Vehicle control method and device, vehicle, storage medium and program product

Abstract

The invention relates to a vehicle control method and device, a vehicle, a storage medium and a program product, and belongs to the technical field of automatic driving. The method comprises the steps that it is determined that a user has an automatic parking demand; and controlling the vehicle to be in a braking state until the vehicle enters an automatic parking state. In this way, the vehicle can be in the braking state before entering the automatic parking state, and even if a user loosens the brake pedal, the vehicle can be kept in the braking state. In this way, the safety in the automatic parking process can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a vehicle control method, device, vehicle, storage medium, and program product. Background Art

[0002] Automatic parking is an intelligent driving assistance function based on sensors, cameras, radars and other technologies, which enables the vehicle to automatically find and identify suitable parking spaces and automatically complete parking operations. Automatic parking can reduce user operations and thus improve the user's car experience. However, in relevant scenarios, there may still be some safety risks when users use the automatic parking function. Summary of the invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, vehicle, storage medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising: Determine that the user has a need for automatic parking; The vehicle is controlled to be in a brake stop state until the vehicle enters an automatic parking state.

[0005] Optionally, controlling the vehicle to be in a braked state until the vehicle enters an automatic parking state includes: Determining that the vehicle has not entered an automatic parking state; and, When there is a risk of collision with the vehicle, the vehicle is controlled to be in a brake stop state until the vehicle enters an automatic parking state.

[0006] Optionally include: determining an accelerator pedal travel of the vehicle; Determine the duration during which the accelerator pedal stroke is 0 to obtain a first duration; When the brake pedal travel of the vehicle is 0, the first time length is greater than a first threshold, and the vehicle has not entered an automatic parking state, it is determined that the vehicle has a collision risk.

[0007] Optionally, controlling the vehicle to be in a braked state includes: When the vehicle speed is 0, controlling the driving system of the vehicle to output a first torque, wherein the first torque can make the vehicle stop when the brake pedal travel of the vehicle is 0; When the vehicle speed is not zero, determining a second torque according to the vehicle speed and the required deceleration time; The driving system of the vehicle is controlled to output a second torque, wherein the second torque can enable the vehicle to enter a brake stop state within the required deceleration time when the brake pedal travel of the vehicle is 0.

[0008] Optionally include: Acquiring speed information of the vehicle; When it is determined according to the speed information that the vehicle is at risk of rolling away, the vehicle is controlled to brake.

[0009] Optionally, the speed information includes vehicle speed and wheel speed pulse information, and the method includes: determining an increment of the wheel speed pulse according to the wheel speed pulse information; When the vehicle speed is 0 and the increment of the wheel speed pulse is greater than a second threshold, determining that the vehicle has a risk of rolling; The controlling the vehicle to brake comprises: The braking system of the vehicle is controlled to pull up the brake caliper of the vehicle.

[0010] Optionally, determining that the user has a demand for automatic parking includes: Obtaining environmental information around the vehicle; When it is determined that the user brakes the vehicle and a target parking space is identified based on the environmental information, it is determined that the user has an automatic parking demand.

[0011] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising: A first module is configured to determine whether a user has a demand for automatic parking; The second module is configured to control the vehicle to be in a braking state until the vehicle enters an automatic parking state.

[0012] Optionally, the second module includes: The first submodule is configured to determine that the vehicle has not entered the automatic parking state; and, when there is a risk of collision with the vehicle, control the vehicle to be in a brake stop state until the vehicle enters the automatic parking state.

[0013] Optionally include: A third module is configured to determine an accelerator pedal travel of the vehicle; A fourth module is configured to determine a duration during which the accelerator pedal stroke is continuously zero to obtain a first duration; The fifth module is configured to determine that the vehicle is at risk of collision when the brake pedal travel of the vehicle is 0, the first time length is greater than a first threshold, and the vehicle has not entered an automatic parking state.

[0014] Optionally, the second module includes: The second submodule is configured to control the driving system of the vehicle to output a first torque when the vehicle speed is 0, wherein the first torque can make the vehicle stop when the brake pedal travel of the vehicle is 0; A third submodule is configured to determine a second torque according to the vehicle speed and a required deceleration time when the vehicle speed is not zero; The fourth submodule is configured to control the driving system of the vehicle to output a second torque, wherein the second torque can enable the vehicle to enter a brake stop state within the required deceleration time when the brake pedal travel of the vehicle is 0.

[0015] Optionally include: A sixth module is configured to obtain speed information of the vehicle; The seventh module is configured to control the vehicle to brake when it is determined that the vehicle is at risk of rolling according to the speed information.

[0016] Optionally, the speed information includes vehicle speed and wheel speed pulse information, and the device includes: an eighth module, configured to determine an increment of a wheel speed pulse according to the wheel speed pulse information; a ninth module, configured to determine that the vehicle has a risk of rolling when the vehicle speed is 0 and the increment of the wheel speed pulse is greater than a second threshold; The seventh module is configured as follows: The braking system of the vehicle is controlled to pull up the brake caliper of the vehicle.

[0017] Optionally, the first module is configured as follows: Obtaining environmental information around the vehicle; When it is determined that the user brakes the vehicle and a target parking space is identified based on the environmental information, it is determined that the user has an automatic parking demand.

[0018] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of any one of the methods described in the first aspect.

[0019] According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0020] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, which implements the steps of any one of the methods in the first aspect when executed by a processor.

[0021] In the above solution, it can be determined that the user has an automatic parking demand, and the vehicle can be controlled to be in a braked state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a braked state before entering the automatic parking state, and the vehicle can remain braked even if the user releases the brake pedal. In this way, the safety of the automatic parking process can be improved.

[0022] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0024] Figure 1 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0025] Figure 2 is a flowchart of an implementation of step S12 according to an exemplary embodiment.

[0026] Figure 3 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0027] Figure 4 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0028] Figure 5 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0029] Figure 6 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0030] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0032] Before introducing the vehicle control method, device, vehicle, storage medium and program product of the present disclosure, the relevant scenarios of the embodiments of the present disclosure are first exemplified.

[0033] Automatic parking is an intelligent driving assistance function based on sensors, cameras, radars and other technologies, which enables the vehicle to automatically find and identify suitable parking spaces and automatically complete parking operations.

[0034] As an example, the process of a user using the automatic parking function may include: the user drives the vehicle to search for a parking space, and after finding a parking space, the user brakes the vehicle. The user keeps the vehicle braked and clicks on the vehicle screen to select a target parking space. The user keeps the vehicle braked and clicks the start parking button. After confirming that the vehicle has entered the automatic parking state, the user can release the brake and the automatic parking system controls the vehicle to park.

[0035] In some scenarios, the user may release the brakes before the vehicle enters the automatic parking state. For example, the user may not select a parking space or click the start parking button, resulting in the vehicle not entering the automatic parking state. In addition, the vehicle may not enter the automatic parking state because the user selects a parking space or clicks the start parking button due to reasons such as the vehicle computer system being stuck.

[0036] When the vehicle has not entered the automatic parking state, the intelligent driving system has not taken over the vehicle. Therefore, if the user releases the brakes in advance, the vehicle may run at idle speed, which may cause a vehicle collision.

[0037] To this end, an embodiment of the present disclosure provides a vehicle control method. Figure 1 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present disclosure, referring to Figure 1 , the method comprising: In step S11 , it is determined that the user has a demand for automatic parking.

[0038] In one embodiment, the user's automatic parking requirement may be determined in response to the user's operation. For example, an automatic parking control or button may be provided, and when the user triggers the control or button, it is determined that the user has an automatic parking requirement.

[0039] In one implementation, environmental information around the vehicle may be acquired. When it is determined that the user brakes the vehicle and a target parking space is identified based on the environmental information, it is determined that the user has an automatic parking demand.

[0040] The target parking space may include one or more parking spaces set by the user. For example, the user may set the user's parking space in the residential address as the target parking space. In one embodiment, the user may also select the target parking space from multiple parking spaces identified by the vehicle.

[0041] In addition, the vehicle may include an on-board sensing device (e.g., radar, camera, etc.), an automatic driving control system, a vehicle control system, a drive system, and a braking system. The on-board sensing device may detect environmental information, and the automatic driving control system processes the environmental information to identify parking space information.

[0042] The automatic driving control system can send the flag information of whether the parking space is recognized and whether it is in the automatic parking state to the vehicle control system. After receiving the flag information, the vehicle control system determines whether the user actively brakes the vehicle. As an example, it can be determined that the user actively brakes the vehicle when it is determined that the user steps on the brake pedal and the vehicle speed is 0. In this way, when the parking space is recognized and the user brakes the vehicle, it can be determined that the user has a parking demand.

[0043] In one embodiment, the user's automatic parking requirement may be determined in response to the user's voice command. For example, the user's automatic parking requirement may be determined when a user's voice command of "park the car for me" is recognized.

[0044] Reference Figure 1 In step S12, the vehicle is controlled to be in a brake stop state until the vehicle enters an automatic parking state.

[0045] In one embodiment, when the vehicle speed is 0, the driving system of the vehicle can be controlled to output a first torque, and the first torque can make the vehicle stop when the brake pedal travel of the vehicle is 0.

[0046] For example, in one implementation scenario, the value of the first torque may be 0. In this way, when the vehicle's drive system outputs 0 torque, the vehicle can remain in a braked state even if the user releases the brake pedal. Exemplarily, a first negative torque request may be sent to the vehicle's drive system, and the first negative torque request may be configured to request a negative torque that offsets the idle drive torque. In this way, it is possible to avoid a collision when the vehicle is running at idle speed when the user releases the brake pedal.

[0047] In addition, in a possible implementation manner, the value of the first torque can be set based on demand, and the embodiment of the present disclosure does not limit this.

[0048] In one implementation, when the vehicle speed is not 0, the second torque may be determined according to the vehicle speed and the required deceleration time. In this way, the drive system of the vehicle may be controlled to output the second torque, and the second torque may enable the vehicle to enter a brake stop state within the required deceleration time when the brake pedal travel of the vehicle is 0.

[0049] Exemplarily, the second torque can be calculated by the following formula: : .

[0050] Wherein, v is the vehicle speed, t is the required deceleration time, k and m are the calibration values ​​corresponding to the actual vehicle. t, k and m can be set based on demand.

[0051] By adopting the above solution, when the vehicle speed is not zero, the second torque can be determined according to the vehicle speed and the required deceleration time. In this way, the drive system of the vehicle can be controlled to output the second torque so that the vehicle enters a braking state within the required time. In this way, the collision risk of the vehicle can be reduced and the safety of the automatic parking process can be improved.

[0052] It is worth noting that in the above solution, the vehicle can be kept in a braked state by controlling the drive system to output the first torque or the second torque. However, in some scenarios, the vehicle may be on a slope, and there may be a risk of slipping.

[0053] To this end, in a possible implementation manner, the method may further include: Acquiring speed information of the vehicle; When it is determined according to the speed information that the vehicle is at risk of rolling away, the vehicle is controlled to brake.

[0054] For example, in one embodiment, the speed information includes vehicle speed and wheel speed pulse information. Thus, the increment of the wheel speed pulse can be determined according to the wheel speed pulse information. When the vehicle speed is 0 and the increment of the wheel speed pulse is greater than a second threshold, it is determined that the vehicle is at risk of rolling.

[0055] For example, when the vehicle speed is 0 and the wheel speed pulse increment is greater than N (a second threshold value, which can be calibrated according to an actual vehicle), it is determined that there is a risk of vehicle slipping. In this case, the vehicle can be controlled to brake.

[0056] For example, in one embodiment, the braking system of the vehicle may be controlled to pull up the brake caliper of the vehicle, thereby achieving braking of the vehicle. For example, the vehicle controller may determine whether the vehicle has a risk of slipping, and when there is a risk of slipping, the vehicle controller may request the braking system to pull up the brake caliper, thereby preventing the vehicle from slipping.

[0057] In this way, when the user releases the brake pedal, the vehicle can remain stopped, thus ensuring the safety of the vehicle. In addition, when the user steps on the accelerator pedal, the brake caliper can be released and respond to the accelerator pedal, thus ensuring the normal driving of the vehicle.

[0058] In the above solution, it can be determined that the user has an automatic parking demand, and the vehicle can be controlled to be in a braked state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a braked state before entering the automatic parking state, and the vehicle can remain braked even if the user releases the brake pedal. In this way, the safety of the automatic parking process can be improved.

[0059] In addition, when the user needs to use the car, he can step on the accelerator pedal to control the movement of the vehicle. However, in relevant scenarios, users may be accustomed to traditional driving modes. Therefore, the method of stepping on the accelerator pedal to start the vehicle after using automatic parking may reduce the user experience.

[0060] For this purpose, refer to Figure 2 In the flowchart of an implementation of step S12 shown in the figure, in a possible implementation manner, controlling the vehicle to be in a brake stop state until the vehicle enters an automatic parking state includes: In step S121 , it is determined that the vehicle has not entered the automatic parking state.

[0061] For example, the automatic driving control system may send information indicating whether the vehicle is in the automatic parking state to the vehicle controller. The vehicle controller may determine whether the vehicle enters the automatic parking state based on the information.

[0062] In step S122, when there is a risk of collision of the vehicle, the vehicle is controlled to be in a brake stop state until the vehicle enters an automatic parking state.

[0063] For example, in one implementation, the accelerator pedal stroke of the vehicle and the duration of the accelerator pedal stroke being 0 may be determined to obtain a first duration. In this way, when the brake pedal stroke of the vehicle is 0, the first duration is greater than a first threshold, and the vehicle has not entered an automatic parking state, it is determined that the vehicle has a collision risk.

[0064] It should be understood that when the accelerator pedal stroke of the vehicle is 0 and lasts for a first period of time, the brake pedal stroke of the vehicle is 0, and the vehicle has not entered the automatic parking state, the vehicle may be idling. At this time, the vehicle may collide, that is, the vehicle is at risk of collision.

[0065] To this end, when the brake pedal travel of the vehicle is 0, the first time length is greater than a first threshold, and the vehicle has not entered an automatic parking state, it can be determined that the vehicle is at risk of collision.

[0066] When there is a risk of collision, the vehicle can be controlled to be in a braked state until the vehicle enters an automatic parking state. The method of controlling the vehicle to brake can refer to the description in the above embodiment. For the sake of brevity of the description, the embodiment of the present disclosure will not be described in detail.

[0067] In the above solution, the vehicle can be controlled to be in a braked state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a braked state before entering the automatic parking state, and the vehicle can remain braked even if the user releases the brake pedal. In this way, the safety of the automatic parking process can be improved.

[0068] In addition, the above solution can brake the vehicle when it is determined that the vehicle is at risk of collision. When the vehicle is not at risk of collision, the original settings of the vehicle can be maintained, that is, after using automatic parking, the user does not need to start the vehicle by stepping on the accelerator pedal. In this way, the user's car experience can be improved.

[0069] Figure 3 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present disclosure, referring to Figure 3 , the method comprising: The vehicle-mounted sensing device detects environmental information, and the automatic driving control system processes and identifies the parking space information. The automatic driving control system sends information about whether the parking space is identified and whether the vehicle is in automatic parking state to the vehicle controller.

[0070] After receiving the flag, the vehicle controller determines whether the user actively brakes the vehicle. For example, it can be determined that the user actively brakes the vehicle when the user actively steps on the brake pedal and the vehicle speed is 0. The vehicle controller can also determine that the user has a parking demand when it is determined that a parking space is identified and that the user actively brakes the vehicle.

[0071] When it is determined that the user has a parking demand, the vehicle controller can send a negative torque request to the drive system by default to keep the vehicle braked to a negative torque. When the user releases the brake pedal, the vehicle can also remain stationary. In addition, when the user steps on the accelerator pedal, the drive system can be controlled to release the negative torque and respond to the accelerator pedal signal to achieve vehicle movement. Among them, the implementation method of the negative torque can refer to the torque application method in the single pedal mode. As an example, the negative torque request can be configured to request a negative torque that offsets the idle drive torque.

[0072] In the above solution, the vehicle can be controlled to be in a braked state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a braked state before entering the automatic parking state, and the vehicle can remain braked even if the user releases the brake pedal. In this way, the safety of the automatic parking process can be improved.

[0073] Figure 4 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present disclosure, referring to Figure 4 , the method comprising: The vehicle-mounted sensing device detects environmental information, and the automatic driving control system processes and identifies the parking space information. The automatic driving control system sends information about whether the parking space is identified and whether the vehicle is in automatic parking state to the vehicle controller.

[0074] After receiving the flag, the vehicle controller determines whether the user actively brakes the vehicle. For example, it can be determined that the user actively brakes the vehicle when the user actively steps on the brake pedal and the vehicle speed is 0. The vehicle controller can also determine that the user has the intention to park when it is determined that the parking space is identified and that the user actively brakes the vehicle.

[0075] If it is determined that the user intends to park, it is determined whether the vehicle enters the smart parking state (or automatic parking state). If it does not enter the smart parking state, it is further determined whether the user has released the brake pedal and has not taken over the vehicle. For example, if it is detected that the user releases the brake pedal within time T and does not step on the accelerator pedal, it is determined that the vehicle fails to enter the automatic parking state and there is a risk of collision.

[0076] In this way, the vehicle controller can send a negative torque request to the drive system by default so that the vehicle remains braked with negative torque. The vehicle can also remain stationary when the user releases the brake pedal. In addition, when the user steps on the accelerator pedal, the drive system can be controlled to release the negative torque and respond to the accelerator pedal signal to achieve vehicle movement. Among them, the implementation method of the negative torque can refer to the torque application method in the single pedal mode. As an example, the negative torque request can be configured to request a negative torque that offsets the idle drive torque.

[0077] In some embodiments, when the vehicle speed is 0, a default negative torque request may be sent. When the vehicle speed is greater than 0, the negative torque in the negative torque request may be calculated by the following formula: : .in, is the current speed of the vehicle, t is the required deceleration time, t can be a specified value or a real vehicle calibration value, and is the actual vehicle calibration value. In addition, if the user steps on the accelerator pedal within time T, it can be determined that the user takes over the vehicle in time and there is no collision risk. The time T value can be set according to needs.

[0078] In the above solution, the vehicle can be controlled to be in a braked state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a braked state before entering the automatic parking state, and the vehicle can remain braked even if the user releases the brake pedal. In this way, the safety of the automatic parking process can be improved.

[0079] In addition, the above solution can brake the vehicle when it is determined that the vehicle is at risk of collision. When the vehicle is not at risk of collision, the original settings of the vehicle can be maintained, that is, after using automatic parking, the user does not need to start the vehicle by stepping on the accelerator pedal. In this way, the user's car experience can be improved.

[0080] Figure 5 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present disclosure, referring to Figure 5 , the method comprising: During the negative torque braking process, the vehicle is tested for the risk of slipping. For example, when the vehicle speed is 0 and the wheel speed pulse increment is greater than N, it is determined that there is a risk of slipping, where N is the actual vehicle calibration value.

[0081] When the vehicle controller determines that there is a risk of rolling, it can request the brake system to pull up the brake caliper to prevent rolling. In this way, when the user releases the brake pedal, the vehicle can remain stationary, and when the user steps on the accelerator pedal, the negative torque and the brake caliper can be released and respond to the accelerator pedal.

[0082] By adopting the above solution, when there is a risk of the vehicle slipping, the vehicle can be braked by the brake caliper to prevent the vehicle from slipping, thereby ensuring the safety of the vehicle.

[0083] Based on the same inventive concept, an embodiment of the present disclosure provides a vehicle control device. Figure 6 is a block diagram of a vehicle control device shown in an exemplary embodiment of the present disclosure, referring to Figure 6 , the vehicle control device comprises: The first module 601 is configured to determine whether the user has an automatic parking demand; The second module 602 is configured to control the vehicle to be in a braking state until the vehicle enters an automatic parking state.

[0084] In the above solution, it can be determined that the user has an automatic parking demand, and the vehicle can be controlled to be in a braked state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a braked state before entering the automatic parking state, and the vehicle can remain braked even if the user releases the brake pedal. In this way, the safety during the automatic parking process can be improved.

[0085] Optionally, the second module 602 includes: The first submodule is configured to determine that the vehicle has not entered the automatic parking state; and, when there is a risk of collision with the vehicle, control the vehicle to be in a brake stop state until the vehicle enters the automatic parking state.

[0086] Optionally include: A third module is configured to determine an accelerator pedal travel of the vehicle; A fourth module is configured to determine a duration during which the accelerator pedal stroke is continuously zero to obtain a first duration; The fifth module is configured to determine that the vehicle is at risk of collision when the brake pedal travel of the vehicle is 0, the first time length is greater than a first threshold, and the vehicle has not entered an automatic parking state.

[0087] Optionally, the second module 602 includes: The second submodule is configured to control the driving system of the vehicle to output a first torque when the vehicle speed is 0, wherein the first torque can make the vehicle stop when the brake pedal travel of the vehicle is 0; A third submodule is configured to determine a second torque according to the vehicle speed and a required deceleration time when the vehicle speed is not zero; The fourth submodule is configured to control the driving system of the vehicle to output a second torque, wherein the second torque can enable the vehicle to enter a brake stop state within the required deceleration time when the brake pedal travel of the vehicle is 0.

[0088] Optionally include: A sixth module is configured to obtain speed information of the vehicle; The seventh module is configured to control the vehicle to brake when it is determined that the vehicle is at risk of rolling according to the speed information.

[0089] Optionally, the speed information includes vehicle speed and wheel speed pulse information, and the device includes: an eighth module, configured to determine an increment of a wheel speed pulse according to the wheel speed pulse information; a ninth module, configured to determine that the vehicle has a risk of rolling when the vehicle speed is 0 and the increment of the wheel speed pulse is greater than a second threshold; The seventh module is configured as follows: The braking system of the vehicle is controlled to pull up the brake caliper of the vehicle.

[0090] Optionally, the first module 601 is configured to: Obtaining environmental information around the vehicle; When it is determined that the user brakes the vehicle and a target parking space is identified based on the environmental information, it is determined that the user has an automatic parking demand.

[0091] The present disclosure provides a vehicle, including: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of the vehicle control method provided in any embodiment of the present disclosure.

[0092] An embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle control method provided in any embodiment of the present disclosure are implemented.

[0093] An embodiment of the present disclosure provides a computer program product, including a computer program, which implements the steps of the vehicle control method provided in any embodiment of the present disclosure when the computer program is executed by a processor.

[0094] Regarding the vehicle control device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the vehicle control method, and will not be elaborated here.

[0095] Figure 7 6 is a block diagram of a vehicle 600 according to an exemplary embodiment. For example, the vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0096] Reference Figure 7, the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0097] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0098] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0099] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0100] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0101] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652, and the processor 651 may execute instructions 653 stored in the memory 652.

[0102] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0103] The memory 652 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0104] In addition to the instructions 653 , the memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the memory 652 may be used by the computing platform 650 .

[0105] In the embodiment of the present disclosure, the processor 651 can execute instruction 653 to complete all or part of the steps of the above-mentioned vehicle control method.

[0106] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0107] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., modules) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0108] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0109] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0110] In addition, unless otherwise specified, the features of some embodiments of the present disclosure described herein may be combined with each other. As used herein, the term "and / or" includes any one of the related listed items and any combination of any two or more; similarly, "at least one of . . . " includes any one of the related listed items and any combination of any two or more.

[0111] Although terms such as "first", "second" and "third" may be used herein to describe various modules, these modules are not limited to these terms. On the contrary, these terms are only used to distinguish one module from another. Therefore, without departing from the teachings of the various examples, the first module mentioned in the examples described herein may also be referred to as the second module. In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A vehicle control method, characterized in that: include: Determine that the user has a need for automatic parking; The vehicle is controlled to be in a brake stop state until the vehicle enters an automatic parking state.

2. The method according to claim 1, characterized in that The controlling the vehicle to be in a braked state until the vehicle enters an automatic parking state includes: Determining that the vehicle has not entered an automatic parking state; and, When there is a risk of collision with the vehicle, the vehicle is controlled to be in a brake stop state until the vehicle enters an automatic parking state.

3. The method according to claim 2, characterized in that include: determining an accelerator pedal travel of the vehicle; Determine the duration during which the accelerator pedal stroke is 0 to obtain a first duration; When the brake pedal travel of the vehicle is 0, the first time length is greater than a first threshold, and the vehicle has not entered an automatic parking state, it is determined that the vehicle has a collision risk.

4. The method according to any one of claims 1 to 3, characterized in that The controlling the vehicle to be in a braked state comprises: When the vehicle speed is 0, controlling the driving system of the vehicle to output a first torque, wherein the first torque can make the vehicle stop when the brake pedal travel of the vehicle is 0; When the vehicle speed is not zero, determining a second torque according to the vehicle speed and the required deceleration time; The driving system of the vehicle is controlled to output a second torque, wherein the second torque can enable the vehicle to enter a brake stop state within the required deceleration time when the brake pedal travel of the vehicle is 0.

5. The method according to any one of claims 1 to 3, characterized in that include: Obtaining speed information of the vehicle; When it is determined according to the speed information that the vehicle is at risk of rolling away, the vehicle is controlled to brake.

6. The method according to claim 5, characterized in that The speed information includes vehicle speed and wheel speed pulse information, and the method includes: determining an increment of the wheel speed pulse according to the wheel speed pulse information; When the vehicle speed is 0 and the increment of the wheel speed pulse is greater than a second threshold, determining that the vehicle has a risk of rolling; The controlling the vehicle to brake comprises: The braking system of the vehicle is controlled to pull up the brake caliper of the vehicle.

7. The method according to claim 1, characterized in that The determining that the user has a demand for automatic parking includes: Obtaining environmental information around the vehicle; When it is determined that the user brakes the vehicle and a target parking space is identified based on the environmental information, it is determined that the user has an automatic parking demand.

8. A vehicle control device, characterized in that: include: A first module is configured to determine whether a user has a demand for automatic parking; The second module is configured to control the vehicle to be in a braking state until the vehicle enters an automatic parking state.

9. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of the method according to any one of claims 1 to 7.

10. 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 according to any one of claims 1 to 7 are implemented.

11. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

Images