Automatic parking control method and device, electronic equipment and storage medium

Abstract

The invention provides an automatic parking control method and device, electronic equipment and a storage medium, and belongs to the technical field of vehicle braking. According to the method, the running state of the vehicle can be determined by obtaining the state parameters of the vehicle, so that the temporary braking function of the vehicle is started according to a preset strategy under the condition that the running state of the vehicle is any preset state, and the temporary braking function of the vehicle is started according to the preset strategy under the condition that the time length for executing the temporary braking function by the vehicle exceeds a first preset time length. And the parking braking function of the vehicle is started. As the state parameters of the vehicle comprise the push rod stroke of the brake pedal, the treading change rate of the brake pedal, the push rod stroke of the accelerator pedal, the treading change rate of the accelerator pedal, the rotating speed of the motor, the actual gear, the gear of the ignition switch and other parameters, the running state and the corresponding scene of the current vehicle can be accurately determined; therefore, the vehicle can adopt a corresponding braking strategy, can better adapt to various complex scenes and dynamic conditions, and is high in flexibility.

Description

Technical Field

[0001] The present application relates to the field of vehicle braking technology, and in particular to an automatic parking control method, device, electronic equipment and storage medium. Background Art

[0002] With the development of intelligent driving technology, the level of vehicle automation continues to improve, and the automatic parking (Auto Hold) system has been widely used. When the vehicle is parked and the driver steps on the brake pedal, the system automatically keeps the vehicle in the current parking position without the driver having to step on the brake pedal, which can prevent the driver's foot fatigue even when parking for a long time. When the driver steps on the accelerator pedal again, the system automatically releases the brakes and starts the vehicle. However, the traditional automatic parking system has a simple operating logic, poor adaptability in complex scenarios and dynamic conditions, low flexibility, and cannot meet the needs of drivers. Summary of the invention

[0003] The embodiments of the present application provide an automatic parking control method, device, electronic device and storage medium, which can adapt to a variety of complex scenarios and dynamic conditions and have high flexibility. The technical solution is as follows:

[0004] In one aspect, an automatic parking control method is provided, the method comprising:

[0005] Acquiring state parameters of the vehicle, the state parameters including a push rod stroke of a brake pedal, a stepping change rate of the brake pedal, a push rod stroke of an accelerator pedal, a stepping change rate of the accelerator pedal, a motor speed, an actual gear position, and an ignition switch gear position;

[0006] Based on the state parameters of the vehicle, determining whether the running state of the vehicle is any preset state;

[0007] When the running state of the vehicle is any preset state, a temporary braking function of the vehicle is activated, wherein the temporary braking function is used to realize service braking of the vehicle;

[0008] When the duration for which the vehicle performs the temporary braking function exceeds a first preset duration, the parking brake function of the vehicle is activated and the temporary braking function is released.

[0009] In some embodiments, when the running state of the vehicle is any preset state, starting the temporary braking function of the vehicle includes:

[0010] When the running state of the vehicle is the first state, the temporary braking function of the vehicle is started, and the first state is that the ignition switch gear is in the on gear, the push rod stroke of the brake pedal is greater than the push rod stroke preset value, the pedaling change rate of the brake pedal is less than the change rate preset value, the push rod stroke of the accelerator pedal is zero, the pedaling change rate of the accelerator pedal is zero, the motor speed is less than the speed preset value and the actual gear is the forward gear.

[0011] In some embodiments, the method further comprises:

[0012] When the running state of the vehicle is the first state, a temporary braking level is determined based on a push rod stroke interval of the brake pedal push rod stroke, different push rod stroke intervals correspond to different temporary braking levels, and the temporary braking level is positively correlated with the temporary braking degree;

[0013] Based on the temporary braking level, a temporary braking function of the vehicle corresponding to the temporary braking level is started.

[0014] In some embodiments, the method further comprises:

[0015] When the running state of the vehicle is the first state, if the push rod stroke of the brake pedal is greater than the preset push rod stroke value within a second preset time period, obtaining a slope parameter of the vehicle, wherein the slope parameter is used to indicate a tilt angle of the vehicle;

[0016] When the slope parameter indicates that the vehicle is in a downhill state, a downhill auxiliary braking function of the vehicle is activated, and the temporary braking function is released.

[0017] In some embodiments, when the running state of the vehicle is any preset state, starting the temporary braking function of the vehicle includes:

[0018] When the running state of the vehicle is the second state, the temporary braking function of the vehicle is started, and the second state is that the ignition switch gear is on, the push rod stroke of the brake pedal is zero, the stepping change rate of the brake pedal is zero, the push rod stroke of the accelerator pedal is zero, the stepping change rate of the accelerator pedal is zero, the motor speed is not zero and the actual gear is a non-parking gear.

[0019] In some embodiments, the method further comprises:

[0020] When the vehicle is performing the temporary braking function, if a first preset parameter is not zero, the temporary braking function is released, and the first preset parameter includes at least one of the push rod stroke of the brake pedal, the pedaling change rate of the brake pedal, the push rod stroke of the accelerator pedal, and the pedaling change rate of the accelerator pedal.

[0021] In some embodiments, the method further comprises:

[0022] When the vehicle is executing the parking brake function, if a second preset parameter is not zero, the parking brake function is released, and the second preset parameter is at least one of a push rod stroke of the accelerator pedal and a pedaling change rate of the accelerator pedal.

[0023] In some embodiments, the method further comprises:

[0024] When the running state of the vehicle is a third state, the parking brake function is activated, and the third state is that the ignition switch gear is an off gear, the motor speed is not zero, and the actual gear is a non-parking gear.

[0025] In some embodiments, the method further comprises:

[0026] When the running state of the vehicle is the third state, an abnormality prompt function of the vehicle is started, and the prompt function is used to prompt that the vehicle is in an abnormal state through sound and light prompts.

[0027] In another aspect, an automatic parking control device is provided, the device comprising:

[0028] An acquisition module, used for acquiring state parameters of the vehicle, the state parameters including a push rod stroke of a brake pedal, a stepping change rate of the brake pedal, a push rod stroke of an accelerator pedal, a stepping change rate of the accelerator pedal, a motor speed, an actual gear position, and an ignition switch gear position;

[0029] A determination module, used for determining whether the running state of the vehicle is any preset state based on the state parameters of the vehicle;

[0030] A control module, used for starting a temporary braking function of the vehicle when the running state of the vehicle is any preset state, wherein the temporary braking function is used for realizing service braking of the vehicle;

[0031] The control module is further configured to activate the parking brake function of the vehicle and release the temporary braking function when the duration for which the vehicle performs the temporary braking function exceeds a first preset duration.

[0032] In some embodiments, the control module is used to start the temporary braking function of the vehicle when the operating state of the vehicle is a first state, wherein the first state is that the ignition switch gear is in the on gear, the push rod stroke of the brake pedal is greater than a preset push rod stroke value, the pedaling change rate of the brake pedal is less than a preset change rate value, the push rod stroke of the accelerator pedal is zero, the pedaling change rate of the accelerator pedal is zero, the motor speed is less than a preset speed value, and the actual gear is a forward gear.

[0033] In some embodiments, the control module is also used to determine a temporary braking level based on a push rod stroke range of the brake pedal when the vehicle is in the first state, different push rod stroke ranges correspond to different temporary braking levels, and the temporary braking level is positively correlated with the temporary braking degree; based on the temporary braking level, a temporary braking function of the vehicle corresponding to the temporary braking level is started.

[0034] In some embodiments, the control module is also used to obtain the slope parameter of the vehicle if the push rod stroke of the brake pedal is greater than the push rod stroke preset value within a second preset time period when the operating state of the vehicle is the first state, and the slope parameter is used to indicate the inclination angle of the vehicle; when the slope parameter indicates that the vehicle is in a downhill state, start the downhill auxiliary braking function of the vehicle and release the temporary braking function.

[0035] In some embodiments, the control module is used to start the temporary braking function of the vehicle when the operating state of the vehicle is a second state, wherein the second state is that the ignition switch gear is in the on gear, the push rod stroke of the brake pedal is zero, the pedal change rate of the brake pedal is zero, the push rod stroke of the accelerator pedal is zero, the pedal change rate of the accelerator pedal is zero, the motor speed is not zero and the actual gear is a non-parking gear.

[0036] In some embodiments, the control module is also used to release the temporary braking function if a first preset parameter is not zero when the vehicle is performing the temporary braking function, and the first preset parameter includes at least one of the push rod stroke of the brake pedal, the pedaling change rate of the brake pedal, the push rod stroke of the accelerator pedal and the pedaling change rate of the accelerator pedal.

[0037] In some embodiments, the control module is also used to release the parking brake function when the vehicle is executing the parking brake function if a second preset parameter is not zero, and the second preset parameter is at least one of the push rod stroke of the accelerator pedal and the pedaling change rate of the accelerator pedal.

[0038] In some embodiments, the control module is also used to start the parking brake function when the operating state of the vehicle is a third state, and the third state is that the ignition switch gear is in the off gear, the motor speed is not zero, and the actual gear is a non-parking gear.

[0039] In some embodiments, the apparatus further comprises:

[0040] The prompt module is used to start the abnormal prompt function of the vehicle when the running state of the vehicle is the third state, and the prompt function is used to prompt that the vehicle is in an abnormal state through sound and light prompts.

[0041] On the other hand, a computer device is provided, which includes a processor and a memory, wherein the memory is used to store at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the automatic parking control method in the embodiment of the present application.

[0042] On the other hand, a computer-readable storage medium is provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor to implement the automatic parking control method in an embodiment of the present application.

[0043] On the other hand, a computer program product is provided, including a computer program, wherein the computer program is executed by a processor to implement the automatic parking control method in the embodiment of the present application.

[0044] The present application provides an automatic parking control method, in which the running state of the vehicle can be determined by obtaining the state parameters of the vehicle, so that when the running state of the vehicle is any preset state, the temporary braking function of the vehicle is started according to the preset strategy, and when the duration of the vehicle executing the temporary braking function exceeds the first preset duration, the parking brake function of the vehicle is started. Since the state parameters of the vehicle include the push rod stroke of the brake pedal, the stepping change rate of the brake pedal, the push rod stroke of the accelerator pedal, the stepping change rate of the accelerator pedal, the motor speed, the actual gear position, and the ignition switch gear position and other parameters, the current running state of the vehicle and the corresponding scene can be accurately determined, so that the vehicle can adopt the corresponding braking strategy, so that it can better adapt to a variety of complex scenes and dynamic conditions, and has high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 is a schematic diagram of an implementation environment of an automatic parking control method provided in an embodiment of the present application;

[0047] Figure 2 is a flow chart of an automatic parking control method provided by an embodiment of the present application;

[0048] Figure 3 is a flow chart of another automatic parking control method provided by an embodiment of the present application;

[0049] Figure 4 It is a schematic diagram of an overall process provided by an embodiment of the present application;

[0050] Figure 5 is a block diagram of an automatic parking control device provided in an embodiment of the present application;

[0051] Figure 6 is a block diagram of another automatic parking control device provided in an embodiment of the present application;

[0052] Figure 7 is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0053] Figure 8 It is a structural diagram of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0055] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with basically the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on quantity and execution order.

[0056] In the present application, the term "at least one" means one or more, and the term "plurality" means two or more.

[0057] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions. For example, the vehicle status parameters involved in this application are all obtained with full authorization.

[0058] Figure 1 Schematic diagram of an implementation environment of an automatic parking control method provided by an embodiment of the present application. Figure 1 The implementation environment includes a parameter acquisition device 101 and a vehicle controller 102, and the implementation environment is deployed in a vehicle. The parameter acquisition device 101 and the vehicle controller 102 can be directly or indirectly connected through wired or wireless communication, and this application does not limit this.

[0059] The parameter acquisition device 101 is used to acquire the state parameters of the vehicle. The state parameters include the push rod stroke of the brake pedal, the stepping change rate of the brake pedal, the push rod stroke of the accelerator pedal, the stepping change rate of the accelerator pedal, the motor speed, the actual gear position, and the ignition switch gear position. It should be noted that the parameter acquisition device 101 includes at least a plurality of sensors for acquiring the state parameters of the vehicle, such as an acceleration sensor, a pressure sensor, a displacement sensor, etc. The parameter acquisition device 101 may also include a data transmission module for sending the state parameters of the vehicle to the vehicle controller 102.

[0060] The vehicle controller 102 is used to obtain the state parameters of the vehicle, determine whether the running state of the vehicle is any preset state, and control the vehicle to implement the braking function when the running state of the vehicle is any preset state. The braking function includes temporary braking and parking braking. It should be noted that the vehicle controller 102 obtains the state parameters of the vehicle from the parameter acquisition device 101, and the application does not limit the data acquisition method and data transmission method.

[0061] Figure 2 is a flow chart of an automatic parking control method provided by an embodiment of the present application, and the method is executed by a vehicle controller. Figure 2 , the method comprises the following steps:

[0062] 201. Obtaining state parameters of the vehicle, the state parameters including a push rod stroke of a brake pedal, a stepping change rate of the brake pedal, a push rod stroke of an accelerator pedal, a stepping change rate of the accelerator pedal, a motor speed, an actual gear position, and an ignition switch gear position.

[0063] In the embodiment of the present application, the state parameter refers to various data reflecting the current running status of the vehicle. The push rod progress of the brake pedal indicates the degree to which the brake pedal is stepped on, and the stepping change rate of the brake pedal indicates the speed change of the brake pedal being stepped on. The push rod travel of the accelerator pedal indicates the degree to which the accelerator pedal is stepped on, and the stepping change rate of the accelerator pedal indicates the speed change of the accelerator pedal being stepped on. The motor speed indicates the rotation speed of the vehicle drive motor. The ignition switch gear indicates the state of the vehicle ignition system. For example, the on gear (ON gear) in the ignition switch gear indicates that the vehicle ignition system has been started, and the vehicle's electrical system is usually powered on at this time; the off gear (OFF gear) in the ignition switch gear indicates that the vehicle ignition system has been turned off, and the vehicle engine has stopped running at this time, and the vehicle's electrical system is usually powered off. The actual gear indicates the current transmission gear state of the vehicle. The actual gear directly reflects the power transmission and driving state of the vehicle. The actual gear generally includes P gear (parking gear), N gear (neutral gear), R gear (reverse gear) and D gear (forward gear). The parking gear is used for long-term parking, locking the drive shaft to prevent the vehicle from moving. The neutral gear is used to disconnect the vehicle's transmission system, and the engine power will not be transmitted to the wheels. The reverse gear is used for reverse driving, and the forward gear is used for normal driving.

[0064] By obtaining the vehicle's status parameters, it is easy to determine the vehicle's current operating status, providing accurate data support for subsequent judgment and control.

[0065] 202. Based on the state parameters of the vehicle, determine whether the operating state of the vehicle is any preset state.

[0066] In the embodiment of the present application, the preset state refers to a state condition that is preset to determine whether the vehicle needs to perform a braking operation. The state condition can be a combination or threshold value of state parameters such as the travel and change rate of the brake pedal and the accelerator pedal, the motor speed, the actual gear position, and the ignition switch gear position, which can be determined according to actual needs and experiments and is not limited here.

[0067] By comparing the vehicle's current operating status with the preset status, it is possible to accurately determine whether the vehicle needs to perform braking operations, thereby ensuring driving safety.

[0068] 203. When the running state of the vehicle is any preset state, a temporary braking function of the vehicle is started, and the temporary braking function is used to realize driving braking of the vehicle.

[0069] In the embodiment of the present application, the temporary braking function refers to a braking function that is temporarily enabled to slow down or stop the vehicle and has the same effect as the service brake. Service braking refers to the use of friction between the brake pads and the brake disc or brake drum to slow down or stop the wheels, thereby achieving vehicle deceleration or parking. Accordingly, the ECU (Electronic Control Unit) sends a preset instruction to the service brake solenoid valve, and the service brake solenoid valve generates a service brake force to achieve vehicle parking.

[0070] By first activating the vehicle's temporary braking function, the vehicle speed is effectively slowed down and driving safety is ensured.

[0071] 204. When the duration of the temporary braking function of the vehicle exceeds a first preset duration, the parking brake function of the vehicle is activated and the temporary braking function is released.

[0072] In the embodiment of the present application, the first preset time duration refers to a time threshold preset for determining whether the vehicle needs to switch from temporary braking to parking braking. The parking brake function refers to a braking function enabled for long-term parking. The parking brake refers to locking the vehicle drive shaft or the rear wheels of the vehicle. The parking brake function is usually used to ensure that the vehicle does not move when it is stationary.

[0073] By automatically switching to the parking brake function, the vehicle is ensured to park stably. At the same time, by releasing the temporary braking function, unnecessary energy consumption and wear are avoided.

[0074] The embodiment of the present application provides an automatic parking control method, in which the running state of the vehicle can be determined by obtaining the state parameters of the vehicle, so that when the running state of the vehicle is any preset state, the temporary braking function of the vehicle is started according to the preset strategy, and when the duration of the vehicle executing the temporary braking function exceeds the first preset duration, the parking brake function of the vehicle is started. Since the state parameters of the vehicle include the push rod stroke of the brake pedal, the stepping change rate of the brake pedal, the push rod stroke of the accelerator pedal, the stepping change rate of the accelerator pedal, the motor speed, the actual gear position, and the ignition switch gear position, etc., the current running state of the vehicle and the corresponding scene can be accurately determined, so that the vehicle can adopt the corresponding braking strategy, so that it can better adapt to a variety of complex scenes and dynamic conditions, and has high flexibility.

[0075] Figure 3 is a flow chart of another automatic parking control method provided by an embodiment of the present application, which is executed by a vehicle controller. Figure 3 , the method comprises the following steps:

[0076] 301. Obtaining state parameters of the vehicle, the state parameters including a push rod stroke of a brake pedal, a stepping change rate of the brake pedal, a push rod stroke of an accelerator pedal, a stepping change rate of the accelerator pedal, a motor speed, an actual gear position, and an ignition switch gear position.

[0077] In the embodiment of the present application, the state parameters of the vehicle are collected and obtained in real time. The state parameters refer to various data reflecting the current operating status of the vehicle. For the convenience of description, the brake pedal may also be referred to as the foot brake pedal, the service brake pedal, and the foot brake pedal, etc., and the accelerator pedal may also be referred to as the accelerator pedal, the accelerator pedal, etc.

[0078] Among them, the push rod travel of the brake pedal indicates the degree to which the brake pedal is depressed, and the rate of change of the depression of the brake pedal indicates the change in speed at which the brake pedal is depressed. The push rod travel of the accelerator pedal indicates the degree to which the accelerator pedal is depressed, and the rate of change of the depression of the accelerator pedal indicates the change in speed at which the accelerator pedal is depressed. The motor speed indicates the rotation speed of the vehicle drive motor. The ignition switch position indicates the state of the vehicle ignition system. For example, the ON position in the ignition switch position indicates that the vehicle ignition system has been started, and the vehicle's electrical system is usually powered on; the OFF position in the ignition switch position indicates that the vehicle ignition system has been turned off, and the vehicle engine has stopped running, and the vehicle's electrical system is usually powered off.

[0079] Among them, the actual gear position indicates the current transmission gear state of the vehicle. The actual gear position directly reflects the power transmission and driving status of the vehicle. The actual gear position usually includes P gear (parking gear), N gear (neutral gear), R gear (reverse gear) and D gear (forward gear), and may also include S gear (sports gear) and L gear (low gear), etc., which are not restricted here. Among them, the parking gear is used for long-term parking, locking the drive shaft to prevent the vehicle from moving. The neutral gear is used to disconnect the vehicle's transmission system, and the engine power will not be transmitted to the wheels. The reverse gear is used for reverse driving, and the forward gear is used for normal driving. The sports gear provides a more sensitive acceleration response and is suitable for scenarios such as overtaking. The low gear is used to provide greater torque output and is suitable for scenarios such as low-speed driving or climbing.

[0080] Optionally, before obtaining the state parameters of the vehicle, the push rod stroke of the brake pedal, the stepping change rate of the brake pedal and other parameters are collected through the displacement sensor, acceleration sensor, speed sensor, pressure sensor and other devices installed on the brake pedal. The push rod stroke of the accelerator pedal, the stepping change rate of the accelerator pedal and other parameters are collected through the displacement sensor, acceleration sensor, speed sensor, pressure sensor and other devices installed on the accelerator pedal. The motor speed is collected through the motor speed sensor and other devices. The actual gear position indicated by the transmission is collected through the gear position sensor and other devices; or, the actual gear position is obtained from the TCU (Transmission Control Unit) through the CAN (Controller Area Network) bus. The ignition switch gear position is collected through the ignition switch sensor and other devices; or, the ignition switch gear position is obtained through the vehicle power management system.

[0081] By obtaining the vehicle's status parameters, it is easy to determine the vehicle's current operating status, providing accurate data support for subsequent judgment and control.

[0082] 302. Based on the state parameters of the vehicle, determine whether the operating state of the vehicle is any preset state.

[0083] In the embodiment of the present application, the preset state refers to a state condition that is preset to determine whether the vehicle needs to perform a braking operation. The state condition can be a combination or threshold of state parameters such as the travel and change rate of the brake pedal and the accelerator pedal, the motor speed, the actual gear position, and the ignition switch gear position, which can be determined according to actual needs and tests and is not limited here. By comparing the current operating state of the vehicle with the preset state, it is possible to accurately determine whether the vehicle needs to perform a braking operation, thereby ensuring driving safety.

[0084] It should be noted that the preset state may include a single state or multiple states, different preset states may indicate different driving scenarios, and the braking strategies corresponding to different preset states may be the same or different, which is not limited here. For example, the braking strategies corresponding to the first state and the second state in the preset state are the same, and the above two preset states are respectively shown in the following steps 303 and 304.

[0085] 303. When the running state of the vehicle is the first state, start the temporary braking function of the vehicle.

[0086] In the embodiment of the present application, the first state refers to the ignition switch gear being in the on gear, the push rod stroke of the brake pedal being greater than the push rod stroke preset value, the brake pedal stepping change rate being less than the change rate preset value, the accelerator pedal push rod stroke being zero, the accelerator pedal stepping change rate being zero, the motor speed being less than the speed preset value and the actual gear being the forward gear.

[0087] In the first state, the push rod stroke of the accelerator pedal and the rate of change of the accelerator pedal are both zero, indicating that the accelerator pedal is not stepped on. The forward gear is usually used to control the vehicle to travel on ordinary roads. The open gear is used to connect the entire vehicle circuit. Therefore, when the vehicle's operating state is the first state, it usually means that the vehicle can travel normally, but the driver intends to stop temporarily. Accordingly, the first state corresponds to scenes such as stopping at a red light, parking on the side of the road, and driving on congested roads. At this time, the vehicle is temporarily braked.

[0088] Temporary braking function refers to a braking function that is temporarily enabled to slow down the vehicle, stop the vehicle in the shortest distance, or keep the vehicle speed stable when driving downhill. Service braking refers to the use of friction between the brake pads and the brake disc or brake drum to slow down or stop the wheels, thereby achieving vehicle deceleration or parking. Accordingly, the ECU (Electronic Control Unit) sends a preset command to the service brake solenoid valve, and the service brake solenoid valve generates a driving braking force to achieve driving parking.

[0089] By first activating the vehicle's temporary braking function, the vehicle speed is effectively slowed down and driving safety is ensured.

[0090] In some embodiments, temporary braking of a corresponding degree is performed through the recommended travel interval of the push rod stroke of the brake pedal. Accordingly, when the running state of the vehicle is the first state, the temporary braking level is determined based on the push rod travel interval of the push rod stroke of the brake pedal, and different push rod travel intervals correspond to different temporary braking levels, and the temporary braking level is positively correlated with the temporary braking degree; based on the temporary braking level, the temporary braking function of the vehicle corresponding to the temporary braking level is activated.

[0091] The temporary braking level refers to the division of temporary braking into different levels according to the range of the brake pedal push rod stroke. Each temporary braking level corresponds to a different degree and effect of braking.

[0092] Through the above method, the braking degree and effect of the vehicle can be controlled more accurately, thereby meeting the braking needs of the driver in different situations and improving the accuracy and flexibility of braking control. By accurately controlling the braking degree and effect, over-braking or under-braking can be avoided, thereby reducing the wear and failure rate of the braking system and improving driving safety.

[0093] In some embodiments, the corresponding braking function is activated when the vehicle is in a downhill state. Accordingly, when the vehicle is in the first state, if the push rod stroke of the brake pedal is greater than the preset push rod stroke value within the second preset time, the slope parameter of the vehicle is obtained, and the slope parameter is used to indicate the inclination angle of the vehicle; when the slope parameter indicates that the vehicle is in a downhill state, the downhill auxiliary braking function of the vehicle is activated, and the temporary braking function is released.

[0094] The slope parameter is a parameter indicating the slope or inclination angle of the vehicle. The slope parameter can be measured by the vehicle's sensors, such as an acceleration sensor and a gyroscope sensor. The downhill auxiliary braking function refers to an auxiliary braking function that automatically adjusts the braking force when the vehicle is in a downhill state to prevent the vehicle from accelerating downhill due to gravity.

[0095] By activating the downhill assist braking function when the vehicle is in a downhill state, the braking force can be automatically adjusted to prevent the vehicle from accelerating downhill due to gravity, thereby improving the safety and stability of downhill driving. Through intelligent braking control strategies, the braking degree and effect can be automatically adjusted according to the driver's needs and the vehicle's operating status, improving the convenience of the driving process.

[0096] 304. When the running state of the vehicle is the second state, a temporary braking function of the vehicle is started.

[0097] In the embodiment of the present application, the second state refers to the ignition switch position being the on position, the brake pedal push rod stroke being zero, the brake pedal stepping change rate being zero, the accelerator pedal push rod stroke being zero, the accelerator pedal stepping change rate being zero, the motor speed being not zero and the actual gear being a non-parking gear.

[0098] In the second state, the push rod stroke of the brake pedal and the rate of change of the brake pedal are both zero, indicating that the brake pedal is not stepped on; the push rod stroke of the accelerator pedal and the rate of change of the accelerator pedal are both zero, indicating that the accelerator pedal is not stepped on. The motor speed is not zero, indicating that the motor is running or in working state and is providing power. In one possible case, the motor speed is getting higher and higher. The parking gear can be used to lock the axle when the vehicle is stationary on a slope. The non-parking gear refers to the other actual gears corresponding to the transmission except the parking gear. The non-parking gear indicates that the vehicle has not locked the axle. Therefore, when the vehicle's operating state is the second state, it usually means that the vehicle is in a slipping state. At this time, the vehicle is temporarily braked.

[0099] By first activating the vehicle's temporary braking function, the vehicle speed is effectively slowed down and driving safety is ensured.

[0100] 305. When the duration of the temporary braking function of the vehicle exceeds a first preset duration, the parking brake function of the vehicle is activated and the temporary braking function is released.

[0101] In the embodiment of the present application, the first preset time duration refers to a time threshold preset for determining whether the vehicle needs to switch from temporary braking to parking braking. The parking brake function refers to a braking function enabled for long-term parking. The parking brake refers to locking the vehicle drive shaft or the rear wheels of the vehicle. The parking brake function is usually used to ensure that the vehicle does not move when it is stationary.

[0102] By automatically switching to the parking brake function, the vehicle is ensured to park stably. At the same time, by releasing the temporary braking function, unnecessary energy consumption and wear are avoided.

[0103] In some embodiments, when the vehicle is performing a temporary braking function, if a first preset parameter is not zero, the temporary braking function is released, and the first preset parameter includes at least one of the push rod stroke of the brake pedal, the pedal change rate of the brake pedal, the push rod stroke of the accelerator pedal, and the pedal change rate of the accelerator pedal.

[0104] When the vehicle is in a temporary braking state within a first preset time period, if at least one of the push rod stroke of the brake pedal and the pedaling change rate of the brake pedal is not zero, it means that the brake pedal of the vehicle is stepped on, which means that the driver needs to stop temporarily or the vehicle is in a slipping state, and the driver has taken braking measures at this time, so the temporary braking is released; if at least one of the push rod stroke of the accelerator pedal and the pedaling change rate of the accelerator pedal is not zero, it means that the accelerator pedal of the vehicle is stepped on, which means that the driver has no intention of stopping temporarily and still needs to accelerate the vehicle, and the temporary braking is released at this time.

[0105] Through the above method, the vehicle can respond in time and start or release the temporary braking function in a variety of scenarios, which is more convenient and improves safety. For example, when driving on a congested road or following a vehicle, the vehicle can respond in time when the driver alternately steps on the brake pedal and the accelerator pedal.

[0106] 306. When the vehicle's operating state is in the third state, start the parking brake function.

[0107] In the embodiment of the present application, the third state refers to the ignition switch gear being in the off gear, the motor speed being not zero, and the actual gear being a non-parking gear. In the case of the third state, the off gear is the gear in which the entire vehicle is powered off. The actual gear is not in the parking gear, indicating that the vehicle is not parked. In this case, the motor speed is not zero, indicating that the vehicle is in an unmanned slipping state. At this point, the vehicle is parked. The parking brake refers to locking the vehicle's drive shaft or the rear wheels of the vehicle, thereby providing a resistance to the vehicle when parking to prevent the vehicle from slipping.

[0108] By switching to the parking brake function, the vehicle is ensured to park stably. At the same time, by releasing the temporary brake function, unnecessary energy consumption and wear are avoided. In this way, the driver's operating burden is reduced in heavy traffic or parking, the driving experience is improved, and driving safety is also improved.

[0109] In some embodiments, when the vehicle is executing the parking brake function, if the second preset parameter is not zero, the parking brake function is released, and the second preset parameter is at least one of the push rod travel of the accelerator pedal and the pedaling change rate of the accelerator pedal.

[0110] When the vehicle is in a state of temporary braking, if the push rod stroke of the accelerator pedal and the rate of change of the accelerator pedal are not zero, it means that the accelerator pedal of the vehicle is stepped on, which means that the driver needs to control the vehicle to start, and the parking brake is released at this time. Normally, the release of the parking brake function means that the vehicle exits the Auto Hold function and enters the Standby state. Among them, Standby usually refers to the low-power standby state of the vehicle. Optionally, the condition for releasing the parking brake can also be set as the push rod stroke of the accelerator pedal is greater than the corresponding preset value, which is not limited here.

[0111] Through the above method, the vehicle can quickly respond to the driver's operation of the accelerator pedal to start, thereby improving the driving experience.

[0112] In some embodiments, when the vehicle is in the third state, an abnormality prompt function of the vehicle is activated, and the prompt function is used to prompt that the vehicle is in an abnormal state by means of sound and light prompts. For example, a red indicator light on the dashboard of the vehicle lights up, or the vehicle emits a continuous alarm sound.

[0113] Through the above method, the driver or other personnel can be promptly reminded that the vehicle is in an abnormal state, thereby improving intelligence and ensuring safety.

[0114] To describe the overall process of the automatic parking method, see Figure 4 As shown, Figure 4It is a schematic diagram of an overall process provided by an embodiment of the present application. First, the state parameters of the vehicle are collected in real time. Then, the state of the ignition switch of the vehicle is determined. When the ignition switch of the vehicle is in the off position, if the motor speed is not zero and the actual gear is a non-parking gear, it means that the vehicle is in a slipping state at this time, and the parking brake function is activated. When the ignition switch of the vehicle is in the on position, the running state of the vehicle is determined. When the running state of the vehicle is the first state or the second state, the temporary braking function is activated. When the duration of the temporary braking exceeds the first preset duration, the parking brake function is activated. Among them, the first state refers to the ignition switch gear being the on gear, the push rod stroke of the brake pedal being greater than the push rod stroke preset value, the brake pedal stepping change rate being less than the change rate preset value, the accelerator pedal push rod stroke being zero, the accelerator pedal stepping change rate being zero, the motor speed being less than the speed preset value, and the actual gear being the forward gear. The second state means that the ignition switch gear is on, the brake pedal push rod stroke is zero, the brake pedal stepping change rate is zero, the accelerator pedal push rod stroke is zero, the accelerator pedal stepping change rate is zero, the motor speed is not zero and the actual gear is non-parking gear.

[0115] That is, first, the state parameters of the vehicle are collected in real time, including the brake pedal push rod stroke, the brake pedal stepping change rate, the accelerator pedal push rod stroke, the accelerator pedal stepping change rate, the motor speed, the actual gear position, and the ignition switch gear position. Then, the acquired state parameters are analyzed to determine whether the driver intends to stop temporarily, whether the vehicle is in a rolling state, or whether the vehicle is in an unmanned rolling state; if the driver intends to stop temporarily or the vehicle is in a rolling state, the temporary brake is activated; if the duration of the temporary brake exceeds the preset duration, the parking brake is activated and the temporary brake is released; if the vehicle is in a temporary brake state and the brake pedal or the accelerator pedal is stepped on, the temporary brake is released; if the vehicle is in an unmanned rolling state, the parking brake is activated.

[0116] The embodiment of the present application provides an automatic parking control method, which reduces the operating load of the driver, effectively reduces the probability of accidents, and improves driving safety. In this method, the operating state of the vehicle can be determined by obtaining the state parameters of the vehicle, so that when the operating state of the vehicle is any preset state, the temporary braking function of the vehicle is started according to the preset strategy, and when the duration of the vehicle executing the temporary braking function exceeds the first preset duration, the parking brake function of the vehicle is started. Since the state parameters of the vehicle include the push rod stroke of the brake pedal, the stepping change rate of the brake pedal, the push rod stroke of the accelerator pedal, the stepping change rate of the accelerator pedal, the motor speed, the actual gear position, and the ignition switch gear position and other parameters, the current operating state and corresponding scenes of the vehicle can be accurately determined, so that the vehicle can adopt the corresponding braking strategy, so that it can better adapt to a variety of complex scenes and dynamic conditions, and has high flexibility.

[0117] Figure 5 is a block diagram of an automatic parking control device provided in an embodiment of the present application. The device is used to execute the steps of the automatic parking control method described above. Optionally, the device can be applied to Figure 1 The implementation environment shown in the figure is shown in the figure. The device can also be applied to other implementation environments, and the embodiments of the present application are not limited to this. Figure 5 The automatic parking control device includes: an acquisition module 501, a determination module 502 and a control module 503.

[0118] The acquisition module 501 is used to acquire the state parameters of the vehicle, including the push rod stroke of the brake pedal, the stepping change rate of the brake pedal, the push rod stroke of the accelerator pedal, the stepping change rate of the accelerator pedal, the motor speed, the actual gear position and the ignition switch gear position;

[0119] A determination module 502 is used to determine whether the running state of the vehicle is any preset state based on the state parameters of the vehicle;

[0120] The control module 503 is used to start the temporary braking function of the vehicle when the running state of the vehicle is any preset state, and the temporary braking function is used to realize the driving braking of the vehicle;

[0121] The control module 503 is further configured to activate the parking brake function of the vehicle and release the temporary braking function when the duration of the temporary braking function of the vehicle exceeds a first preset duration.

[0122] In some embodiments, the control module 503 is used to start the temporary braking function of the vehicle when the vehicle's operating state is a first state, wherein the first state is that the ignition switch gear is in the on gear, the push rod stroke of the brake pedal is greater than the push rod stroke preset value, the brake pedal's stepping change rate is less than the change rate preset value, the accelerator pedal's push rod stroke is zero, the accelerator pedal's stepping change rate is zero, the motor speed is less than the speed preset value and the actual gear is the forward gear.

[0123] In some embodiments, the control module 503 is also used to determine the temporary braking level based on the push rod stroke range of the brake pedal push rod stroke when the vehicle's operating state is in the first state, different push rod stroke ranges correspond to different temporary braking levels, and the temporary braking level is positively correlated with the temporary braking degree; based on the temporary braking level, the temporary braking function of the vehicle corresponding to the temporary braking level is started.

[0124] In some embodiments, the control module 503 is also used to obtain the slope parameter of the vehicle if the push rod stroke of the brake pedal is greater than the preset push rod stroke value within a second preset time period when the vehicle's operating state is in the first state, and the slope parameter is used to indicate the inclination angle of the vehicle; when the slope parameter indicates that the vehicle is in a downhill state, the downhill auxiliary braking function of the vehicle is started, and the temporary braking function is released.

[0125] In some embodiments, the control module 503 is used to start the temporary braking function of the vehicle when the vehicle's operating state is a second state, wherein the second state is that the ignition switch gear is in the on gear, the brake pedal push rod stroke is zero, the brake pedal stepping change rate is zero, the accelerator pedal push rod stroke is zero, the accelerator pedal stepping change rate is zero, the motor speed is not zero and the actual gear is a non-parking gear.

[0126] In some embodiments, the control module 503 is also used to release the temporary braking function when the vehicle is performing a temporary braking function if a first preset parameter is not zero, and the first preset parameter includes at least one of the push rod stroke of the brake pedal, the pedal change rate of the brake pedal, the push rod stroke of the accelerator pedal, and the pedal change rate of the accelerator pedal.

[0127] In some embodiments, the control module 503 is also used to release the parking brake function when the vehicle is executing the parking brake function if a second preset parameter is not zero, and the second preset parameter is at least one of the push rod stroke of the accelerator pedal and the pedaling change rate of the accelerator pedal.

[0128] In some embodiments, the control module 503 is also used to start the parking brake function when the vehicle's operating state is a third state, where the ignition switch gear is in the off gear, the motor speed is not zero, and the actual gear is a non-parking gear.

[0129] In some embodiments, Figure 6 is a block diagram of another automatic parking control device provided in an embodiment of the present application, such as Figure 6 As shown, the device also includes:

[0130] The prompt module 504 is used to start the abnormal prompt function of the vehicle when the running state of the vehicle is the third state, and the prompt function is used to prompt that the vehicle is in an abnormal state through sound and light prompts.

[0131] The present application provides an automatic parking control device, in which the running state of the vehicle can be determined by obtaining the state parameters of the vehicle, so that when the running state of the vehicle is any preset state, the temporary braking function of the vehicle is started according to the preset strategy, and when the duration of the vehicle executing the temporary braking function exceeds the first preset duration, the parking brake function of the vehicle is started. Since the state parameters of the vehicle include the push rod stroke of the brake pedal, the stepping change rate of the brake pedal, the push rod stroke of the accelerator pedal, the stepping change rate of the accelerator pedal, the motor speed, the actual gear position, and the ignition switch gear position, etc., the current running state of the vehicle and the corresponding scene can be accurately determined, so that the vehicle can adopt the corresponding braking strategy, so that it can better adapt to a variety of complex scenes and dynamic conditions, and has high flexibility.

[0132] It should be noted that: the automatic parking control device provided in the above embodiment only uses the division of the above functional modules as an example when running an application program. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the electronic device is divided into different functional modules to complete all or part of the functions described above. In addition, the automatic parking control device provided in the above embodiment and the automatic parking control method embodiment belong to the same concept, and the implementation process thereof is shown in the method embodiment, which will not be repeated here.

[0133] Figure 7700 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 700 may be a vehicle-mounted terminal or a portable mobile terminal, such as a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 player (Moving Picture Experts Group Audio Layer IV), a laptop computer or a desktop computer. The electronic device 700 may also be referred to as a vehicle-mounted terminal, a user device, a portable terminal, a laptop terminal, a desktop terminal or other names.

[0134] Typically, the electronic device 700 includes a processor 701 and a memory 702 .

[0135] The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the volume cloud of the content to be displayed on the display screen. In some embodiments, the processor 701 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0136] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 702 is used to store at least one computer program, which is used to be executed by the processor 701 to implement the automatic parking control method provided in the method embodiment of the present application.

[0137] In some embodiments, the electronic device 700 may further optionally include: a peripheral device interface 703 and at least one peripheral device. The processor 701, the memory 702 and the peripheral device interface 703 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 703 via a bus, a signal line or a circuit board. The peripheral device includes: at least one of a radio frequency circuit 704, a display screen 705, a camera assembly 706, an audio circuit 707 and a power supply 708.

[0138] The peripheral device interface 703 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 701 and the memory 702. In some embodiments, the processor 701, the memory 702, and the peripheral device interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral device interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0139] The radio frequency circuit 704 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 704 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 704 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. In some embodiments, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The radio frequency circuit 704 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 704 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0140] The display screen 705 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 705 is a touch display screen, the display screen 705 also has the ability to collect touch signals on the surface or above the surface of the display screen 705. The touch signal can be input to the processor 701 as a control signal for processing. At this time, the display screen 705 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 705 can be one, arranged on the front panel of the electronic device 700; in other embodiments, the display screen 705 can be at least two, respectively arranged on different surfaces of the electronic device 700 or in a folding design; in other embodiments, the display screen 705 can be a flexible display screen, arranged on a curved surface or a folding surface of the electronic device 700. Even, the display screen 705 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 705 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0141] The camera assembly 706 is used to capture images or videos. In some embodiments, the camera assembly 706 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal, and the rear camera is disposed on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 706 may also include a flash. The flash may be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0142] The audio circuit 707 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 701 for processing, or input them into the radio frequency circuit 704 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the electronic device 700. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 701 or the radio frequency circuit 704 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 707 may also include a headphone jack.

[0143] The power supply 708 is used to power various components in the electronic device 700. The power supply 708 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 708 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0144] In some embodiments, the electronic device 700 further includes one or more sensors 709 , including but not limited to: an acceleration sensor 710 , a gyroscope sensor 711 , a pressure sensor 712 , an optical sensor 713 , and a proximity sensor 714 .

[0145] The acceleration sensor 710 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the electronic device 700. For example, the acceleration sensor 710 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 701 can control the display screen 705 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 710. The acceleration sensor 710 can also be used for collecting game or user motion data.

[0146] The gyro sensor 711 can detect the body direction and rotation angle of the electronic device 700, and the gyro sensor 711 can cooperate with the acceleration sensor 710 to collect the user's 3D actions on the electronic device 700. The processor 701 can implement the following functions based on the data collected by the gyro sensor 711: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0147] The pressure sensor 712 can be set on the side frame of the electronic device 700 and / or the lower layer of the display screen 705. When the pressure sensor 712 is set on the side frame of the electronic device 700, it can detect the user's holding signal of the electronic device 700, and the processor 701 performs left and right hand recognition or shortcut operations according to the holding signal collected by the pressure sensor 712. When the pressure sensor 712 is set on the lower layer of the display screen 705, the processor 701 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 705. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0148] The optical sensor 713 is used to collect the ambient light intensity. In one embodiment, the processor 701 can control the display brightness of the display screen 705 according to the ambient light intensity collected by the optical sensor 713. Optionally, when the ambient light intensity is high, the display brightness of the display screen 705 is increased; when the ambient light intensity is low, the display brightness of the display screen 705 is reduced. In another embodiment, the processor 701 can also dynamically adjust the shooting parameters of the camera assembly 706 according to the ambient light intensity collected by the optical sensor 713.

[0149] The proximity sensor 714, also called the distance sensor, is disposed on the front panel of the electronic device 700. The proximity sensor 714 is used to collect the distance between the user and the front of the electronic device 700. In one embodiment, when the proximity sensor 714 detects that the distance between the user and the front of the electronic device 700 is gradually decreasing, the processor 701 controls the display screen 705 to switch from the screen-on state to the screen-off state; when the proximity sensor 714 detects that the distance between the user and the front of the electronic device 700 is gradually increasing, the processor 701 controls the display screen 705 to switch from the screen-off state to the screen-on state.

[0150] Those skilled in the art will understand that Figure 7 The structure shown in the figure does not constitute a limitation on the electronic device 700, and may include more or less components than those shown in the figure, or combine some components, or adopt a different component arrangement.

[0151] Figure 8This is a schematic diagram of the structure of a server provided in an embodiment of the present application. The server 800 may have relatively large differences due to different configurations or performances, and may include one or more processors (Central Processing Units, CPU) 801 and one or more memories 802, wherein the memory 802 stores at least one computer program, and the at least one computer program is loaded and executed by the processor 801 to implement the automatic parking control method provided in the above-mentioned various method embodiments. Of course, the server may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the server may also include other components for implementing device functions, which will not be described in detail here.

[0152] The embodiment of the present application also provides a computer-readable storage medium, in which at least one computer program is stored, and the at least one computer program is loaded and executed by a processor to implement the automatic parking control method in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0153] The embodiment of the present application also provides a computer program product, including a computer program, which is executed by a processor to implement the automatic parking control method in the embodiment of the present application.

[0154] A person skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0155] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An automatic parking control method, characterized in that: The method comprises: Acquiring state parameters of the vehicle, the state parameters including a push rod stroke of a brake pedal, a stepping change rate of the brake pedal, a push rod stroke of an accelerator pedal, a stepping change rate of the accelerator pedal, a motor speed, an actual gear position, and an ignition switch gear position; Based on the state parameters of the vehicle, determining whether the running state of the vehicle is any preset state; When the running state of the vehicle is any preset state, a temporary braking function of the vehicle is activated, wherein the temporary braking function is used to realize service braking of the vehicle; When the duration for which the vehicle performs the temporary braking function exceeds a first preset duration, the parking brake function of the vehicle is activated and the temporary braking function is released.

2. The method according to claim 1, characterized in that When the running state of the vehicle is any preset state, starting the temporary braking function of the vehicle includes: When the running state of the vehicle is the first state, the temporary braking function of the vehicle is started, and the first state is that the ignition switch gear is in the on gear, the push rod stroke of the brake pedal is greater than the push rod stroke preset value, the pedaling change rate of the brake pedal is less than the change rate preset value, the push rod stroke of the accelerator pedal is zero, the pedaling change rate of the accelerator pedal is zero, the motor speed is less than the speed preset value and the actual gear is the forward gear.

3. The method according to claim 2, characterized in that The method further comprises: When the running state of the vehicle is the first state, a temporary braking level is determined based on a push rod stroke interval of the brake pedal push rod stroke, different push rod stroke intervals correspond to different temporary braking levels, and the temporary braking level is positively correlated with the temporary braking degree; Based on the temporary braking level, a temporary braking function of the vehicle corresponding to the temporary braking level is started.

4. The method according to claim 2, characterized in that: The method further comprises: When the running state of the vehicle is the first state, if the push rod stroke of the brake pedal is greater than the preset push rod stroke value within a second preset time period, obtaining a slope parameter of the vehicle, wherein the slope parameter is used to indicate a tilt angle of the vehicle; When the slope parameter indicates that the vehicle is in a downhill state, a downhill auxiliary braking function of the vehicle is activated, and the temporary braking function is released.

5. The method according to claim 1, characterized in that When the running state of the vehicle is any preset state, starting the temporary braking function of the vehicle includes: When the running state of the vehicle is the second state, the temporary braking function of the vehicle is started, and the second state is that the ignition switch gear is on, the push rod stroke of the brake pedal is zero, the stepping change rate of the brake pedal is zero, the push rod stroke of the accelerator pedal is zero, the stepping change rate of the accelerator pedal is zero, the motor speed is not zero and the actual gear is a non-parking gear.

6. The method according to claim 1, characterized in that The method further comprises: When the vehicle is performing the temporary braking function, if a first preset parameter is not zero, the temporary braking function is released, and the first preset parameter includes at least one of the push rod stroke of the brake pedal, the pedaling change rate of the brake pedal, the push rod stroke of the accelerator pedal, and the pedaling change rate of the accelerator pedal.

7. The method according to claim 1, characterized in that The method further comprises: When the vehicle is executing the parking brake function, if a second preset parameter is not zero, the parking brake function is released, and the second preset parameter is at least one of a push rod stroke of the accelerator pedal and a pedaling change rate of the accelerator pedal.

8. The method according to claim 1, characterized in that The method further comprises: When the running state of the vehicle is a third state, the parking brake function is activated, and the third state is that the ignition switch gear is an off gear, the motor speed is not zero, and the actual gear is a non-parking gear.

9. The method according to claim 8, characterized in that The method further comprises: When the running state of the vehicle is the third state, an abnormality prompt function of the vehicle is started, and the prompt function is used to prompt that the vehicle is in an abnormal state through sound and light prompts.

10. An automatic parking control device, characterized in that: The device comprises: An acquisition module, used for acquiring state parameters of the vehicle, the state parameters including a push rod stroke of a brake pedal, a stepping change rate of the brake pedal, a push rod stroke of an accelerator pedal, a stepping change rate of the accelerator pedal, a motor speed, an actual gear position, and an ignition switch gear position; A determination module, used for determining whether the running state of the vehicle is any preset state based on the state parameters of the vehicle; A control module, used for starting a temporary braking function of the vehicle when the running state of the vehicle is any preset state, wherein the temporary braking function is used for realizing service braking of the vehicle; The control module is further configured to activate the parking brake function of the vehicle and release the temporary braking function when the duration for which the vehicle performs the temporary braking function exceeds a first preset duration.

11. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory is used to store at least one computer program, and the at least one computer program is loaded by the processor and executes the automatic parking control method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store at least one computer program, and the at least one computer program is used to execute the automatic parking control method according to any one of claims 1 to 9.

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