flowchart illustrating a second embodiment of the parking method for the vehicle of this application is shown;

[0020] Figure 3 A flowchart illustrating a third embodiment of the parking method for the vehicle of this application is shown;

[0021] Figure 4 A schematic diagram of an embodiment of the parking device for the vehicle of this application is shown;

[0022] Figure 5 A schematic diagram of an embodiment of the parking equipment for the vehicle of this application is shown. Detailed Implementation

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0024] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0025] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0026] In this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0027] If, during parking, one of the dual calipers or the controller of one caliper fails, and the slope is steep, the parking force of the single caliper is less than the parking force required for the slope. Because the vehicle's weight is greater than the parking force of the single caliper, the vehicle may roll away, posing a significant safety hazard to the user.

[0028] Figure 1 A flowchart illustrating a first embodiment of the parking method for a vehicle according to this application is shown, the method being executed by the vehicle's parking equipment. Please refer to... Figure 1 As shown, the method includes the following steps:

[0029] Step S110: Receive the user's parking request.

[0030] When the vehicle is actually in D / R / N gear (D gear represents driving gear, R gear represents reverse gear, and N gear represents neutral gear) and the vehicle is stationary, the user issues a parking request. This can be achieved by the GSM (Gear System Manager) controller issuing a P gear (P gear represents parking gear) request, which can be received by the VDC (Vehicle Dynamic Control).

[0031] Step S120: Based on the parking request, issue a first control command to the first controller to control the first caliper to clamp, and issue a second control command to the second controller to control the second caliper to clamp.

[0032] In this embodiment, two independent controllers are used to control the two calipers separately. The first controller controls the first caliper and provides feedback on its status, while the second controller controls the second caliper and provides feedback on its status. The first and second controllers operate independently. This differs from existing technologies that use a single controller to control both calipers simultaneously, where failure results in the inability to control either caliper. In this embodiment, even if one caliper fails, the other controller can still control the other caliper, maintaining a certain parking capability. When parking on a sufficiently gentle slope, one caliper can meet the parking requirements. It should be noted that if the first controller can be an IPB (Integrated Power Brake) controller, then the second controller can be an RBU (Redundant Brake Unit); conversely, if the first controller can be an RBU controller, then the second controller can be an IPB (Integrated Power Brake) controller. The first control command is sent to the first controller via VDC, and the second control command is sent to the second controller.

[0033] Step S130: Obtain the actual state of the first caliper and the second caliper.

[0034] The system comprises two controllers: a first controller controls the clamping of the first caliper, and a second controller controls the clamping of the second caliper. When the first caliper fails to clamp, the first controller will report that the first caliper is in a released state. When the first controller fails, it will be unable to control the first caliper or provide feedback on its actual state. The first caliper may be in a released state because it cannot receive the first control command from the first controller, and the VDC controller will determine that the actual state of the first caliper is released. Similarly, when the second caliper fails to clamp, the second controller will report that the second caliper is in a released state. When the second controller fails, it will be unable to control the second caliper or provide feedback on its actual state. The second caliper may be in a released state because it cannot receive the second control command from the second controller, and the VDC controller will determine that the actual state of the second caliper is released. Therefore, the actual parking force of the vehicle is determined by obtaining the actual states of the first and second calipers.

[0035] Step S140: If either the first caliper or the second caliper is in a released state, then detect the actual parking slope of the vehicle.

[0036] If either the first caliper or the second caliper is in the released state, it means that the current parking force of the vehicle cannot meet the parking requirements for all slopes. In this case, the actual parking slope of the vehicle is currently detected to determine whether the current parking force of the first caliper or the parking force of the second caliper meets the parking force required for the actual parking slope of the vehicle.

[0037] Step S150: If the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or if the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, then a safety warning message is output to the user.

[0038] If the parking force of the first caliper is less than the parking force required for the actual slope the vehicle is currently on, and the parking force of the second caliper is also less than the parking force required for the actual parking slope the vehicle is currently on, then engaging the parking gear will cause the vehicle to roll away, posing a significant safety hazard to the user. Therefore, a safety warning message is output to the user, who can then find another parking spot to park the vehicle where the parking force of either the first or second caliper is sufficient. It should be noted that the safety warning message can be output in one or a combination of voice prompts, flashing indicator lights, central control screen display, and steering wheel vibration.

[0039] In summary, the vehicle parking method of this application involves issuing a first control command to the first controller to clamp the first caliper upon a parking request, and issuing a second control command to the second controller to clamp the second caliper. The first controller controls the first caliper, and the second controller controls the second caliper. The first and second controllers are independent of each other; if one controller fails, the other controller still maintains control over the other caliper, and the vehicle retains a certain parking capability. The parking slope meets the parking capability of a single caliper, and one caliper can meet some parking requirements. The actual state of the first and second calipers is obtained, and it is determined that... If either the first or second caliper is released, the system detects the vehicle's current parking slope and calculates the required parking force. It then determines whether the parking force of the first and second calipers meets the required parking force for the actual parking slope. If either the first or second caliper's parking force is less than the required parking force for the current parking slope, a safety warning is sent to the user to remind them to find another parking spot, thus preventing the vehicle from rolling away.

[0040] Figure 2 A flowchart illustrating a second embodiment of the parking method for a vehicle according to this application is shown, the method being executed by the vehicle's parking equipment. Please refer to... Figure 2 As shown, if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or if the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, then outputting a safety warning message to the user further includes the following steps:

[0041] Step S210: If the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, detect the current frontal orientation of the vehicle.

[0042] When a vehicle is parked on a slope, its front can face either upwards or downwards. The direction of the vehicle's movement is determined by detecting this direction. For example, when the front is facing upwards, the vehicle moves backwards relative to the slope; when the front is facing downwards, the vehicle moves forwards relative to the slope. Specifically, the vehicle's inertial sensor can be used to directly detect the direction of the front; alternatively, the direction can be determined based on the vehicle's position within a coordinate system. For instance, the rear of the vehicle can be used as the origin, the horizontal plane of the rear as the X-axis, and the vertical plane of the rear as the Y-axis. The position of the vehicle's front coordinates within this coordinate system is then determined, thus identifying the direction of the front. If the front is in the first or second quadrant of the coordinate system, the front is facing upwards relative to the slope; if it is in the third or fourth quadrant, the front is facing downwards.

[0043] Step S220: If the vehicle's front is facing upwards relative to the slope where the vehicle is currently located, control the motor to rotate forward and output a safety warning message to the user.

[0044] Specifically, when the front of the vehicle is facing upwards on the slope relative to the other vehicle, the vehicle rolls backwards relative to the slope. At this time, the control motor rotates forward, generating a positive driving force that acts as a counter-braking force against the backward rolling of the vehicle, thus preventing the vehicle from rolling backwards. This provides a specific measure to prevent the vehicle from rolling backwards and outputs a safety message to the user, prompting the user to find another parking spot. At the same time, the motor rotates forward, and the vehicle is in an uninterrupted state, further reminding the user that the vehicle has not been successfully parked and that another parking spot needs to be found. This forms a double protection against the vehicle rolling backwards.

[0045] It should be noted that when the front of the vehicle is facing upwards, the front of the vehicle can be parallel to the slope or at a certain angle to the slope. In other words, the direction of the front of the vehicle can be any angle at which the vehicle rolls backwards.

[0046] Specifically, in another embodiment of the invention, in step S220, the step of controlling the motor to rotate forward if the front of the vehicle is facing upward relative to the slope currently occupied by the vehicle further includes: if the front of the vehicle is facing upward relative to the slope currently occupied by the vehicle, obtaining a first absolute parking force based on the parking force of the first caliper and the parking force required for the actual parking slope currently occupied by the vehicle, or obtaining a second absolute parking force based on the parking force of the second caliper and the parking force required for the actual parking slope currently occupied by the vehicle; controlling the motor to rotate forward based on the first absolute parking force or the second absolute parking force, so that the vehicle remains stationary on the current slope.

[0047] In this embodiment, if the first caliper is in the clamped state and the second caliper is in the released state, the first absolute parking force is obtained by comparing the parking force of the first caliper with the parking force required for the actual parking slope where the vehicle is currently located. From the first absolute parking force, it can be determined how much driving torque the vehicle needs to prevent it from rolling back. Therefore, the number of revolutions of the motor is controlled according to the first absolute parking force to generate a corresponding amount of driving torque, keeping the vehicle stationary on the current slope and preventing the vehicle from rolling back. If the second caliper is in the clamped state and the first caliper is in the released state, the principle is the same as when the first caliper is in the clamped state and the second caliper is in the released state, and will not be described again here.

[0048] Figure 3 A flowchart illustrating a third embodiment of the vehicle parking method of this application is shown, the method being performed by the vehicle's parking equipment. Please refer to... Figure 3 As shown, if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or if the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, then outputting a safety warning message to the user further includes the following steps:

[0049] Step S310: If the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, detect the current frontal orientation of the vehicle.

[0050] When a vehicle is parked on a slope, the direction in which the vehicle is facing can be either upward or downward. The direction in which the vehicle is facing is detected to determine how the vehicle rolls. For example, when the vehicle is facing upward, the vehicle rolls backward relative to the slope; when the vehicle is facing downward, the vehicle rolls forward relative to the slope.

[0051] Step S320: If the front of the vehicle is facing downhill relative to the slope where the vehicle is currently located, control the motor to reverse and output a safety warning message to the user.

[0052] Specifically, when the vehicle's front is facing downhill on the slope relative to the other vehicle, and the vehicle rolls forward relative to the slope, the control motor reverses direction, generating a reverse driving force to brake the vehicle's forward rolling motion. This provides a concrete measure to prevent the vehicle from rolling forward and outputs a safety message to the user, prompting them to find another parking spot. At the same time, the motor reverses again, keeping the vehicle running, further reminding the user that the vehicle has not been successfully parked and that another parking spot needs to be found. This provides a double protection against rolling.

[0053] It should be noted that when the vehicle is facing down, the front of the vehicle can be parallel to the slope or at a certain angle to the slope. In other words, the direction of the front of the vehicle can be any angle at which the vehicle rolls forward.

[0054] Specifically, in another embodiment of the invention, in step S320, the step of controlling the motor to reverse if the front of the vehicle is facing downhill relative to the slope currently occupied by the vehicle further includes: if the front of the vehicle is facing downhill relative to the slope currently occupied by the vehicle, obtaining a first absolute parking force based on the parking force of the first caliper and the parking force required for the actual parking slope currently occupied by the vehicle, or obtaining a second absolute parking force based on the parking force of the second caliper and the parking force required for the actual parking slope currently occupied by the vehicle; controlling the motor to reverse according to the first absolute parking force or the second absolute parking force, so that the vehicle remains stationary on the current slope.

[0055] In this embodiment, if the first caliper is in the clamped state and the second caliper is in the released state, the first absolute parking force is obtained by comparing the parking force of the first caliper with the parking force required for the actual parking slope of the current vehicle. From the first absolute parking force, it can be determined how much driving torque the current vehicle needs to prevent it from rolling back. Therefore, the number of reverse rotations of the motor is controlled according to the first absolute parking force to generate a corresponding amount of driving torque, keeping the vehicle stationary on the current slope and preventing the vehicle from rolling forward. If the second caliper is in the clamped state and the first caliper is in the released state, the principle is the same as when the first caliper is in the clamped state and the second caliper is in the released state, and will not be described again here.

[0056] In another embodiment of the present invention, after comparing the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle, the method further includes: if the parking force of the first caliper is greater than or equal to the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is greater than or equal to the parking force required for the actual parking slope of the vehicle, then the actual gear of the vehicle is switched to parking gear.

[0057] In this embodiment, when the parking force of the first caliper is greater than or equal to the parking force required for the actual parking slope of the current vehicle, or when the parking force of the second caliper is greater than or equal to the parking force required for the actual parking slope of the current vehicle, it means that the parking force of a single caliper is sufficient to meet the parking requirements for the actual slope of the current vehicle. In this case, the vehicle is directly controlled to enter the parking gear to achieve parking. However, in the prior art, when one caliper is in a clamped state and the other caliper is in a clamped state, the VDC controller only detects the state of one caliper. When it detects that the state of this caliper is released, the other caliper is actually in a clamped state and has parking capability at the current slope. When the control gear is displayed to the user and the user is informed that there is no parking capability, the user will have to find a parking point again, while the actual vehicle has parking capability at the current slope, causing great inconvenience to the user. The technical solution in this embodiment uses two controllers to control the two calipers separately, which can clearly know the actual status of each caliper. If one caliper is in the clamping state and the other caliper is in the releasing state, and the parking force of the caliper is greater than or equal to the parking force required for the actual parking slope where the vehicle is currently located, parking can still be performed without having to find a parking point again, which brings great convenience to the user.

[0058] In another embodiment of the present invention, after obtaining the actual state of the first caliper and the second caliper, the method further includes: if the actual state of the first caliper and the actual state of the second caliper are both in a clamping state, then controlling the actual gear position of the vehicle to switch to parking gear.

[0059] In this embodiment, if the actual state of the first caliper and the actual state of the second caliper are both in a clamping state, it indicates that the first caliper, the second caliper, the first controller, and the second controller are in good condition. The vehicle can park at the maximum slope or below the slope corresponding to the sum of the parking forces of the first caliper and the second caliper. In this case, the actual gear of the vehicle is switched to parking gear, and the user does not need to find another parking point.

[0060] Figure 4 A schematic diagram of an embodiment of the parking device for the vehicle described in this application is shown. Please refer to... Figure 4 As shown, the device 400 includes:

[0061] Receiver module 410 is used to receive the user's parking request;

[0062] The control module 420 is used to issue a first control command to the first controller to control the first caliper to clamp according to the parking request, and to issue a second control command to the second controller to control the second caliper to clamp.

[0063] The acquisition module 430 is used to acquire the actual state of the first caliper and the second caliper;

[0064] The detection module 440 is used to detect the actual parking slope of the vehicle if either the first caliper or the second caliper is in a released state.

[0065] The comparison module 450 is used to compare the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle at the current location.

[0066] The output module 460 is used to output a safety warning message to the user if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle.

[0067] It should be noted that the vehicle parking device provided in the above embodiments and the vehicle parking method provided in the aforementioned embodiments belong to the same concept. The specific way in which each module and unit performs operations has been described in detail in the method embodiments, and will not be repeated here.

[0068] Figure 5 The diagram illustrates a structural schematic of an embodiment of the parking device for a vehicle according to this application. It also shows a structural schematic of a computer system suitable for implementing the parking device for a vehicle according to the embodiments of this application. The specific embodiments of this application do not limit the specific implementation of the parking device for a vehicle.

[0069] Please see Figure 5 As shown, the parking device of the vehicle includes: a controller; and a memory for storing one or more programs, which, when executed by the controller, perform the steps of the above-described parking method for the vehicle.

[0070] Please continue reading. Figure 5As shown, the computer system 500 of the vehicle's parking equipment includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 502 or programs loaded from storage portion 508 into Random Access Memory (RAM) 503. The RAM 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0071] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 510 as needed so that computer programs read from them can be installed into storage section 508 as needed.

[0072] 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 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit (CPU) 501, it performs various functions defined in the system of this application.

[0073] Another aspect of this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the vehicle parking method described above. This computer-readable storage medium may be included in the vehicle parking device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0074] Another aspect of this application provides a computer program product or computer program that includes at least one executable instruction that, when executed on a parking device / equipment of a vehicle, causes the parking device / equipment of the vehicle to perform the parking method of the vehicle as described above.

[0075] The executable instructions can specifically be used to cause the vehicle's parking equipment / devices to perform the following operations:

[0076] The system receives a parking request from a user, issues a first control command to a first controller to control the first caliper to clamp, and issues a second control command to a second controller to control the second caliper to clamp.

[0077] Obtain the actual state of the first caliper and the second caliper;

[0078] If either the first caliper or the second caliper is in the released state, then the actual parking slope of the vehicle is detected.

[0079] Compare the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope where the vehicle is currently located.

[0080] If the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or if the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, a safety warning message will be output to the user.

[0081] 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 storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, 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.

[0082] 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, may 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.

[0083] 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.

[0084] According to one aspect of the embodiments of this application, a computer system is also provided, including a Central Processing Unit (CPU), which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) or a program loaded from storage into random access memory (RAM), such as performing the methods described above. Various programs and data required for system operation are also stored in the RAM. The CPU, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0085] The following components are connected to the I / O interface: input components including keyboards, mice, etc.; output components including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage components including hard drives; and communication components including network interface cards such as LAN (Local Area Network) cards and modems. The communication components perform communication processing via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage components as required.

[0086] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

Claims

1. A method for parking a vehicle, characterized in that, The method includes: The system receives a parking request from a user, issues a first control command to a first controller to control the first caliper to clamp, and issues a second control command to a second controller to control the second caliper to clamp. Obtain the actual state of the first caliper and the second caliper; If either the first caliper or the second caliper is in the released state, then the actual parking slope of the vehicle is detected. Compare the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope where the vehicle is currently located. If the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or if the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle, then the current frontal orientation of the vehicle is detected. If the vehicle's front is facing upwards relative to the slope where the vehicle is currently located, the motor will be controlled to rotate forward, and a safety warning message will be output to the user. If the front of the vehicle is facing downhill relative to the slope where the vehicle is currently located, the motor will be reversed and a safety warning message will be sent to the user.

2. The vehicle parking method according to claim 1, characterized in that, The statement that if the vehicle's front is facing upward relative to the slope where the vehicle is currently located, then controlling the motor to rotate forward further includes: If the vehicle's front is facing upward relative to the slope where the vehicle is currently located, then the first absolute parking force is obtained based on the parking force of the first caliper and the parking force required for the actual parking slope where the vehicle is currently located, or the second absolute parking force is obtained based on the parking force of the second caliper and the parking force required for the actual parking slope where the vehicle is currently located. The motor is controlled to rotate forward based on the first absolute parking force or the second absolute parking force, so that the vehicle remains stationary on the current slope.

3. The vehicle parking method according to claim 1, characterized in that, The step of controlling the motor to reverse if the vehicle's front is facing downhill relative to the slope the vehicle is currently on further includes: If the front of the vehicle is facing downhill relative to the slope where the vehicle is currently located, then the first absolute parking force is obtained based on the parking force of the first caliper and the parking force required for the actual parking slope where the vehicle is currently located, or the second absolute parking force is obtained based on the parking force of the second caliper and the parking force required for the actual parking slope where the vehicle is currently located. The motor is controlled to reverse according to the first absolute parking force or the second absolute parking force, so that the vehicle remains stationary on the current slope.

4. A method for parking a vehicle according to any one of claims 1-3, characterized in that, After comparing the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope of the vehicle, the process further includes: If the parking force of the first caliper is greater than or equal to the parking force required for the actual parking slope of the vehicle, or if the parking force of the second caliper is greater than or equal to the parking force required for the actual parking slope of the vehicle, then the actual gear of the vehicle is switched to parking gear.

5. A method for parking a vehicle according to any one of claims 1-3, characterized in that, After obtaining the actual states of the first caliper and the second caliper, the process further includes: If both the first caliper and the second caliper are in a clamped state, then the vehicle's actual gear position is switched to parking.

6. A parking device for a vehicle, characterized in that, The device includes: The receiving module is used to receive users' parking requests; The control module is used to issue a first control command to the first controller to control the first caliper to clamp according to the parking request, and to issue a second control command to the second controller to control the second caliper to clamp. The acquisition module is used to acquire the actual state of the first caliper and the second caliper; The detection module is used to detect the actual parking slope of the vehicle if either the first caliper or the second caliper is in a released state. The comparison module is used to compare the parking force of the first caliper and the parking force of the second caliper with the parking force required for the actual parking slope where the vehicle is currently located. The output module is used to detect the current frontal orientation of the vehicle if the parking force of the first caliper is less than the parking force required for the actual parking slope of the vehicle, or the parking force of the second caliper is less than the parking force required for the actual parking slope of the vehicle. If the vehicle's front is facing upwards relative to the slope where the vehicle is currently located, the motor will be controlled to rotate forward, and a safety warning message will be output to the user. If the front of the vehicle is facing downhill relative to the slope where the vehicle is currently located, the motor will be reversed and a safety warning message will be sent to the user.

7. A parking device for a vehicle, characterized in that, include: Controller; A memory for storing one or more programs that, when executed by a controller, cause the controller to implement a parking method for a vehicle according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The storage medium stores at least one executable instruction, which, when executed on the vehicle's parking device, causes the vehicle's parking device to perform the operation of the vehicle parking method as described in any one of claims 1-5.

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