Method and device for controlling automatic parking of vehicle, controller, vehicle and computer readable storage medium

Abstract

The invention relates to a method for controlling the automatic parking of a vehicle, in particular in an automatic parking state, comprising the following steps: ascertaining a gradient value of a road on which the vehicle is located; solving an expected motion state of the vehicle after starting; and under the condition that the expected motion state of the vehicle after starting is uphill motion and the gradient value of the road where the vehicle is located is smaller than a gradient threshold value, a first brake control signal is generated according to the starting intention of a driver of the vehicle, and the first brake control signal indicates immediate release of the brake force of the vehicle. The invention also relates to a device for controlling the automatic parking of a vehicle. The invention also relates to a controller for a vehicle. The invention also relates to a vehicle and a computer readable storage medium.

Description

Technical Field

[0001] The present invention relates to a method and a device for controlling automatic parking of a vehicle. The present invention also relates to a controller for a vehicle. The present invention also relates to a vehicle having the device or the controller. The present invention also relates to a computer-readable storage medium. Background Art

[0002] At present, more and more vehicles are equipped with an automatic parking function (Autohold or AVH), which is usually implemented based on the vehicle's electronic stability system (ESP). When the automatic parking function is activated, for example, by a button, after the vehicle is stopped by the driver, the pressure in the wheel cylinder can be maintained even if the driver no longer operates the brake pedal, so that the vehicle is kept stationary by the hydraulic braking force. When the driver wants to start the vehicle again, for example, the brake can be released by operating the accelerator pedal, wherein the hydraulic braking force is automatically released when sufficient driving force or driving torque is reached.

[0003] However, on the one hand, when the vehicle is started again, it takes time to release the hydraulic braking force. Especially when the vehicle is on a slope, the automatic parking function may be configured to release the hydraulic braking force only when a sufficient driving torque is reached and / or gradually release the hydraulic braking force as the driving torque increases in order to avoid slipping. The communication delay between the components related to the automatic parking function also affects the release of the hydraulic braking force (this is particularly evident in vehicles equipped with I-Booster). On the other hand, as the acceleration performance of the vehicle improves, especially for vehicles driven by electric motors, when the vehicle is started again, the driving torque increases very quickly. In this case, the so-called dragging feeling is often generated under the action of the rapidly increasing driving torque and the hydraulic braking force that has not yet been released, which affects driving comfort and may affect driving safety. Summary of the invention

[0004] The object of the present invention is to provide a method for controlling, especially releasing the automatic parking of a vehicle and a device for controlling, especially releasing the automatic parking of a vehicle. The method and device for controlling, especially releasing the automatic parking of a vehicle according to the present invention can significantly alleviate or eliminate the dragging feeling when the vehicle restarts from the automatic parking state, so as to achieve a smoother start, thereby improving driving comfort and driving safety.

[0005] To this end, according to a first aspect of the present invention, a method for controlling, in particular releasing, automatic parking of a vehicle is provided. The vehicle is in an automatic parking state. The method comprises at least the following steps: obtaining a slope value of a road on which the vehicle is located; obtaining an expected motion state of the vehicle after starting; and generating a first braking control signal according to the starting intention of the driver of the vehicle when the expected motion state of the vehicle after starting is uphill motion and the slope value of the road on which the vehicle is located is less than (or less than or equal to) a slope threshold value, wherein the first braking control signal indicates to immediately release the braking force of the vehicle.

[0006] In the present invention, “obtain” may be understood as or be equivalent to (under appropriate circumstances and in an appropriate manner): determining, acquiring, measuring or calculating, etc.

[0007] In the present invention, "immediately releasing the braking force of the vehicle" can be understood as starting to release the braking force of the vehicle without time delay. For example, for releasing the braking force of the vehicle, no comparison is made between the driving torque / driving force and the parameters related to the braking force or the parameters related to the running resistance.

[0008] In the present invention, a “braking force” is in particular a hydraulic braking force applied to the wheels of the vehicle.

[0009] In the present invention, the expected motion state of the vehicle after starting may involve "uphill motion", "downhill motion" or "flat road motion". "Uphill motion", "downhill motion" or "flat road motion" may respectively involve the forward motion of the vehicle or may involve the backward motion of the vehicle.

[0010] The solution according to the present invention is based on the following considerations: in the automatic parking function, in order to avoid the vehicle slipping on a slope, especially when going uphill, the braking force is often released only when a sufficient driving torque is reached and / or the braking force is gradually released as the driving torque increases. However, for a slope with a smaller slope, the dragging feeling caused by the above-mentioned braking force release mechanism has a more significant impact on driving comfort and driving safety than the risk of slipping. Therefore, it can be considered to set a slope threshold, and when the slope value of the slope where the vehicle is located is less than the slope threshold, the above-mentioned braking force release mechanism is no longer implemented when going uphill, but the braking force of the vehicle is released immediately (equivalent to the braking force release mechanism on a flat road). This not only basically eliminates the risk of slipping, but also can significantly alleviate or eliminate the so-called dragging feeling.

[0011] In a preferred embodiment of the first aspect of the present invention, when the expected motion state of the vehicle after starting is downhill motion or flat road motion, a second brake control signal is generated according to the starting intention of the driver of the vehicle, wherein the second brake control signal indicates to release the braking force of the vehicle immediately. Here, the second brake control signal is particularly the same as the first brake control signal.

[0012] In a preferred implementation manner of the first aspect of the present invention, the braking force of the vehicle is released at a predetermined pressure relief rate according to the first brake control signal or the second brake control signal.

[0013] In a preferred embodiment of the first aspect of the present invention, the predetermined pressure relief rate may be a maximum pressure relief rate of a hydraulic brake system of the vehicle.

[0014] In a preferred embodiment of the first aspect of the present invention, the braking force of the vehicle is released at a pressure relief rate depending on the driving force or the wheel end force according to the first brake control signal or the second brake control signal.

[0015] In a preferred embodiment of the first aspect of the present invention, when the expected motion state of the vehicle after starting is uphill motion and the slope value of the road where the vehicle is located is greater than or equal to (or greater than) the slope threshold, a third brake control signal is generated according to the starting intention of the driver of the vehicle, wherein the third brake control signal indicates that the braking force of the vehicle starts to be released when the driving force of the vehicle exceeds the driving resistance of the vehicle. Here, the driving resistance may include, for example, air resistance, rolling resistance and climbing resistance, wherein the rolling resistance is, for example, related to the tire characteristics of the vehicle, and the climbing resistance is, for example, related to the weight of the vehicle.

[0016] Preferably, the driving resistance can be determined (in simplified terms) as a component of the weight of the vehicle in a direction opposite to the driving direction (or intended driving direction) of the vehicle.

[0017] In a preferred embodiment of the first aspect of the present invention, the driver's start intention can be acquired based on an accelerator pedal travel of the vehicle.

[0018] In a preferred implementation of the first aspect of the present invention, the expected motion state of the vehicle after starting can be obtained based on the slope value of the road where the vehicle is located, the expected motion direction of the vehicle and the front direction of the vehicle.

[0019] In a preferred implementation of the first aspect of the present invention, the expected moving direction of the vehicle can be acquired based on the gear information of the vehicle.

[0020] In a preferred embodiment of the first aspect of the present invention, the slope value of the road on which the vehicle is located and / or the front direction of the vehicle are determined by means of a slope sensor of the vehicle, wherein the slope value of the road on which the vehicle is located is determined based on the numerical value (absolute value) of the output signal of the slope sensor of the vehicle, wherein the front direction of the vehicle is determined based on the positive or negative output signal of the slope sensor of the vehicle. In a preferred embodiment of the first aspect of the present invention, the slope value of the road on which the vehicle is located can be determined when the vehicle enters an automatic parking state or while the vehicle is in an automatic parking state, and the determined slope value can be stored in a memory, and the stored slope value can be read from the memory when necessary, for example, to compare with a slope threshold value.

[0021] In a preferred embodiment of the first aspect of the present invention, the slope threshold can be predetermined by taking into account one or more of the following factors: the maximum driving torque of the vehicle's drive unit; the weight of the vehicle; the tire characteristics of the vehicle; and the idle torque of the vehicle.

[0022] In a preferred embodiment of the first aspect of the present invention, the predetermined gradient threshold value can be readjusted according to the driving habits of the driver.

[0023] In a preferred embodiment of the first aspect of the present invention, the gradient threshold value (regardless of whether it is a predetermined gradient threshold value or a readjusted gradient threshold value) is not greater than a predetermined maximum safe gradient limit value.

[0024] In addition, according to a second aspect of the present invention, a device for controlling, in particular releasing the automatic parking of a vehicle is provided, which is particularly configured to implement the method for controlling, in particular releasing the automatic parking of a vehicle according to the first aspect of the present invention. The device for controlling, in particular releasing the automatic parking of a vehicle at least comprises a slope value obtaining module, an expected motion state obtaining module and a brake control signal generating module.

[0025] The slope value obtaining module may be configured to obtain the slope value of the road on which the vehicle is located.

[0026] The expected motion state obtaining module may be configured to obtain the expected motion state of the vehicle after starting. Here, the expected motion state of the vehicle after starting may involve "uphill motion", "downhill motion" or "flat road motion".

[0027] The braking control signal generating module can be configured to generate a first braking control signal according to the starting intention of the vehicle driver when the expected movement state of the vehicle after starting is uphill movement and the slope value of the road where the vehicle is located is less than (or less than or equal to) a slope threshold, wherein the first braking control signal indicates to immediately release the braking force of the vehicle.

[0028] In a preferred implementation of the second aspect of the present invention, the slope value obtaining module may be configured to obtain the slope value of the road on which the vehicle is located based on the numerical value (absolute value) of the output signal of the slope sensor of the vehicle.

[0029] In a preferred embodiment of the second aspect of the present invention, the expected motion state obtaining module can be configured to obtain the expected motion state of the vehicle after starting based on the slope value of the road where the vehicle is located, the expected motion direction of the vehicle and the front direction of the vehicle.

[0030] In a preferred implementation of the second aspect of the present invention, the expected moving direction of the vehicle can be acquired based on the gear information of the vehicle.

[0031] In a preferred implementation of the second aspect of the present invention, the front direction of the vehicle can be obtained based on the positive or negative value of an output signal of a slope sensor of the vehicle.

[0032] In a preferred embodiment of the second aspect of the present invention, the braking control signal generating module can be configured to generate a second braking control signal according to the starting intention of the vehicle driver when the expected movement state of the vehicle after starting is downhill movement or flat road movement, wherein the second braking control signal indicates the immediate release of the braking force of the vehicle.

[0033] In this case, the second brake control signal is in particular identical to the first brake control signal.

[0034] In a preferred embodiment of the second aspect of the present invention, the braking control signal generating module can be configured to generate a third braking control signal according to the starting intention of the vehicle driver when the expected motion state of the vehicle after starting is uphill motion and the slope value of the road where the vehicle is located is greater than or equal to (or greater than) the slope threshold, wherein the third braking control signal indicates that the braking force of the vehicle starts to be released when the driving force of the vehicle exceeds the driving resistance of the vehicle.

[0035] In particular, an “uphill movement”, “downhill movement” or “flat road movement” of the vehicle may respectively relate to a forward movement of the vehicle or may relate to a backward movement of the vehicle.

[0036] Preferably, the driving resistance can be determined in a simplified manner as a component of the weight of the vehicle in a direction opposite to the driving direction (or expected driving direction) of the vehicle.

[0037] In a preferred implementation of the second aspect of the present invention, the brake control signal generating module may be configured to obtain the driver's starting intention based on an accelerator pedal stroke of the vehicle.

[0038] In a preferred embodiment of the second aspect of the present invention, the slope value obtaining module can be configured to obtain the slope value of the road where the vehicle is located when the vehicle enters the automatic parking state or during the period when the vehicle is in the automatic parking state. The obtained slope value can be stored in a memory. Accordingly, the brake control signal generating module can be configured to receive the slope value from the memory and compare the slope value of the road where the vehicle is located with the slope threshold value when necessary.

[0039] In a preferred embodiment of the second aspect of the present invention, the brake control signal generating module may be configured to receive a slope value from the slope value obtaining module and compare the slope value of the road on which the vehicle is located with a slope threshold value when necessary.

[0040] It is understood that the device for controlling, in particular releasing, automatic parking of a vehicle may optionally include a comparison module, which compares the slope value of the road on which the vehicle is located with a slope threshold. Accordingly, the brake control signal generation module receives the comparison result from the comparison module.

[0041] The corresponding technical features and technical effects of the method for controlling, in particular, releasing automatic parking of a vehicle according to the first aspect of the present invention described above are also applicable to the device for controlling, in particular, releasing automatic parking of a vehicle according to the second aspect of the present invention.

[0042] The device for controlling, in particular releasing, automatic parking of a vehicle according to the second aspect of the present invention may be implemented in software form, hardware form, or a software / hardware hybrid form, for example.

[0043] In addition, according to a third aspect of the present invention, a controller for a vehicle is provided, wherein the controller can particularly realize control, particularly release, of automatic parking of the vehicle.

[0044] Here, the controller for a vehicle includes:

[0045] processor;

[0046] A memory stores a computer program, which, when executed by a processor, implements the steps of a method for controlling, in particular releasing, automatic parking of a vehicle according to a first aspect of the present invention.

[0047] In addition, a vehicle is provided according to a fourth aspect of the present invention. The vehicle includes a device for controlling, in particular, releasing the automatic parking of the vehicle according to the second aspect of the present invention or a controller according to the third aspect of the present invention. The vehicle may also include an actuator for automatic parking of the vehicle. Here, the device for controlling, in particular, releasing the automatic parking of the vehicle according to the second aspect of the present invention or the controller according to the third aspect of the present invention is in particular a part of the electronic stability system (ESP) of the vehicle.

[0048] In addition, according to a fifth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the method for controlling, in particular releasing, automatic parking of a vehicle according to the first aspect of the present invention are implemented.

[0049] In addition, according to a sixth aspect of the present invention, a computer program product is provided, which includes a computer program, wherein when the computer program is executed by a processor, the steps of the method for controlling, in particular releasing, automatic parking of a vehicle according to the first aspect of the present invention are implemented.

[0050] The above technical solution according to the present invention has the following advantages:

[0051] 1. The technical solution according to the present invention can significantly alleviate or eliminate the dragging feeling when the vehicle restarts from the automatic parking state while ensuring driving safety, so as to achieve a smoother start and thus improve driving comfort;

[0052] 2. The technical solution according to the present invention can be basically based on the conventional automatic braking function (algorithm)

[0053] Work without making large-scale changes to existing algorithms or deploying new complex control strategies;

[0054] 3. The technical solution according to the present invention does not require additional hardware overhead;

[0055] 4. The technical solution according to the present invention can be easily combined with other driving assistance functions or driving safety functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The preferred embodiments of the present invention are described in detail below according to the accompanying drawings. It should be understood by those skilled in the art that these preferred embodiments are merely exemplary and are not intended to limit the present invention in any way.

[0057] Figure 1 A schematic flow chart of a method according to the invention for controlling, in particular deactivating, an automatic parking brake of a vehicle is shown.

[0058] Figure 2 A schematic block diagram of a device according to the present invention for controlling, in particular releasing, an automatic parking brake of a vehicle is shown. DETAILED DESCRIPTION

[0059] Figure 1 A schematic flow chart of a method for controlling, in particular releasing, an automatic parking brake of a vehicle according to the present invention is shown. The method for controlling an automatic parking brake of a vehicle according to the present invention is used in particular for smooth starting of a vehicle in an automatic parking state.

[0060] In a first method step 101 , a gradient value of the road on which the vehicle is located is determined.

[0061] Preferably, the slope value of the road on which the vehicle is located can be obtained based on the numerical value (absolute value) of the output signal of the slope sensor of the vehicle.

[0062] Preferably, the gradient value of the road on which the vehicle is located can be obtained when the vehicle enters the automatic parking state or while the vehicle is in the automatic parking state, and the obtained gradient value can be stored in a memory, and the stored gradient value can be read from the memory when necessary.

[0063] In a second method step 102 , the expected movement state of the vehicle after starting is ascertained.

[0064] In this case, the expected movement state of the vehicle after starting may be “uphill movement”, “downhill movement” or “flat road movement”.

[0065] Preferably, the expected motion state of the vehicle after starting can be obtained based on the slope value of the road where the vehicle is located, the expected motion direction of the vehicle and the front direction of the vehicle.

[0066] Preferably, the expected moving direction of the vehicle can be acquired based on the gear information of the vehicle.

[0067] Preferably, the front direction of the vehicle can be determined by means of a gradient sensor of the vehicle based on the positive or negative value of an output signal of the gradient sensor.

[0068] In the third method step 103, when the expected movement state of the vehicle after starting is uphill movement and the slope value of the road on which the vehicle is located is less than (or less than or equal to) a slope threshold, a first braking control signal is generated according to the starting intention of the vehicle driver, wherein the first braking control signal indicates to immediately release the braking force of the vehicle.

[0069] Preferably, when the expected movement state of the vehicle after starting is downhill movement or flat road movement, a second brake control signal is generated according to the starting intention of the driver of the vehicle, wherein the second brake control signal indicates to release the braking force of the vehicle immediately. Here, the second brake control signal is particularly the same as the first brake control signal.

[0070] Preferably, when the expected motion state of the vehicle after starting is uphill motion and the slope value of the road where the vehicle is located is greater than or equal to (or greater than) the slope threshold, a third braking control signal is generated according to the starting intention of the vehicle driver, wherein the third braking control signal indicates that the braking force of the vehicle begins to be released when the driving force of the vehicle exceeds the driving resistance of the vehicle. Preferably, the driving resistance can be determined as the component of the gravity of the vehicle in the direction opposite to the driving direction (or expected driving direction) of the vehicle.

[0071] In this case, an “uphill movement”, “downhill movement” or “flat road movement” of the vehicle may respectively relate to a forward movement of the vehicle or to a backward movement of the vehicle.

[0072] Preferably, according to the first brake control signal or the second brake control signal, a pressure relief rate for releasing the braking force of the vehicle may be predetermined or may depend on the driving force or wheel end force of the vehicle.

[0073] Preferably, the gradient threshold depends on the maximum driving torque of a drive unit of the vehicle. The drive unit of the vehicle may be, for example, an engine and / or an electric motor.

[0074] Here, the greater the maximum driving torque of the vehicle's drive unit, generally means that the driving torque that can be output is greater under the same accelerator pedal travel, and also means that the driving torque can be increased in a shorter time to be sufficient to overcome the driving resistance to drive the vehicle. Therefore, at least generally speaking, the greater the maximum driving torque of the vehicle's drive unit, the greater the gradient threshold value can be selected accordingly.

[0075] Optionally, the gradient threshold may also depend on the weight of the vehicle and / or tire characteristics of the vehicle.

[0076] Here, the driving resistance that the driving torque needs to overcome usually includes air resistance, rolling resistance and climbing resistance, wherein the rolling resistance is related to the tire characteristics of the vehicle, and the climbing resistance is related to the weight of the vehicle. Therefore, the driving resistance that the driving torque needs to overcome is at least related to the weight of the vehicle and the tire characteristics of the vehicle. For example, the smaller the weight of the vehicle, the larger the slope threshold can be selected.

[0077] Optionally, the gradient threshold may also depend on the idle torque of the vehicle.

[0078] Here, when the vehicle is in the automatic parking state, the drive unit of the vehicle may still output torque (especially the idling state of the engine). In this case, for example, the greater the idling torque of the vehicle, the greater the gradient threshold value can be selected.

[0079] Preferably, for a given vehicle, the gradient threshold value may be predetermined or pre-specified during vehicle factory testing or calibration and stored in a memory.

[0080] Preferably, one or more of the above-mentioned factors are considered when predetermining or presetting the gradient threshold.

[0081] Optionally, the slope threshold may be readjusted during maintenance based on the current state of the vehicle.

[0082] Optionally, the slope threshold may be readjusted according to the driver's habits or driving preferences.

[0083] Optionally, the gradient threshold value is not greater than a predetermined maximum safe gradient limit value.

[0084] Preferably, the driver's starting intention can be acquired based on the accelerator pedal travel of the vehicle.

[0085] For example, when the accelerator pedal travel of the vehicle is greater than (or greater than or equal to) a predetermined accelerator pedal travel threshold value, the driver's start intention is detected or acquired.

[0086] Preferably, the accelerator pedal travel of the vehicle can be detected by means of an accelerator pedal travel sensor.

[0087] Optionally, the comparison between the slope value of the road on which the vehicle is located and the slope threshold value may be performed based on the expected motion state of the vehicle after starting and the driver's starting intention.

[0088] Optionally, the comparison between the slope value of the road on which the vehicle is located and the slope threshold value can be performed when the vehicle enters the automatic parking state or during the vehicle is in the automatic parking state, and the comparison result can preferably be stored in the memory. In this case, the comparison result can be read when necessary according to the expected movement state of the vehicle after starting and the driver's starting intention.

[0089] The sequence of the method steps described above according to the present invention is merely exemplary, and the sequence may be adjusted without departing from the overall technical concept of the present invention.

[0090] Figure 2 A schematic block diagram of a device 2 for controlling, in particular, releasing the automatic parking of a vehicle according to the present invention is shown. The device 2 for controlling, in particular, releasing the automatic parking of a vehicle according to the present invention is particularly configured to implement the above, for example, by means of Figure 1 A method according to the invention for controlling, in particular releasing, an automatic parking brake of a vehicle is described.

[0091] Here, the device 2 for controlling, in particular releasing, automatic parking of a vehicle according to the present invention comprises at least a gradient value determining module 201 , an expected motion state determining module 202 , and a brake control signal generating module 203 .

[0092] The slope value obtaining module 201 may be configured to obtain the slope value of the road where the vehicle is located.

[0093] Preferably, the slope value obtaining module 201 may be configured to obtain the slope value of the road on which the vehicle is located based on the numerical value (absolute value) of the output signal of the slope sensor of the vehicle.

[0094] The expected motion state obtaining module 202 may be configured to obtain an expected motion state of the vehicle after starting.

[0095] Preferably, the expected motion state obtaining module 202 may be configured to obtain the expected motion state of the vehicle after starting based on the slope value of the road where the vehicle is located, the expected motion direction of the vehicle and the front direction of the vehicle.

[0096] Preferably, the expected moving direction of the vehicle can be acquired based on the gear information of the vehicle.

[0097] Preferably, the front direction of the vehicle can be obtained based on the positive or negative value of the output signal of the vehicle's slope sensor.

[0098] The braking control signal generating module 203 can be configured to generate a first braking control signal according to the starting intention of the vehicle driver when the expected motion state of the vehicle after starting is uphill motion and the slope value of the road where the vehicle is located is less than (or less than or equal to) a slope threshold, wherein the first braking control signal indicates to immediately release the braking force of the vehicle.

[0099] Preferably, the brake control signal generating module 203 can also be configured to generate a second brake control signal according to the starting intention of the driver of the vehicle when the expected motion state of the vehicle after starting is downhill motion or flat road motion, wherein the second brake control signal indicates to release the braking force of the vehicle immediately. Preferably, the second brake control signal is particularly the same as the first brake control signal.

[0100] Preferably, the braking control signal generating module 202 can also be configured to generate a third braking control signal according to the starting intention of the vehicle driver when the expected movement state of the vehicle after starting is uphill movement and the slope value of the road where the vehicle is located is greater than or equal to (or greater than) the slope threshold, wherein the third braking control signal indicates that the braking force of the vehicle begins to be released when the driving force of the vehicle exceeds the driving resistance of the vehicle.

[0101] Preferably, the slope value obtaining module 201 can also be configured to obtain the slope value of the road where the vehicle is located when the vehicle enters the automatic parking state or during the period when the vehicle is in the automatic parking state. The obtained slope value can be stored in the memory. Accordingly, the brake control signal generating module 203 can also be configured to receive the slope value from the memory and compare the slope value of the road where the vehicle is located with the slope threshold value when necessary.

[0102] Optionally, the brake control signal generating module 203 may also be configured to (directly) receive a slope value from a slope value obtaining module and compare the slope value of the road where the vehicle is located with a slope threshold value when necessary.

[0103] Optionally, the brake control signal generating module 203 may also be configured to compare the slope value of the road where the vehicle is located with a slope threshold value according to the expected motion state of the vehicle after starting and the driver's starting intention.

[0104] Optionally, the braking control signal generating module 203 can also be configured to compare the slope value of the road on which the vehicle is located with a slope threshold when the vehicle enters the automatic parking state or while the vehicle is in the automatic parking state, and read the comparison result when necessary according to the expected movement state of the vehicle after starting and the driver's starting intention.

[0105] Preferably, the gradient threshold depends on the maximum driving torque of a drive unit of the vehicle. The drive unit of the vehicle may be, for example, an engine and / or an electric motor.

[0106] Optionally, the gradient threshold may also depend on the weight of the vehicle and / or tire characteristics of the vehicle.

[0107] Optionally, the gradient threshold may also depend on the idle torque of the vehicle.

[0108] Preferably, for a given vehicle, the gradient threshold value can be predetermined or pre-given in the vehicle factory test or calibration and stored in the memory. Preferably, one or more of the above-mentioned factors are considered when the gradient threshold value is predetermined or pre-given.

[0109] Optionally, the slope threshold may be readjusted during maintenance based on the current state of the vehicle.

[0110] Optionally, the slope threshold may be readjusted according to the driver's driving habits or preferences.

[0111] Optionally, the gradient threshold value is not greater than a predetermined maximum safe gradient limit value.

[0112] The device 2 according to the invention for controlling, in particular releasing, an automatic parking brake of a vehicle can be realized, for example, in the form of software or hardware or in a software / hardware hybrid form.

[0113] It is apparent to those skilled in the art that various variations or modifications may be made to the above preferred embodiments without departing from the spirit of the present invention, and these variations or modifications do not depart from the scope of the present invention.

Claims

1. A method for controlling automatic parking of a vehicle, wherein the vehicle is in an automatic parking state, the method comprising the following steps: Obtaining a slope value of a road on which the vehicle is located; Obtaining an expected motion state of the vehicle after starting; When the expected movement state of the vehicle after starting is uphill movement and the slope value of the road where the vehicle is located is less than a slope threshold, a first braking control signal is generated according to the starting intention of the driver of the vehicle, wherein the first braking control signal indicates to immediately release the braking force of the vehicle.

2. The method according to claim 1, characterized in that When the expected motion state of the vehicle after starting is downhill motion or flat road motion, a second brake control signal is generated according to the starting intention of the driver of the vehicle, wherein the second brake control signal indicates to immediately release the braking force of the vehicle.

3. The method according to claim 1 or 2, characterized in that: A gradient value of a road on which the vehicle is located is determined by means of a gradient sensor of the vehicle.

4. The method according to claim 3, characterized in that The expected motion state of the vehicle after starting is obtained based on the slope value of the road on which the vehicle is located, the expected motion direction of the vehicle and the heading of the front of the vehicle, wherein the expected motion direction of the vehicle is especially obtained based on the gear information of the vehicle, wherein the heading of the front of the vehicle is especially obtained with the aid of the slope sensor of the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that The slope threshold is predetermined by considering one or more of the following factors: the maximum driving torque of the drive unit of the vehicle; the weight of the vehicle; tire characteristics of the vehicle; The idle torque of the vehicle.

6. The method according to claim 5, characterized in that The predetermined gradient threshold is readjusted according to the driving habits of the driver of the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that The gradient threshold value is not greater than a predefined maximum safe gradient limit value.

8. A device for controlling automatic parking of a vehicle, the device comprising at least: A slope value obtaining module, configured to obtain a slope value of a road on which the vehicle is located; An expected motion state obtaining module configured to obtain an expected motion state of the vehicle after starting; A braking control signal generating module is configured to generate a first braking control signal according to the starting intention of the driver of the vehicle when the expected movement state of the vehicle after starting is uphill movement and the slope value of the road where the vehicle is located is less than a slope threshold, wherein the first braking control signal indicates to immediately release the braking force of the vehicle.

9. The device according to claim 8, characterized in that The braking control signal generating module is also configured to generate a second braking control signal according to the starting intention of the driver of the vehicle when the expected movement state of the vehicle after starting is downhill movement or flat road movement, wherein the second braking control signal indicates to immediately release the braking force of the vehicle.

10. The device according to claim 8 or 9, characterized in that The expected motion state obtaining module is configured to obtain the expected motion state of the vehicle after starting based on the slope value of the road where the vehicle is located, the expected motion direction of the vehicle and the front direction of the vehicle.

11. A controller for a vehicle, characterized in that: The controller comprises: processor; A memory having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

12. A vehicle, characterized in that: The vehicle comprises: The device for controlling automatic parking of a vehicle according to any one of claims 8 to 10 or the controller according to claim 11; An actuator for automatic parking of the vehicle.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for controlling automatic parking of a vehicle according to any one of claims 1 to 7 are implemented.

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