Parking control method and device, electronic equipment and vehicle

Abstract

The application provides a parking control method and device, electronic equipment and vehicle, and applies to the technical field of vehicle control. The method comprises the following steps: in response to the completion of vehicle braking and the receipt of a parking request, releasing the braking force of the vehicle braking and monitoring the braking force release process parameter; in response to the fact that the braking force release process parameter meets the parking condition, stopping the release of the braking force and executing parking based on the parking request. The application can appropriately adjust the vehicle posture or the braking force before executing parking based on the parking request, so as to reduce the additional burden on the tires and the vehicle body, ensure that the vehicle is safely and stably parked, and enable smooth starting when leaving, thereby avoiding the risk of unexpected acceleration and potential collision.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a parking control method, device, electronic equipment, and vehicle. Background Technology

[0002] With the rapid development of the automotive industry, electronic parking brakes provide a more convenient and reliable parking solution. However, during parking, the vehicle may inevitably come into contact with the parking space's limiting device, which will cause additional pressure and damage to the vehicle's tires. When the vehicle leaves, the additional pressure on the tires will also pose a risk to the vehicle. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a parking control method, device, electronic equipment and vehicle to eliminate pressure on the tires and avoid tire damage and driving risks of the vehicle.

[0004] To achieve the above objectives, this application provides a parking control method, comprising:

[0005] In response to the completion of vehicle braking and receipt of a parking request, the braking force of the vehicle brakes is released and the parameters of the braking force release process are monitored.

[0006] If the braking force release process parameters meet the parking conditions, the braking force release is stopped and parking is performed based on the parking request.

[0007] Based on the same inventive concept, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method described above when executing the computer program.

[0008] Based on the same inventive concept, this application also provides a vehicle that includes the aforementioned electronic equipment.

[0009] As can be seen from the above, this application provides a parking control method, device, electronic device, and vehicle. The method includes: in response to the completion of vehicle braking and receiving a parking request, releasing the braking force of the vehicle and monitoring the braking force release process parameters; in response to the braking force release process parameters meeting the parking conditions, stopping the release of the braking force and executing parking based on the parking request; when the vehicle's braking force release process parameters reach the set parking conditions, it indicates that the vehicle is in a state suitable for safe parking, that is, there is no pressure between the vehicle tires and the parking space limit device due to contact, reducing tire damage and ensuring the vehicle is parked safely and stably, avoiding the pressure caused by the contact between the vehicle tires and the parking space limit device, which could cause the vehicle to accelerate unexpectedly when leaving, posing a potential collision risk. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart illustrating the parking control method according to an embodiment of this application;

[0012] Figure 2 This is a schematic flowchart of another embodiment of the parking control method of this application;

[0013] Figure 3 This is a schematic flowchart of another embodiment of the parking control method of this application;

[0014] Figure 4 This is a schematic diagram of the parking control device according to an embodiment of this application;

[0015] Figure 5 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0017] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0018] In related technologies, with the rapid development of the automotive industry, electronic parking brake systems have become a widely adopted technology in modern automobiles. They have replaced traditional mechanical parking brake systems, providing a more convenient and reliable parking solution. Operated by an electronic control unit, the electronic parking brake system can quickly lock the wheels when activated by the driver, ensuring stable parking on various terrains and slopes. However, in practical applications, vehicles may inevitably come into contact with parking space limiting devices, such as wheel chocks or parking lot boundary stones, during parking. This contact can cause additional pressure and damage to the vehicle's tires and body. Especially when the vehicle's tires are tightly pressed against or partially covered by the limiting device, activating the electronic parking brake system at this time will lock the vehicle in this unfavorable parking position. In this state, the tires may deform due to uneven stress, which may affect the normal service life of the tires and driving safety in the long run.

[0019] More seriously, when the electronic parking brake system is activated while the vehicle is in contact with the parking space limiter, the vehicle may experience a sudden rebound due to the previous contact force after the electronic parking brake is released, causing unexpected acceleration. This sudden acceleration could cause the vehicle to veer out of the parking space, increasing the risk of a collision. Therefore, an urgent technical problem to be solved is how to handle the potential contact between the vehicle tires and the parking space limiter when parking. A method is needed to appropriately adjust the vehicle's posture or braking force before the driver activates the electronic parking brake to avoid locking the vehicle in an unfavorable parking posture, thereby reducing additional stress on the tires and body, ensuring the vehicle is parked safely and stably, and allowing for a smooth start when leaving, avoiding unexpected acceleration and potential collision risks.

[0020] Based on the above issues, the applicant discovered that: when the vehicle braking is completed and a parking request is received, the braking force of the vehicle brakes is released and the parameters of the braking force release process are monitored; when the parameters of the braking force release process meet the parking conditions, the release of braking force is stopped and parking is executed based on the parking request. The vehicle's posture or braking force can be appropriately adjusted before parking is executed based on the parking request to reduce the additional burden on the tires and body, ensure that the vehicle is parked safely and stably, and can start smoothly when leaving, avoiding accidental acceleration and potential collision risks.

[0021] The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0022] This application provides a parking control method, such as Figure 1 As shown, in some embodiments, the method is executed by a vehicle controller or a data processor independent of the vehicle controller. Subsequent embodiments will use the vehicle controller as an example for illustration. The parking control method includes:

[0023] S101. In response to the completion of vehicle braking and receipt of a parking request, release the braking force of the vehicle brakes and monitor the parameters of the braking force release process.

[0024] In practice, upon receiving a parking request, the first step is to gradually release the vehicle's braking force. This means the vehicle's braking system will slowly reduce the braking force applied to the wheels. This process can be precisely controlled by the vehicle's brake-by-wire system. Simultaneously, key braking force release parameters are monitored, including but not limited to wheel speed, braking force, and wheel rotation angle. Monitoring these parameters provides a stable and reliable data foundation for subsequent assessments of whether the vehicle meets the preset parking conditions.

[0025] S102. In response to the fact that the braking force release process parameters meet the parking conditions, the braking force release is stopped and parking is performed based on the parking request.

[0026] In practice, when the vehicle's braking force release process parameters reach the set parking conditions, it indicates that the vehicle is in a state suitable for safe parking, that is, there is no potential contact between the vehicle's tires and the parking space limit device. Then, the release of braking force is stopped, and parking operation is performed according to the driver's parking request.

[0027] For example, if the wheel speed gradually decreases or remains unchanged, the parking conditions are met, and parking is executed based on the parking request. During the release of braking force, the braking force gradually decreases. When the sum of the contact force between the wheel and the limiting device, and the component of the vehicle's weight along the slope of the incline, exceeds the braking force, the vehicle slowly moves until the wheel separates from the limiting device. During this process, the vehicle's speed first increases and then decreases. Therefore, when the wheel speed gradually decreases, it indicates that the wheel has separated from the limiting device. Furthermore, if the wheel speed does not change during the release of braking force, it indicates that the wheel and the limiting device are not in contact. At this time, the vehicle meets the parking conditions, the release of braking force stops, and parking is executed based on the parking request. During the process of releasing the pressure between the vehicle tires and the limiting device, the vehicle's wheel speed will first increase and then decrease. Therefore, when the wheel speed gradually increases, it indicates that the pressure between the vehicle tires and the limiting device is decreasing, but not completely released, so parking conditions are not met at this time.

[0028] Alternatively, when the braking force is released to equal the target braking force, the braking force release of the vehicle is complete, and the wheels are not in contact with the limiting device, thus meeting the parking conditions. The release of braking force is then stopped, and parking is executed based on the parking request. The target braking force is determined based on the minimum braking force required for the vehicle to remain stationary on the road surface slope. Setting the target braking force to equal the minimum braking force required for the vehicle to remain stationary on the road surface slope ensures that the braking force during the release process will not be less than the minimum braking force required for the vehicle to remain stationary on the road surface slope, thereby preventing the vehicle from sliding along the slope due to gravity. Setting the target braking force slightly greater than the minimum braking force required for the vehicle to remain stationary on the road surface slope ensures that the vehicle brakes with a slightly greater braking force than the minimum braking force required for the vehicle to remain stationary on the road surface slope, avoiding the risk of the vehicle moving due to unknown external forces.

[0029] Alternatively, when the wheel's rotation angle is greater than or equal to a preset rotation angle, the parking conditions are met, and the release of braking force stops, and parking is executed based on the parking request. During the release of braking force, the wheel's rotation angle gradually increases, indicating that the wheel is gradually separating from the limiting device. When the wheel's rotation angle is greater than or equal to the preset rotation angle, it can be determined that the wheel and the limiting device are completely separated. In addition, setting a preset rotation angle can also prevent the vehicle from continuing to move during the release of braking force due to other braking force release process parameters not meeting the parking conditions, which could easily lead to danger. The wheel's rotation angle is used as feedback to ensure the safety and stability of the vehicle in various parking scenarios, reduce the additional burden on the tires and body, ensure that the vehicle is parked safely and stably, and can start smoothly when leaving, avoiding unexpected acceleration and potential collision risks.

[0030] In this embodiment, by stopping the release of braking force when the parameters during the braking force release process meet the parking conditions and executing parking based on the parking request, the vehicle is prevented from being locked in an unfavorable parking posture, reducing additional burden on the tires and body, and ensuring safe and stable parking. Furthermore, by appropriately adjusting the braking force, sudden force rebound after the electronic parking brake is released can be avoided, thereby preventing unexpected acceleration and potential collision risks, providing the driver with a safer and more reliable parking experience, while also protecting the vehicle's mechanical integrity and service life.

[0031] In some embodiments, the braking force release process parameters include wheel speed; in response to the braking force release process parameters meeting parking conditions, the release of braking force is stopped and parking is performed based on the parking request, including:

[0032] If the wheel speed gradually decreases or does not change, the parking conditions are met, and the braking force is stopped after a preset time and parking is performed based on the parking request.

[0033] In specific implementation, the parameters of the braking force release process include, but are not limited to, wheel speed. During the braking force release process, the braking force gradually decreases. When the sum of the contact force between the wheel and the limiting device and the component of the vehicle's weight along the slope of the ramp is greater than the braking force, the vehicle moves slowly until the wheel separates from the limiting device. During this process, the vehicle's speed first increases and then decreases. Therefore, when the wheel speed gradually decreases, it indicates that the wheel has separated from the limiting device. In addition, if the wheel speed does not change during the braking force release process, it indicates that the wheel and the limiting device are not in contact. At this time, the vehicle meets the parking conditions. After a preset time (for example, the preset time is 1 second), the braking force is stopped from being released and parking is performed based on the parking request. This ensures that the wheel is fully separated from the limiting device within the preset time and the vehicle speed is reduced to a safe range before parking is performed, ensuring that the vehicle is indeed safe and stable when the parking operation is performed.

[0034] By monitoring changes in wheel speed, it can be determined whether the vehicle is already in or about to be in a suitable parking state. Setting a preset duration increases safety, ensuring that the vehicle comes to a complete stop when parking is performed. This not only improves the convenience of parking but also greatly enhances safety, reduces the extra burden on the tires and body, ensures that the vehicle is parked safely and stably, and can start smoothly when leaving, avoiding accidental acceleration and potential collision risks.

[0035] In this embodiment, the separation of the wheel from the limiting device is determined by the gradual decrease or no change in the wheel speed of the vehicle. After a preset time, the braking force is stopped and parking is performed based on the parking request, ensuring that the vehicle stops stably without contacting the limiting device, thereby reducing the risk of tire damage or potential collision caused by contact.

[0036] In some embodiments, the braking force release process parameters include braking force; in response to the braking force release process parameters meeting parking conditions, the release of braking force is stopped and parking is performed based on the parking request, including:

[0037] In response to the release of the braking force to be equal to the target braking force, the parking conditions are met, and the release of the braking force is stopped and parking is performed based on the parking request;

[0038] The target braking force is determined based on the minimum braking force required for the vehicle to remain stationary on the slope of the road surface.

[0039] In specific implementation, the parameters of the braking force release process include, but are not limited to, the braking force. The target braking force is determined based on the minimum braking force required for the vehicle to remain stationary on the road slope. The target braking force can be equal to the minimum braking force required for the vehicle to remain stationary on the road slope, or it can be slightly greater than the minimum braking force required for the vehicle to remain stationary on the road slope (for example, the product of the minimum braking force required for the vehicle to remain stationary on the road slope and the safety factor can be used as the target braking force; for example, the safety factor is 1.1). When the braking force is released to be equal to the target braking force, the release of the vehicle's braking force is completed, and the vehicle meets the parking conditions. Then, the release of the braking force is stopped, and parking is performed based on the parking request. Setting the target braking force to be equal to the minimum braking force required to keep the vehicle stationary on a slope ensures that the braking force released during the incline will not be less than the minimum required to keep the vehicle stationary on the slope, thus preventing the vehicle from sliding down the slope due to gravity. Setting the target braking force slightly greater than the minimum required to keep the vehicle stationary on the slope ensures that the vehicle brakes with a slightly greater force, preventing the vehicle from easily moving due to unknown external forces and causing danger. By calculating and adjusting the target braking force, different driving environments can be adapted to provide a safer and more reliable parking solution, reducing additional burden on the tires and body, ensuring the vehicle is parked safely and stably, and can start smoothly when leaving, avoiding unexpected acceleration and potential collision risks.

[0040] In this embodiment, the fact that the braking force is at least equal to or slightly higher than the minimum braking force required for the vehicle to remain stationary on a slope indicates that the braking force has been released and the vehicle meets the parking conditions. Therefore, the release of braking force is stopped and parking is performed based on the parking request to avoid the vehicle being locked in an unfavorable parking posture, reduce the additional burden on the tires from the limiting device, and ensure the vehicle is parked safely and stably. Simultaneously, by ensuring that the braking force is at least equal to or slightly higher than the minimum braking force required for the vehicle to remain stationary on a slope, the vehicle can be effectively prevented from sliding due to unforeseen external forces (such as wind, collisions with other vehicles, etc.), thereby greatly increasing the vehicle's stability on slopes or uneven surfaces.

[0041] In some embodiments, the braking force release process parameters include the wheel rotation angle; in response to the braking force release process parameters meeting parking conditions, the release of braking force is stopped and parking is performed based on the parking request, including:

[0042] If the wheel rotation angle is greater than or equal to a preset rotation angle, the parking conditions are met, the braking force is stopped from being released, and parking is performed based on the parking request.

[0043] In practice, the parameters for the braking force release process include, but are not limited to, the wheel rotation angle. During the braking force release process, the wheel rotation angle gradually increases, indicating that the wheel is gradually separating from the limiting device. When the wheel rotation angle is greater than or equal to a preset rotation angle, it can be determined that the wheel and the limiting device are completely separated (for example, the preset rotation angle can be 30°), meeting the parking conditions. The braking force release stops, and parking is executed based on the parking request. Simultaneously, setting a preset rotation angle can also prevent the vehicle from continuously moving during the braking force release process due to other braking force release process parameters not meeting the parking conditions, which could easily lead to danger. In this way, the wheel rotation angle is used as feedback to ensure the safety and stability of the vehicle in various parking scenarios, reducing additional burden on the tires and body, ensuring the vehicle is parked safely and stably, and able to start smoothly when leaving, avoiding unexpected acceleration and potential collision risks.

[0044] In this embodiment, by monitoring the rotation angle of the wheels, the release status of the vehicle's braking force can be determined more accurately. When the rotation angle of the wheels reaches a preset value, it is confirmed that the wheels have separated from the limiting device, and parking is performed based on the parking request. This reduces tire damage caused by contact and avoids sudden force rebound after the vehicle releases the electronic parking brake, thereby avoiding unexpected acceleration and potential collision risks.

[0045] In some embodiments, such as Figure 2 As shown, the braking force for releasing the vehicle's brakes includes:

[0046] S201. Obtain the slope of the road surface where the vehicle is located;

[0047] In practice, when a vehicle is parked on a slope, it tends to slide downhill due to gravity. Therefore, the braking force release rate needs to be adjusted according to the slope to ensure the vehicle can remain safely on the slope without sliding. Vehicles can typically obtain road slope information in various ways, such as directly measuring the angle difference between the vehicle and the horizontal plane using an inclination sensor; indirectly calculating the vehicle's tilt by measuring the vehicle's acceleration in different directions using an accelerometer; or estimating the slope by analyzing the surrounding environment using an image processing system.

[0048] S202. Determine the release rate of the braking force based on the slope of the road surface where the vehicle is located, wherein the release rate is inversely proportional to the road surface slope;

[0049] In practice, when a vehicle is parked on a steep slope, the greater force of gravity requires stronger braking to prevent it from sliding downhill. In this case, the braking force release rate should be slower to prevent the vehicle from sliding due to a sudden decrease in braking force. Conversely, when a vehicle is parked on a gentler slope or flat ground, the braking force is released at a faster rate because the vehicle is less likely to slide due to reduced braking force. A faster release rate improves braking efficiency and avoids prolonged waiting. Therefore, the braking force release rate is determined based on the slope of the road surface where the vehicle is located. By controlling the braking force release rate, a smoother transition is provided, preventing the vehicle from suddenly sliding after parking, thereby improving safety (for example, when the road slope is 15°, the release rate is 200 N / s).

[0050] S203. Release the braking force of the vehicle at the release rate.

[0051] In practice, the braking force is released at a predetermined rate to prevent the vehicle from sliding due to a sudden reduction in braking force on steep slopes. On gentler slopes or flat ground, the braking force is released at a faster rate to avoid prolonged waiting. This enables a safer and smoother parking process on various road gradients, improving the overall driving experience and safety.

[0052] In this embodiment, on steep slopes, slowly releasing the braking force can prevent the vehicle from skidding or losing control due to a sudden reduction in braking force, significantly improving the safety of parking on slopes and preventing accidents caused by improper braking. On gentler slopes or flat ground, a faster release rate can reduce driver waiting time and improve the efficiency of the braking system. This not only saves time but also enhances driving convenience.

[0053] In some embodiments, such as Figure 3 As shown, the parameters for the braking force release process include wheel speed; releasing the vehicle braking force at the release rate includes:

[0054] S301, In response to a wheel speed greater than or equal to a preset wheel speed, stop releasing braking force;

[0055] In practice, the preset wheel speed is a threshold set based on the vehicle's design, performance parameters, and safety standards. The preset wheel speed represents the maximum safe wheel speed set for the vehicle when braking force is released (for example, the preset wheel speed is 1 r / s). When the wheel speed is greater than or equal to the preset wheel speed, it indicates that the vehicle speed is too high. At this time, the braking force is stopped to prevent the vehicle speed from increasing and causing danger, so as to maintain the stability and safety of the vehicle under various driving conditions.

[0056] S302. Determine the adjustment coefficient of the release rate based on the wheel speed, and use the product of the adjustment coefficient and the release rate as the adjusted release rate, wherein the adjustment coefficient is inversely proportional to the wheel speed;

[0057] In practice, when the wheel speed is greater than or equal to the preset wheel speed, the adjustment coefficient of the release rate is determined according to the wheel speed. The larger the wheel speed, the smaller the adjustment coefficient (the adjustment coefficient ranges from (0,1)). The product of the adjustment coefficient and the release rate is used as the adjusted release rate, so that the braking force is released more slowly, ensuring the safety of the vehicle during the braking force release process, reducing the risk of accidents caused by improper braking force release rate, and improving stability and controllability.

[0058] S303. Release the braking force of the vehicle brake at the adjusted release rate.

[0059] In practice, when the wheel speed is greater than or equal to the preset wheel speed, the braking force of the vehicle is released at the adjusted release rate by multiplying the adjustment coefficient by the release rate. This makes the braking force release slower, ensuring the safety of the vehicle during the braking force release process, reducing the risk of accidents caused by improper braking force release rate, and improving stability and controllability.

[0060] In this embodiment, by monitoring wheel speed and stopping the release of braking force when the wheel speed is greater than or equal to a preset wheel speed, and adjusting the release rate, the braking force of the vehicle is released at the adjusted release rate to slow down the release of braking force. This can prevent the vehicle from losing control due to excessive speed when going downhill or in other situations, thereby greatly reducing the risk of accidents. By adjusting the adjustment coefficient of the release rate according to the wheel speed, the release of braking force can be smoother, avoiding vehicle instability caused by sudden changes in braking force, which helps to improve the vehicle's handling and stability under various road conditions. The driver can feel a smoother and more continuous braking process, avoiding bumps or discomfort caused by improper adjustment of braking force, thereby improving overall driving satisfaction.

[0061] In some embodiments, after the braking force is stopped being released, the method further includes:

[0062] Determine the compensation coefficient for the braking force after release based on the target braking force;

[0063] The product of the compensation coefficient and the braking force after the stop release is used as the compensated braking force to brake the vehicle.

[0064] The compensation coefficient Wherein, B represents the compensation coefficient, Z represents the braking force after the release stops, and Z0 represents the target braking force.

[0065] In practice, when the braking force release process parameters meet the parking conditions, after stopping the release of braking force, parking needs to be executed based on the parking request. However, from stopping the release of braking force to executing parking, the brake-by-wire system needs to be switched to the electronic parking brake system. To fully ensure vehicle safety at this time, a compensation coefficient for the braking force after stopping the release is determined based on the target braking force. The product of the compensation coefficient and the braking force after stopping the release is used as the compensated braking force to brake the vehicle. The smaller the braking force after stopping the release, the larger the compensation coefficient; that is, the braking force after stopping the release is inversely proportional to the compensation coefficient. By calculating the relationship between the braking force after stopping the release and the target braking force, the compensation coefficient is calculated to more accurately compensate for the braking force, thereby improving vehicle safety.

[0066] In this embodiment, the braking force is adjusted by calculating a compensation coefficient, thereby enhancing the vehicle's safety and stability. After the braking force is released and stopped, the application of the compensation coefficient allows for a smooth transition to a larger braking force, effectively preventing the vehicle from moving due to unforeseen external forces (such as wind or collisions with other vehicles) before parking is completed, thus avoiding potential dangers.

[0067] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0068] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0069] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a parking control device.

[0070] refer to Figure 4 The parking control device includes:

[0071] Braking force control module 701 is configured to release the braking force of the vehicle brake and monitor the braking force release process parameters in response to the completion of vehicle braking and receipt of a parking request.

[0072] The judgment module 702 is configured to stop releasing the braking force and perform parking based on the parking request if the braking force release process parameters meet the parking conditions.

[0073] Furthermore, the judgment module 702 is specifically used for:

[0074] If the wheel speed gradually decreases or does not change, the parking conditions are met, and the braking force is stopped after a preset time and parking is performed based on the parking request.

[0075] Furthermore, the judgment module 702 is specifically used for:

[0076] In response to the release of the braking force to be equal to the target braking force, the parking conditions are met, and the release of the braking force is stopped and parking is performed based on the parking request;

[0077] The target braking force is determined based on the minimum braking force required for the vehicle to remain stationary on the slope of the road surface.

[0078] Furthermore, the judgment module 702 is specifically used for:

[0079] If the wheel rotation angle is greater than or equal to a preset rotation angle, the parking conditions are met, the braking force is stopped from being released, and parking is performed based on the parking request.

[0080] Furthermore, the braking force control module 701 is specifically used for:

[0081] Obtain the slope of the road surface where the vehicle is located;

[0082] The release rate of the braking force is determined based on the slope of the road surface where the vehicle is located, and the release rate is inversely proportional to the road surface slope;

[0083] The braking force of the vehicle is released at the aforementioned release rate.

[0084] Furthermore, the judgment module 702 is specifically used for:

[0085] When the wheel speed is greater than or equal to the preset wheel speed, the braking force is stopped being released.

[0086] The adjustment coefficient of the release rate is determined based on the wheel speed, and the product of the adjustment coefficient and the release rate is used as the adjusted release rate. The adjustment coefficient is inversely proportional to the wheel speed.

[0087] The braking force of the vehicle is released at the adjusted release rate.

[0088] Furthermore, the judgment module 702 is specifically used for:

[0089] Determine the compensation coefficient for the braking force after release based on the target braking force;

[0090] The product of the compensation coefficient and the braking force after the stop release is used as the compensated braking force to brake the vehicle.

[0091] The compensation coefficient Wherein, B represents the compensation coefficient, Z represents the braking force after the release stops, and Z0 represents the target braking force.

[0092] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0093] The apparatus described above is used to implement the corresponding parking control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0094] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parking control method described in any of the above embodiments.

[0095] Figure 5 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0096] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0097] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0098] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0099] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0100] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0101] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0102] The electronic devices described above are used to implement the corresponding parking control methods in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0103] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to execute the parking control method as described in any of the above embodiments.

[0104] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0105] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the parking control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0106] Based on the same concept, corresponding to any of the above embodiments, this application also provides a computer program product, including computer program instructions, which, when run on a computer, cause the computer to perform the method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0107] It is understood that before using the technical solutions of the various embodiments in this disclosure, users will be informed of the type, scope of use, and usage scenarios of the personal information involved in an appropriate manner, and user authorization will be obtained.

[0108] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose, based on the prompt message, whether to provide personal information to the software or hardware such as electronic devices, applications, servers, or storage media performing the operations of this disclosed technical solution.

[0109] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0110] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0111] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application is limited to these examples; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0112] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0113] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0114] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the claims of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A parking control method, characterized in that, include: In response to the completion of vehicle braking and receipt of a parking request, the braking force of the vehicle brakes is released and the parameters of the braking force release process are monitored. In response to the braking force release process parameters meeting the parking conditions, the braking force release is stopped. A compensation coefficient for the braking force after the release is stopped is determined based on the target braking force. The product of the compensation coefficient and the braking force after the release is stopped is used as the compensated braking force. Parking is then performed based on the parking request. The target braking force is determined based on the minimum braking force required for the vehicle to remain stationary on the slope of the road surface. The compensation coefficient Where B represents the compensation coefficient, Z represents the braking force after the release stops, and Z0 represents the target braking force; The parameters for the braking force release process include wheel speed or wheel rotation angle; if the wheel speed gradually decreases or does not change, the parking conditions are met, and the braking force is stopped being released after a preset time and parking is performed based on the parking request; or, if the wheel rotation angle is greater than or equal to a preset rotation angle, the parking conditions are met, the braking force is stopped being released and parking is performed based on the parking request.

2. The parking control method according to claim 1, characterized in that, The braking force used to release the vehicle's brakes includes: Obtain the slope of the road surface where the vehicle is located; The release rate of the braking force is determined based on the slope of the road surface where the vehicle is located, and the release rate is inversely proportional to the road surface slope; The braking force of the vehicle is released at the aforementioned release rate.

3. The parking control method according to claim 2, characterized in that, The parameters for the braking force release process include wheel speed; the release of the vehicle braking force at the release rate includes: When the wheel speed is greater than or equal to the preset wheel speed, the braking force is stopped being released. The adjustment coefficient of the release rate is determined based on the wheel speed, and the product of the adjustment coefficient and the release rate is used as the adjusted release rate. The adjustment coefficient is inversely proportional to the wheel speed. The braking force of the vehicle is released at the adjusted release rate.

4. A parking control device, characterized in that, include: The braking force control module is configured to release the braking force of the vehicle in response to the completion of vehicle braking and the receipt of a parking request, and to monitor the parameters of the braking force release process. The judgment module is configured to, in response to the braking force release process parameters meeting parking conditions, stop releasing the braking force, determine a compensation coefficient for the braking force after release based on the target braking force, multiply the compensation coefficient by the braking force after release as the compensated braking force, and execute parking based on the parking request; wherein, the target braking force is determined based on the minimum braking force required for the vehicle to come to rest on the slope of the road surface; the compensation coefficient... Wherein, B represents the compensation coefficient, Z represents the braking force after the release stops, and Z0 represents the target braking force; wherein, the braking force release process parameters include wheel speed or wheel rotation angle; in response to the wheel speed gradually decreasing or the wheel speed not changing, the parking conditions are met, and the release of braking force stops after a preset time and parking is executed based on the parking request; or, in response to the wheel rotation angle being greater than or equal to a preset rotation angle, the parking conditions are met, the release of braking force stops and parking is executed based on the parking request.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 3.

6. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 5.

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