Automatic parking control system, method, device, vehicle and storage medium

Abstract

The application discloses an automatic parking control system, method, device, vehicle and storage medium, and relates to the technical field of automatic parking control systems, and aims at realizing automatic parking of a vehicle in different driving environment states and meeting diversified driving demands of users.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to an automatic parking control system, method, device, vehicle, and storage medium. Background Technology

[0002] With the continuous development of automotive electronics technology, the automatic parking function (Autohold) has become an important part of vehicles and is widely used in various models. The basic principle of the automatic parking function is to maintain braking pressure when the vehicle is stopped through the electronic stability system, so that the driver does not need to continuously press the brake pedal, thereby improving driving comfort and convenience.

[0003] In existing technologies, the automatic parking function is typically activated by a fixed activation pressure threshold. However, users have different activation pressure requirements under different driving conditions. For example, when waiting at a traffic light, they prefer to activate the function by lightly pressing the brake, while when following another vehicle or reversing into a parking space, they prefer not to activate it by lightly pressing the brake. Therefore, this approach cannot meet the driving needs of users in different driving environments. Summary of the Invention

[0004] Based on this, embodiments of the present invention provide an automatic parking control system, method, device, vehicle, and storage medium to solve the technical problem that existing automatic parking functions cannot meet the driving needs of users in different driving environments.

[0005] In one aspect, an automatic parking control system is provided, which includes an electronic stability system, a gear controller, an environmental acquisition module, and an automatic parking component.

[0006] The gear position controller is used to collect the vehicle's gear position status in real time;

[0007] The environmental acquisition module is used to collect the driving environment status of the vehicle in real time;

[0008] The electronic stability system is used to determine whether the master cylinder pressure value is greater than the target master cylinder pressure threshold when the vehicle status meets the activation conditions of the automatic parking function; if the master cylinder pressure value is greater than the target master cylinder pressure threshold, the automatic parking function is activated so that the automatic parking component performs a parking operation.

[0009] The target master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both the gear position and the driving environment.

[0010] Optionally, the target master cylinder pressure threshold includes a first master cylinder pressure threshold, a second master cylinder pressure threshold, a third master cylinder pressure threshold, and a fourth master cylinder pressure threshold.

[0011] The first master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the first driving environment state;

[0012] The second master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the second driving environment state;

[0013] The third master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the third driving environment state, or the master cylinder pressure threshold corresponding to both R gear and the third driving environment state.

[0014] The fourth master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the fourth driving environment state, or the master cylinder pressure threshold corresponding to both N gear and the fourth driving environment state.

[0015] Optionally, the first driving environment state is a following vehicle state;

[0016] The second driving environment state is a traffic light state;

[0017] The third driving environment state is the parking lot state;

[0018] The fourth driving environment state is other environment states.

[0019] Optionally, the electronic stability system is further configured to: after the vehicle is powered on, set the fourth master cylinder pressure threshold to the initial master cylinder pressure threshold.

[0020] Optionally, the electronic stability system is further configured to: determine, based on the vehicle speed, driver's side door status, driver's side seatbelt status, and electronic parking brake system status, whether the vehicle status meets the conditions for activating the automatic parking function.

[0021] Secondly, an automatic parking control method is provided, applied to the aforementioned automatic parking control system, the method comprising:

[0022] The vehicle's gear position, driving environment status, and master cylinder pressure value are obtained.

[0023] When the vehicle status meets the conditions for activating the automatic parking function, it is determined whether the master cylinder pressure value is greater than the target master cylinder pressure threshold value. The target master cylinder pressure threshold value is the master cylinder pressure threshold value corresponding to both the gear position status and the driving environment status.

[0024] If the master cylinder pressure value is greater than the target master cylinder pressure threshold, the automatic parking function is activated so that the automatic parking component performs a parking operation.

[0025] Optionally, the target master cylinder pressure threshold includes a first master cylinder pressure threshold, a second master cylinder pressure threshold, a third master cylinder pressure threshold, and a fourth master cylinder pressure threshold.

[0026] The first master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the first driving environment state;

[0027] The second master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the second driving environment state;

[0028] The third master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the third driving environment state, or the master cylinder pressure threshold corresponding to both R gear and the third driving environment state.

[0029] The fourth master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the fourth driving environment state, or the master cylinder pressure threshold corresponding to both N gear and the fourth driving environment state.

[0030] Optionally, the first driving environment state is a following vehicle state;

[0031] The second driving environment state is a traffic light state;

[0032] The third driving environment state is the parking lot state;

[0033] The fourth driving environment state is other environment states.

[0034] Optionally, the method further includes:

[0035] After the vehicle is powered on, the pressure threshold of the fourth master cylinder is set as the initial master cylinder pressure threshold.

[0036] Optionally, it includes:

[0037] Based on the vehicle's speed, driver's side door status, driver's side seatbelt status, and electronic parking brake system status, it is determined that the vehicle status meets the conditions for activating the automatic parking function.

[0038] Thirdly, an automatic parking control device is provided, comprising:

[0039] The acquisition module is used to acquire the vehicle's gear status, driving environment status, and master cylinder pressure value;

[0040] The determination module is used to determine whether the master cylinder pressure value is greater than the target master cylinder pressure threshold value when the vehicle status meets the automatic parking function activation conditions. The target master cylinder pressure threshold value is the master cylinder pressure threshold value corresponding to both the gear position status and the driving environment status.

[0041] The activation module is used to activate the automatic parking function if the master cylinder pressure value is greater than the target master cylinder pressure threshold value, so that the automatic parking component performs a parking operation.

[0042] Fourthly, a vehicle is provided, including the automatic parking control system as described above.

[0043] Fifthly, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described automatic parking control method.

[0044] In one embodiment of the aforementioned automatic parking control system, method, device, vehicle, and storage medium, the automatic parking control system includes an electronic stability system, a gear position controller, an environmental acquisition module, and an automatic parking component. The gear position controller is used to collect the vehicle's gear position status in real time. The environmental acquisition module is used to collect the vehicle's driving environment status in real time. The electronic stability system is used to determine whether the master cylinder pressure value is greater than a target master cylinder pressure threshold when the vehicle status meets the automatic parking function activation conditions. If the master cylinder pressure value is greater than the target master cylinder pressure threshold, the automatic parking function is activated, causing the automatic parking component to perform a parking operation. The target master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both the gear position status and the driving environment status. In this embodiment, by determining whether the master cylinder pressure value is greater than the target master cylinder pressure threshold (i.e., the master cylinder pressure threshold corresponding to both the gear position status and the driving environment status), the automatic parking function is activated, realizing automatic parking of the vehicle under different driving environment conditions, meeting diverse user driving needs, and improving the overall driving experience and driving safety. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart of an automatic parking control system according to an embodiment of the present invention;

[0047] Figure 2 This is a flowchart of an automatic parking control method according to an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of a vehicle according to one embodiment of the present invention;

[0049] Figure 4This is a schematic diagram of an automatic parking control device in one embodiment of the present invention. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0052] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0053] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0054] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include the specific features, structures, or characteristics described in connection with that embodiment. Therefore, phrases such as "in this embodiment," "as one implementation," "as another implementation," "in some embodiments," and "in other embodiments" appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0055] To fully understand this invention, detailed structures and steps will be presented in the following description to illustrate the technical solution proposed by this invention. Preferred embodiments of the invention are described in detail below; however, in addition to these detailed descriptions, the invention may have other embodiments.

[0056] In a first aspect, embodiments of the present invention provide an automatic parking control system, such as... Figure 1As shown, the automatic parking control system includes an electronic stability system 100, a gear position controller 200, an environmental acquisition module 300, and an automatic parking component 400. As one connection method, the electronic stability system can be connected to the gear position controller, the environmental acquisition module, and the automatic parking component respectively; the specific connection is not limited in this invention. The control process of the above-mentioned automatic parking control system is described in detail below:

[0057] The gear position controller is used to collect the vehicle's gear position status in real time. It can be understood that this gear position controller is used to collect the current vehicle gear position status in real time and send it to the electronic stability system via the CAN network. The gear position status includes, but is not limited to, D, N, and R gears.

[0058] The environmental acquisition module is used to collect the vehicle's driving environment status in real time. This module includes a camera and radar. Specifically, it can collect the current driving environment status of the vehicle in real time using the camera and radar, and convert the collected driving environment status into corresponding driving environment signals, which are then sent to the electronic stability system.

[0059] The electronic stability system is used to determine whether the master cylinder pressure value is greater than a target master cylinder pressure threshold when the vehicle state meets the activation conditions of the automatic parking function; if the master cylinder pressure value is greater than the target master cylinder pressure threshold, the automatic parking function is activated so that the automatic parking component performs a parking operation; wherein, the target master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both the gear position state and the driving environment state.

[0060] In this step, the electronic stability system includes a control unit 101 and a master cylinder pressure sensor 102. Specifically, the master cylinder pressure sensor can collect the current master cylinder pressure value of the vehicle in real time. This master cylinder pressure value is linearly related to the brake pedal depth and is used to reflect the magnitude of the braking force applied by the driver when pressing the brake pedal. For example, when the brake pedal depth is X centimeters, the piston displacement is Y centimeters, and according to the system design, the master cylinder pressure value at this time should reach Z MPa.

[0061] Subsequently, the master cylinder pressure sensor sends the real-time collected master cylinder pressure value to the control unit. The control unit is used to receive the gear position status sent by the gear position controller, the driving environment status sent by the environment acquisition module, and the master cylinder pressure value sent by the master cylinder pressure sensor when the vehicle status meets the activation conditions of the automatic parking function. The control unit then compares the master cylinder pressure value with the master cylinder pressure threshold value (i.e., the target master cylinder pressure threshold value) corresponding to the current vehicle gear position status, driving environment status, and master cylinder pressure value.

[0062] When the master cylinder pressure exceeds the target master cylinder pressure, the automatic parking function is activated. At this time, the control unit sends a control signal to the automatic parking assembly, causing it to perform a parking operation. This automatic parking assembly includes components such as brake calipers and brake discs. Specifically, upon receiving the control signal, the automatic parking assembly applies pressure to the brake piston within the brake caliper via hydraulic lines, pushing the piston outward and pressing the brake pads against the brake disc to achieve braking. This method not only improves the driver's ease of operation in different driving scenarios but also effectively prevents accidental activation of the automatic parking function under inappropriate circumstances, enhancing driving safety and user experience.

[0063] Optionally, the target master cylinder pressure threshold includes a first master cylinder pressure threshold, a second master cylinder pressure threshold, a third master cylinder pressure threshold, and a fourth master cylinder pressure threshold.

[0064] The first master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the first driving environment state;

[0065] The second master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the second driving environment state;

[0066] The third master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the third driving environment state, or the master cylinder pressure threshold corresponding to both R gear and the third driving environment state.

[0067] The fourth master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the fourth driving environment state, or the master cylinder pressure threshold corresponding to both N gear and the fourth driving environment state.

[0068] In this step, when the vehicle status meets the activation conditions for the automatic parking function, the electronic stability system receives the driving environment status sent by the environmental acquisition module and the gear status sent by the gear position controller. When the driving environment status is the first driving environment status and the gear status is D, the electronic stability system adjusts the activation pressure threshold to the first master cylinder pressure threshold P1. If the driver depresses the brake pedal, causing the master cylinder pressure value P to exceed the first master cylinder pressure threshold P1, the electronic stability system activates the automatic parking function, and the automatic parking component begins to perform parking operations to keep the vehicle stationary. Similarly, when the driving environment is in the second driving environment state and the gear is in D, the electronic stability system will adjust the activation pressure threshold to the second master cylinder pressure threshold P2; when the driving environment state is in the third driving environment state and the gear is in D or R, the electronic stability system will adjust the activation pressure threshold to the third master cylinder pressure threshold P3; and when the driving environment state is in the fourth driving environment state and the gear is in D or N, the electronic stability system will adjust the activation pressure threshold to the fourth master cylinder pressure threshold P4. In this way, the master cylinder pressure threshold for automatic parking activation can be adaptively adjusted according to different driving environment states and gear states, ensuring that the automatic parking function can be effectively and conveniently activated or deactivated in different driving scenarios.

[0069] It should be noted that the above-mentioned first master cylinder pressure threshold value, second master cylinder pressure threshold value, and so on are only examples. Specific values ​​can be set according to actual conditions, and this invention does not limit them.

[0070] Optionally, the first driving environment is following another vehicle, the second driving environment is a traffic light, the third driving environment is a parking lot, and the fourth driving environment is other working conditions.

[0071] To further illustrate the working principle of the automatic parking system, and referring to Table 1, the following detailed description is provided, using the following driving environment states as examples: First driving environment state is following the vehicle in front; second driving environment state is traffic light state; third driving environment state is parking lot state; and fourth driving environment state is other environment states.

[0072] Table 1

[0073]

[0074] As shown in Table 1, when a driver is driving on a city road in Drive (D) gear, and there is traffic congestion ahead, the driver needs to follow the vehicle in front. At this time, the environmental monitoring module detects a vehicle ahead using a camera and radar, determining that the vehicle is in a following state. This information is sent to the control unit of the electronic stability system. Simultaneously, the vehicle's gear shift controller detects that the vehicle is in Drive and also sends this information to the control unit. When the control unit determines that the vehicle's status meets the activation conditions for the automatic parking function, it receives the status information from the environmental monitoring module and the gear shift controller. Based on the received status information, it adjusts the activation pressure threshold for the automatic parking function to the first master cylinder pressure threshold P1 and continuously checks whether the current master cylinder pressure value P is greater than the first master cylinder pressure threshold P1. When the master cylinder pressure value P is greater than the first master cylinder pressure threshold P1, the automatic parking function is activated. It should be noted that the status information here refers to the following state and Drive (D) gear.

[0075] Furthermore, when the vehicle approaches a traffic light, the environmental monitoring module detects the traffic light status and sends this information to the electronic stability control system's control unit. At the same time, the vehicle's gear selector detects that the vehicle is in Drive (D) gear and also sends this information to the electronic stability control system's control unit. Based on the received status information, the control unit adjusts the first master cylinder pressure threshold P1 to the second master cylinder pressure threshold P2 in real time, and continuously checks whether the current master cylinder pressure value P is greater than the second master cylinder pressure threshold P2. When the master cylinder pressure value P is greater than the second master cylinder pressure threshold P2, the automatic parking function is activated, and the automatic parking component begins to perform parking operations to keep the vehicle stationary. It should be noted that the status information here refers to the traffic light status and the vehicle being in Drive (D) gear.

[0076] Furthermore, when the driver enters the parking lot, the environmental acquisition module detects the vehicle's entry into the parking lot and transmits this information to the control unit of the electronic stability system. At this time, the vehicle's gear shift controller detects whether the vehicle is in Drive (D) or Reverse (R) gear and also sends this detection information to the control unit of the electronic stability system. Based on the received status information, the control unit adjusts the second master cylinder pressure threshold P2 to the third master cylinder pressure threshold P3 in real time, and continuously checks whether the current master cylinder pressure value P is greater than the third master cylinder pressure threshold P3. When the master cylinder pressure value P is greater than the third master cylinder pressure threshold P3, the automatic parking function is activated. It should be noted that the status information here refers to the parking lot status and Drive (D) gear, or the parking lot status and Reverse (R) gear.

[0077] Furthermore, when the driver drives the vehicle out of the parking lot and into other environmental conditions, the environmental acquisition module detects that the vehicle has entered a different environmental state, such as driving on a regular road, and transmits this information to the control unit of the electronic stability system. At this time, the vehicle's gear shift controller detects that the vehicle is in D or N gear and also sends this detection information to the control unit of the electronic stability system. Based on the received status information, the control unit adjusts the third master cylinder pressure threshold P3 to the fourth master cylinder pressure threshold P0 in real time, and determines in real time whether the current master cylinder pressure value P is greater than the fourth master cylinder pressure threshold P0. When the master cylinder pressure value P is greater than the fourth master cylinder pressure threshold P0, the automatic parking function is activated. It should be noted that the status information here refers to other environmental conditions and D gear, or other environmental conditions and N gear.

[0078] It should be noted that the above-listed embodiments are merely examples and do not constitute a limitation of the present invention.

[0079] Optionally, the electronic stability system is also used to determine whether the vehicle status meets the conditions for activating the automatic parking function based on the vehicle speed, driver's side door status, driver's side seat belt status, and electronic parking brake system status.

[0080] In this step, the electronic stability system also determines whether the vehicle's status meets the activation conditions for the automatic parking function based on the vehicle's speed, driver's door status, driver's seatbelt status, and electronic parking brake (EPB) status. For example, when the vehicle's speed is below a set value (e.g., 5 km / h), the driver's door is closed, the driver's seatbelt is fastened, and the electronic parking brake (EPB) is not engaged, the electronic stability system determines that the vehicle's status meets the activation conditions for the automatic parking function, and then proceeds to the next step of determining whether the master cylinder pressure value is greater than the target master cylinder pressure threshold.

[0081] Optionally, the electronic stability system is also used to: set the fourth master cylinder pressure threshold to the initial master cylinder pressure threshold after the vehicle is powered on, so as to ensure that the automatic parking function can quickly enter the standby state in the initial state after the vehicle is started, thereby providing timely support to the driver.

[0082] For example, when the vehicle starts, the automatic parking control system automatically restores the target master cylinder pressure threshold to the initial master cylinder pressure threshold. During vehicle operation, the electronic stability system adjusts the initial master cylinder pressure threshold in real time to the master cylinder pressure threshold corresponding to the current driving environment and gear position. For instance, when the environmental acquisition module detects that the vehicle is following another vehicle and is in Drive (D) gear, the electronic stability system adjusts the initial master cylinder pressure threshold P0 to the first master cylinder pressure threshold P1 in real time. It should be noted that the above is merely an example and does not constitute a limitation of the present invention.

[0083] In summary, the automatic parking control system, method, device, vehicle, and storage medium provided by this invention include an electronic stability system, a gear position controller, an environmental acquisition module, and an automatic parking component. The gear position controller is used to collect the vehicle's gear position status in real time. The environmental acquisition module is used to collect the vehicle's driving environment status in real time. The electronic stability system is used to determine whether the master cylinder pressure value is greater than a target master cylinder pressure threshold when the vehicle status meets the activation conditions for the automatic parking function. If the master cylinder pressure value is greater than the target master cylinder pressure threshold, the automatic parking function is activated so that the automatic parking component performs a parking operation. The target master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both the gear position status and the driving environment status. In this embodiment, by determining whether the master cylinder pressure value is greater than the target master cylinder pressure threshold (i.e., the master cylinder pressure threshold corresponding to both the gear position status and the driving environment status), the automatic parking function is activated, realizing automatic parking of the vehicle under different driving environment conditions, meeting diverse driving needs of users, and improving the overall driving experience and driving safety.

[0084] Secondly, such as Figure 2 As shown, based on the above-described automatic parking control system, this invention proposes a corresponding automatic parking control method, applied to the automatic parking control system of the above embodiment. The automatic parking system includes an electronic stability system, a gear shift controller, an environmental acquisition module, and an automatic parking component. The method includes the following steps:

[0085] S10. Obtain the vehicle's gear position, driving environment status, and master cylinder pressure value;

[0086] S20. When the vehicle status meets the conditions for activating the automatic parking function, determine whether the master cylinder pressure value is greater than the target master cylinder pressure threshold value. The target master cylinder pressure threshold value is the master cylinder pressure threshold value corresponding to both the gear position and the driving environment status.

[0087] S30. If the master cylinder pressure value is greater than the target master cylinder pressure threshold, the automatic parking function is activated so that the automatic parking component performs a parking operation.

[0088] Optionally, the target master cylinder pressure threshold includes a first master cylinder pressure threshold, a second master cylinder pressure threshold, a third master cylinder pressure threshold, and a fourth master cylinder pressure threshold.

[0089] The first master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the first driving environment state;

[0090] The second master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the second driving environment state;

[0091] The third master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the third driving environment state, or the master cylinder pressure threshold corresponding to both R gear and the third driving environment state.

[0092] The fourth master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the fourth driving environment state, or the master cylinder pressure threshold corresponding to both N gear and the fourth driving environment state.

[0093] Optionally, the first driving environment state is the following vehicle state;

[0094] The second driving environment is a traffic light situation;

[0095] The third driving environment state is the parking lot state;

[0096] The fourth driving environment state is other environment states.

[0097] Optionally, the method also includes the following step: after the vehicle is powered on, setting the fourth master cylinder pressure threshold to the initial master cylinder pressure threshold.

[0098] Optionally, the vehicle status can be determined to meet the conditions for activating the automatic parking function based on the vehicle speed, driver's side door status, driver's side seat belt status, and electronic parking brake system status.

[0099] In summary, the automatic parking control system, method, device, vehicle, and storage medium provided by this invention involves acquiring the vehicle's gear position, driving environment state, and master cylinder pressure value. When the vehicle state meets the activation conditions for the automatic parking function, it is determined whether the master cylinder pressure value is greater than a target master cylinder pressure threshold, where the target master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both the gear position and driving environment states. If the master cylinder pressure value is greater than the target master cylinder pressure threshold, the automatic parking function is activated, causing the automatic parking component to perform a parking operation. In this embodiment, by determining whether the master cylinder pressure value is greater than the target master cylinder pressure threshold (i.e., the master cylinder pressure threshold corresponding to both the gear position and driving environment states), the automatic parking function is activated, realizing automatic parking of the vehicle under different driving environment states, meeting diverse driving needs of users, and improving the overall driving experience and driving safety.

[0100] It should be noted that for details regarding the methods executed by the above-mentioned automatic parking control method, please refer to the description of the aforementioned automatic parking control system embodiment. To avoid repetition, the description will not be repeated here.

[0101] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0102] Thirdly, an automatic parking control device is provided, which corresponds one-to-one with the automatic parking control method in the above embodiments. For example... Figure 3 As shown, the automatic parking control device includes an acquisition module 101, a determination module 102, and an activation module 103. Detailed descriptions of each functional module are as follows:

[0103] The acquisition module 101 is used to acquire the vehicle's gear status, driving environment status, and master cylinder pressure value;

[0104] The determining module 102 is used to determine whether the master cylinder pressure value is greater than the target master cylinder pressure threshold value when the vehicle status meets the automatic parking function activation conditions. The target master cylinder pressure threshold value is the master cylinder pressure threshold value corresponding to both the gear position and the driving environment status.

[0105] The activation module 103 is used to activate the automatic parking function if the master cylinder pressure value is greater than the target master cylinder pressure threshold value, so that the automatic parking component performs a parking operation.

[0106] Optionally, the target master cylinder pressure threshold includes a first master cylinder pressure threshold, a second master cylinder pressure threshold, a third master cylinder pressure threshold, and a fourth master cylinder pressure threshold.

[0107] The first master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the first driving environment state;

[0108] The second master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the second driving environment state;

[0109] The third master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the third driving environment state, or the master cylinder pressure threshold corresponding to both R gear and the third driving environment state.

[0110] The fourth master cylinder pressure threshold is the master cylinder pressure threshold corresponding to both D gear and the fourth driving environment state, or the master cylinder pressure threshold corresponding to both N gear and the fourth driving environment state.

[0111] Optionally, the first driving environment state is a following vehicle state;

[0112] The second driving environment state is a traffic light state;

[0113] The third driving environment state is the parking lot state;

[0114] The fourth driving environment state is other environment states.

[0115] Optionally, the automatic parking control device further includes:

[0116] The initialization module 104 is used to set the fourth master cylinder pressure threshold value as the initial master cylinder pressure threshold value after the vehicle is powered on.

[0117] Optionally, the automatic parking control device further includes:

[0118] The determining module 105 is used to determine, based on the vehicle speed, driver's side door status, driver's side seat belt status, and electronic parking brake system status, whether the vehicle status meets the conditions for activating the automatic parking function.

[0119] Specific limitations regarding the automatic parking control device can be found in the limitations of the automatic parking control method described above, and will not be repeated here. Each module in the aforementioned automatic parking control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the controller in hardware form or independent of it, or stored in the memory of the controller in software form, so that the processor can call and execute the corresponding operations of each module.

[0120] Fourthly, such as Figure 4 As shown, a vehicle is provided, including the automatic parking control system as described above.

[0121] Fifthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, performs the following steps:

[0122] The vehicle's gear position, driving environment status, and master cylinder pressure value are obtained.

[0123] When the vehicle status meets the conditions for activating the automatic parking function, it is determined whether the master cylinder pressure value is greater than the target master cylinder pressure threshold value. The target master cylinder pressure threshold value is the master cylinder pressure threshold value corresponding to both the gear position status and the driving environment status.

[0124] If the master cylinder pressure value is greater than the target master cylinder pressure threshold, the automatic parking function is activated so that the automatic parking component performs a parking operation.

[0125] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0126] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0127] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An automatic parking control system, characterized by, The automatic parking control system comprises an electronic stability system, a gear controller, an environment acquisition module and an automatic parking component; The gear controller is configured to acquire the gear state of the vehicle in real time; The environment acquisition module is configured to acquire the driving environment state of the vehicle in real time; The electronic stability system is configured to determine whether the master cylinder pressure value is greater than a target master cylinder pressure threshold value when the vehicle state satisfies an automatic parking function activation condition; if the master cylinder pressure value is greater than the target master cylinder pressure threshold value, the automatic parking function is activated to enable the automatic parking component to perform a parking operation; The target master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the gear state and the driving environment state; The target master cylinder pressure threshold value comprises a first master cylinder pressure threshold value, a second master cylinder pressure threshold value, a third master cylinder pressure threshold value and a fourth master cylinder pressure threshold value; The first master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the D gear and the first driving environment state; The second master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the D gear and the second driving environment state; The third master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the D gear and the third driving environment state, or a master cylinder pressure threshold value corresponding to both the R gear and the third driving environment state; The fourth master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the D gear and the fourth driving environment state, or a master cylinder pressure threshold value corresponding to both the N gear and the fourth driving environment state; The first driving environment state is a following state; the second driving environment state is a traffic light state; the third driving environment state is a parking lot state; and the fourth driving environment state is another environment state.

2. The automatic parking control system according to claim 1, characterized in that, The electronic stability system is further configured to set the fourth master cylinder pressure threshold value as an initial master cylinder pressure threshold value after the vehicle is powered on.

3. The automatic parking control system according to claim 1, characterized in that, The electronic stability system is further configured to determine that the vehicle state satisfies the automatic parking function activation condition according to the vehicle speed value, the master driver door state, the master driver seat belt state and the electronic parking brake system state.

4. An automatic parking control method characterized by, The method is applied to the automatic parking control system according to any one of claims 1-3, and the method comprises: acquiring the gear state, the driving environment state and the master cylinder pressure value of the vehicle; determining whether the master cylinder pressure value is greater than a target master cylinder pressure threshold value when the vehicle state satisfies an automatic parking function activation condition, the target master cylinder pressure threshold value being a master cylinder pressure threshold value corresponding to both the gear state and the driving environment state; if the master cylinder pressure value is greater than the target master cylinder pressure threshold value, activating the automatic parking function to enable the automatic parking component to perform a parking operation; The target master cylinder pressure threshold value comprises a first master cylinder pressure threshold value, a second master cylinder pressure threshold value, a third master cylinder pressure threshold value and a fourth master cylinder pressure threshold value; The first master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the D gear and the first driving environment state; The second master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the D gear and the second driving environment state; The third master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the D gear and the third driving environment state, or a master cylinder pressure threshold value corresponding to both the R gear and the third driving environment state; The fourth master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the D gear and the fourth driving environment state, or a master cylinder pressure threshold value corresponding to both the N gear and the fourth driving environment state; The first driving environment state is a following state; the second driving environment state is a traffic light state; the third driving environment state is a parking lot state; and the fourth driving environment state is another environment state. The third master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both D range and the third driving environment state, or a master cylinder pressure threshold value corresponding to both R range and the third driving environment state. The fourth master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both D range and the fourth driving environment state, or a master cylinder pressure threshold value corresponding to both N range and the fourth driving environment state. The first driving environment state is a following state, the second driving environment state is a traffic light state, the third driving environment state is a parking lot state, and the fourth driving environment state is another environment state.

5. The automatic parking control method according to claim 4, characterized by, The method further comprises: After the vehicle is powered on, the fourth master cylinder pressure threshold value is set as an initial master cylinder pressure threshold value.

6. The automatic parking control method according to claim 5, characterized by The method comprises: According to the vehicle speed value, the master driver door state, the master driver safety belt state, and the electronic parking brake system state, it is determined that the vehicle state satisfies an automatic parking function activation condition.

7. An automatic parking control device characterized by comprising: The method comprises: An acquisition module is configured to acquire a gear state, a driving environment state, and a master cylinder pressure value of a vehicle; A determination module is configured to determine whether the master cylinder pressure value is greater than a target master cylinder pressure threshold value when the vehicle state satisfies an automatic parking function activation condition, the target master cylinder pressure threshold value being a master cylinder pressure threshold value corresponding to both the gear state and the driving environment state; An activation module is configured to activate an automatic parking function to enable an automatic parking component in an automatic parking control system to perform a parking operation if the master cylinder pressure value is greater than the target master cylinder pressure threshold value. The target master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both the gear state and the driving environment state. The target master cylinder pressure threshold value comprises a first master cylinder pressure threshold value, a second master cylinder pressure threshold value, a third master cylinder pressure threshold value, and a fourth master cylinder pressure threshold value. The first master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both D range and the first driving environment state. The second master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both D range and the second driving environment state. The third master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both D range and the third driving environment state, or a master cylinder pressure threshold value corresponding to both R range and the third driving environment state. The fourth master cylinder pressure threshold value is a master cylinder pressure threshold value corresponding to both D range and the fourth driving environment state, or a master cylinder pressure threshold value corresponding to both N range and the fourth driving environment state. The first driving environment state is a following state, the second driving environment state is a traffic light state, the third driving environment state is a parking lot state, and the fourth driving environment state is another environment state.

8. A vehicle characterized by comprising: The automatic parking control system according to any one of claims 1 to 3.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by a processor to implement the automatic parking control method according to any one of claims 4 to 6.

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