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

Abstract

The present disclosure relates to a vehicle control method, apparatus, vehicle, storage medium, and program product, belonging to the field of autonomous driving technology. The method includes: determining that a user has a need for automatic parking; controlling the vehicle to be in a stopped state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a stopped state before entering the automatic parking state, and even if the user releases the brake pedal, the vehicle can remain stopped. Thus, the safety during the automatic parking process can be improved.

Description

Technical Field

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

[0002] Automatic parking is an intelligent driving assistance function that, based on technologies such as sensors, cameras, and radars, enables a vehicle to automatically search for and identify a suitable parking space and automatically complete the parking operation. Automatic parking can reduce the user's operations, thereby enhancing the user's driving experience. However, in related scenarios, when the user uses the automatic parking function, there may still be some safety risks. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a vehicle control method, apparatus, 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, including:

[0005] Determine that the user has a need for automatic parking;

[0006] Control the vehicle to be in a stopped state until the vehicle enters the automatic parking state.

[0007] Optionally, the controlling the vehicle to be in a stopped state until the vehicle enters the automatic parking state includes:

[0008] Determine that the vehicle has not entered the automatic parking state; and,

[0009] When there is a risk of collision for the vehicle, control the vehicle to be in a stopped state until the vehicle enters the automatic parking state.

[0010] Optionally, it includes:

[0011] Determine the accelerator pedal travel of the vehicle;

[0012] Determine the duration for which the accelerator pedal travel remains at 0 to obtain a first duration;

[0013] When the brake pedal travel of the vehicle is 0, the first duration is greater than a first threshold, and the vehicle has not entered the automatic parking state, determine that there is a risk of collision for the vehicle.

[0014] Optionally, the controlling the vehicle to be in a stopped state includes:

[0015] When the vehicle speed of the vehicle is 0, control the drive system of the vehicle to output a first torque, and the first torque can cause the vehicle to be in a stopped state when the brake pedal travel of the vehicle is 0;

[0016] When the vehicle speed of the vehicle is not 0, determine a second torque according to the vehicle speed and the required deceleration duration.

[0017] Control the drive system of the vehicle to output the second torque, which can make the vehicle enter a full stop state within the required deceleration duration when the brake pedal stroke of the vehicle is 0.

[0018] Optionally, it includes:

[0019] Obtain the speed information of the vehicle;

[0020] When it is determined according to the speed information that the vehicle has a risk of rolling back, control the vehicle to brake.

[0021] Optionally, the speed information includes vehicle speed and wheel speed pulse information, and the method includes:

[0022] Determine the increment of the wheel speed pulse according to the wheel speed pulse information;

[0023] When the vehicle speed of the vehicle is 0 and the increment of the wheel speed pulse is greater than a second threshold, determine that the vehicle has a risk of rolling back;

[0024] The control of the vehicle to brake includes:

[0025] Control the braking system of the vehicle to pull up the brake calipers of the vehicle.

[0026] Optionally, the determination that the user has an automatic parking requirement includes:

[0027] Obtain the environmental information around the vehicle;

[0028] When it is determined that the user stops the vehicle and a target parking space is identified according to the environmental information, determine that the user has an automatic parking requirement.

[0029] According to the second aspect of the embodiments of the present disclosure, there is provided a vehicle control device, including:

[0030] A first module configured to determine that the user has an automatic parking requirement;

[0031] A second module configured to control the vehicle to be in a full stop state until the vehicle enters the automatic parking state.

[0032] Optionally, the second module includes:

[0033] The first sub-module is configured to determine that the vehicle has not entered the automatic parking state; and, when there is a risk of collision for the vehicle, control the vehicle to be in a stopped state until the vehicle enters the automatic parking state.

[0034] Optionally, it includes:

[0035] The third module is configured to determine the travel of the vehicle's accelerator pedal;

[0036] The fourth module is configured to determine the duration during which the travel of the accelerator pedal remains 0, obtaining a first duration;

[0037] The fifth module is configured to determine that there is a risk of collision for the vehicle when the travel of the vehicle's brake pedal is 0, the first duration is greater than a first threshold, and the vehicle has not entered the automatic parking state.

[0038] Optionally, the second module includes:

[0039] The second sub-module is configured to, when the vehicle speed is 0, control the vehicle's drive system to output a first torque, and the first torque can enable the vehicle to be in a stopped state when the travel of the vehicle's brake pedal is 0;

[0040] The third sub-module is configured to, when the vehicle speed is not 0, determine a second torque according to the vehicle speed and the required deceleration duration;

[0041] The fourth sub-module is configured to control the vehicle's drive system to output the second torque, and the second torque can enable the vehicle to enter a stopped state within the required deceleration duration when the travel of the vehicle's brake pedal is 0.

[0042] Optionally, it includes:

[0043] The sixth module is configured to obtain the speed information of the vehicle;

[0044] The seventh module is configured to, when it is determined according to the speed information that there is a risk of the vehicle rolling backward, control the vehicle to brake.

[0045] Optionally, the speed information includes vehicle speed and wheel speed pulse information, and the device includes:

[0046] The eighth module is configured to determine the increment of the wheel speed pulse according to the wheel speed pulse information;

[0047] The ninth module is configured to determine that there is a risk of the vehicle rolling backward when the vehicle speed is 0 and the increment of the wheel speed pulse is greater than a second threshold;

[0048] The seventh module is configured to:

[0049] Control the braking system of the vehicle to pull up the brake calipers of the vehicle.

[0050] Optionally, the first module is configured to:

[0051] Obtain environmental information around the vehicle;

[0052] When it is determined that the user stops the vehicle and a target parking space is identified according to the environmental information, it is determined that the user has an automatic parking requirement.

[0053] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, including:

[0054] A processor;

[0055] A memory for storing instructions executable by the processor;

[0056] Wherein, the processor is configured to execute the steps of the method according to any one of the first aspect.

[0057] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0058] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0059] In the above solution, it can be determined that the user has an automatic parking requirement, and the vehicle is controlled to be in a stopped state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a stopped state before entering the automatic parking state, and even if the user releases the brake pedal, the vehicle can remain stopped. Thus, the safety during the automatic parking process can be improved.

[0060] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0062] Figure 1 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0063] Figure 2It is a flowchart of the implementation of step S12 shown according to an exemplary embodiment.

[0064] Figure 3 It is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0065] Figure 4 It is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0066] Figure 5 It is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0067] Figure 6 It is a block diagram of a vehicle control device shown according to an exemplary embodiment.

[0068] Figure 7 It is a block diagram of a vehicle shown according to an exemplary embodiment. Detailed implementation

[0069] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0070] Before introducing the vehicle control method, device, vehicle, storage medium, and program product of the present disclosure, first, an exemplary description of the relevant scenarios of the embodiments of the present disclosure will be given.

[0071] Automatic parking is an intelligent driving assistance function based on technologies such as sensors, cameras, and radars, which enables a vehicle to automatically search for, identify a suitable parking space, and automatically complete the parking operation.

[0072] 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. After finding the parking space, the user brakes the vehicle. The user keeps the vehicle braked and clicks to select the target parking space on the vehicle's in-vehicle screen. The user keeps the vehicle braked and clicks the start parking button. After confirming that the vehicle enters the automatic parking state, the user can release the brake, and the automatic parking system controls the vehicle to park.

[0073] In some scenarios, it may occur that the user releases the brake in advance before the vehicle enters the automatic parking state. For example, it may occur that the user does not select a parking space or does not click the start parking button, resulting in the vehicle not entering the automatic parking state. In addition, due to reasons such as the vehicle infotainment system being stuck, it may cause the user's selection of a parking space or the click of the start parking button to be ineffective, thereby resulting in the vehicle not entering the automatic parking state.

[0074] When the vehicle does not enter the automatic parking state, the intelligent driving system has not taken over the vehicle yet. Therefore, if the user releases the brake in advance, the vehicle may move at an idling state. In this way, the phenomenon of vehicle collision may occur.

[0075] For this reason, the embodiments of the present disclosure provide a vehicle control method. Figure 1 is a flowchart of a vehicle control method shown in an exemplary embodiment of the present disclosure. Referring to Figure 1 , the method includes:

[0076] In step S11, it is determined that the user has a demand for automatic parking.

[0077] In one implementation, it may be determined that the user has a demand for automatic parking in response to the user's operation. For example, controls or buttons for automatic parking may be provided, and it is determined that the user has a demand for automatic parking when it is detected that the user triggers the controls or buttons.

[0078] In one implementation, the environmental information around the vehicle may be obtained. When it is determined that the user stops the vehicle and a target parking space is recognized according to the environmental information, it is determined that the user has a demand for automatic parking.

[0079] 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 implementation, the user may also select the target parking space from multiple parking spaces recognized by the vehicle.

[0080] In addition, the vehicle may include on-vehicle sensing devices (such as radars, cameras, etc.), an automatic driving control system, a vehicle control system, a drive system, and a braking system. Among them, the on-vehicle sensing devices may detect environmental information and process the environmental information via the automatic driving control system to identify the parking space information.

[0081] The automatic driving control system can send the flag bit information indicating whether a parking space is recognized and the information indicating whether the vehicle is in the automatic parking state to the vehicle control system. After receiving the flag bit 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 a parking space is recognized and the user brakes the vehicle, it can be determined that the user has a parking requirement.

[0082] In one implementation, it can be determined that the user has an automatic parking requirement in response to the user's voice command. For example, it can be determined that the user has an automatic parking requirement when the voice command "Park the car for me" from the user is recognized.

[0083] Refer to Figure 1 , in step S12, control the vehicle to be in a braked state until the vehicle enters the automatic parking state.

[0084] In one implementation, when the vehicle speed of the vehicle is 0, the drive system of the vehicle can be controlled to output a first torque, and the first torque can enable the vehicle to be in a braked state when the brake pedal stroke of the vehicle is 0.

[0085] For example, in one implementation scenario, the value of the first torque can be 0. In this way, when the drive system of the vehicle outputs 0 torque, even if the user releases the brake pedal, the vehicle can maintain a braked state. Exemplarily, a first negative torque request can be sent to the drive system of the vehicle, and the first negative torque request can be configured to request a negative torque that cancels the idle drive torque. In this way, it can be avoided that the vehicle travels at idle speed when the user releases the brake pedal, thus causing a collision.

[0086] In addition, in possible implementations, the value of the first torque can be set based on requirements, and the embodiments of the present disclosure do not limit this.

[0087] In one implementation, when the vehicle speed of the vehicle is not 0, a second torque can be determined according to the vehicle speed and the required deceleration duration. In this way, the drive system of the vehicle can be controlled to output the second torque, and the second torque can enable the vehicle to enter a braked state within the required deceleration duration when the brake pedal stroke of the vehicle is 0.

[0088] Exemplarily, the second torque can be calculated by the following calculation formula : .

[0089] where v is the vehicle speed, t is the required deceleration duration, and k and m are calibration values corresponding to the actual vehicle. t, k, and m can be set based on requirements.

[0090] With the above solution, when the vehicle speed is not 0, the second torque can be determined according to the vehicle speed and the required deceleration duration. In this way, the drive system of the vehicle can be controlled to output the second torque, so that the vehicle enters a braking stop state within the required duration. In this way, the collision risk of the vehicle can be reduced, and the safety of the automatic parking process can be improved.

[0091] It should be noted that in the above solution, the vehicle can be ensured to be in a braking stop 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 rolling back at this time.

[0092] For this reason, in a possible implementation manner, the method may further include:

[0093] Obtain the speed information of the vehicle;

[0094] When it is determined according to the speed information that there is a risk of the vehicle rolling back, control the vehicle to brake.

[0095] For example, in one implementation manner, the speed information includes the vehicle speed and the wheel speed pulse information. In this way, the increment of the wheel speed pulse can be determined according to the wheel speed pulse information. When the vehicle speed of the vehicle is 0 and the increment of the wheel speed pulse is greater than a second threshold, it is determined that there is a risk of the vehicle rolling back.

[0096] Exemplarily, when the vehicle speed is 0 and the wheel speed pulse increment > N (the second threshold, which can be calibrated according to the actual vehicle), it can be determined that there is a risk of rolling back. In this case, the vehicle can be controlled to brake.

[0097] For example, in one implementation manner, the braking system of the vehicle can be controlled to pull up the brake caliper of the vehicle, so as to realize the braking of the vehicle. Exemplarily, the vehicle controller can judge whether there is a risk of the vehicle rolling back. When there is a risk of rolling back, the vehicle controller can request the braking system to pull up the brake caliper, so as to prevent rolling back.

[0098] In this way, when the user releases the brake pedal, the vehicle can also maintain a braking stop. In this way, the safety of the vehicle can be ensured. In addition, when the user steps on the accelerator pedal, the brake caliper can be released and the accelerator pedal can be responded to, so as to ensure the normal driving of the vehicle.

[0099] In the above solution, it can be determined that the user has a demand for automatic parking, and the vehicle is controlled to be in a braking stop state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a braking stop state before entering the automatic parking state. Even if the user releases the brake pedal, the vehicle can still maintain a braking stop. In this way, the safety during the automatic parking process can be improved.

[0100] In addition, when the user needs to use the vehicle, they 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, using the method of stepping on the accelerator pedal to start the vehicle after using automatic parking may reduce the user experience.

[0101] For this reason, referring to Figure 2 the implementation flowchart of a step S12 shown, in a possible implementation, controlling the vehicle to be in a stopped state until the vehicle enters the automatic parking state includes:

[0102] In step S121, it is determined that the vehicle has not entered the automatic parking state.

[0103] Exemplarily, the automatic driving control system can send information indicating whether the vehicle is in the automatic parking state to the vehicle controller. The vehicle controller can determine whether the vehicle has entered the automatic parking state based on the information.

[0104] In step S122, when there is a risk of collision for the vehicle, control the vehicle to be in a stopped state until the vehicle enters the automatic parking state.

[0105] For example, in one implementation, the accelerator pedal travel of the vehicle can be determined, and the duration for which the accelerator pedal travel remains 0 can be determined to obtain a first duration. In this way, when the brake pedal travel of the vehicle is 0, the first duration is greater than a first threshold, and the vehicle has not entered the automatic parking state, it is determined that there is a risk of collision for the vehicle.

[0106] It should be understood that when the accelerator pedal travel of the vehicle is 0 and lasts for the first duration, the brake pedal travel of the vehicle is 0, and the vehicle has not entered the automatic parking state, the vehicle may exhibit an idling phenomenon. At this time, a vehicle collision phenomenon may occur, that is, there is a risk of collision for the vehicle.

[0107] For this reason, when the brake pedal travel of the vehicle is 0, the first duration is greater than a first threshold, and the vehicle has not entered the automatic parking state, it can be determined that there is a risk of collision for the vehicle.

[0108] When there is a risk of collision for the vehicle, the vehicle can be controlled to be in a stopped state until the vehicle enters the automatic parking state. Among them, the method of controlling the vehicle to stop can refer to the description in the above embodiments. For the sake of simplicity of the specification, the embodiments of the present disclosure will not elaborate on this.

[0109] In the above solution, the vehicle can be controlled to be in a braking state until it enters the automatic parking state. In this way, the vehicle can be in a braking state before entering the automatic parking state, and even if the user releases the brake pedal, the vehicle can still maintain braking. This can improve the safety during the automatic parking process.

[0110] In addition, the above solution can brake the vehicle when it is determined that the vehicle has a collision risk. When the vehicle has no collision risk, 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. This can improve the user's driving experience.

[0111] Figure 3 is a flowchart of a vehicle control method shown in an exemplary embodiment of the present disclosure. Referring to Figure 3 , the method includes:

[0112] The in-vehicle sensing device detects environmental information, and the automatic driving control system processes and identifies the parking space information. The automatic driving control system sends the flag bit information indicating whether a parking space is identified and the information indicating whether the vehicle is in the automatic parking state to the vehicle controller.

[0113] After receiving the flag bit, 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 need when it is determined that a parking space is identified and it is determined that the user actively brakes the vehicle.

[0114] When it is determined that the user has a parking need, the vehicle controller can default to send a negative torque request to the drive system to keep the vehicle braking with 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 cancels the idle drive torque.

[0115] In the above solution, the vehicle can be controlled to be in a braking state until it enters the automatic parking state. In this way, the vehicle can be in a braking state before entering the automatic parking state, and even if the user releases the brake pedal, the vehicle can still maintain braking. This can improve the safety during the automatic parking process.

[0116] Figure 4 is a flowchart of a vehicle control method shown in an exemplary embodiment of the present disclosure. Referring to Figure 4 , the method includes:

[0117] 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 the flag bit information indicating whether a parking space is identified and the information indicating whether the vehicle is in the automatic parking state to the vehicle controller.

[0118] After receiving the flag bit, 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 presses the brake pedal and the vehicle speed is 0. The vehicle controller can also determine that the user has a parking intention when it determines that a parking space is identified and the user actively brakes the vehicle.

[0119] When it is determined that the user has a parking intention, it is determined whether the vehicle enters the intelligent parking state (or the automatic parking state). If it does not enter the intelligent parking state, it continues to determine whether the user releases the brake pedal and does not take over the vehicle. For example, it can be determined that the vehicle fails to enter the automatic parking state and there is a collision risk when it is detected that the user releases the brake pedal within time T and does not step on the accelerator pedal.

[0120] In this way, the vehicle controller can default to sending a negative torque request to the drive system so that the vehicle maintains a negative torque braking stop. 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 cancels the idle driving torque.

[0121] In some embodiments, when the vehicle speed is 0, a default negative torque request can be sent. When the vehicle speed > 0, the negative torque in the negative torque request can be calculated by the following calculation formula : . Among them, is the current vehicle speed of the vehicle, t is the required deceleration duration, t can be a specified value or a value calibrated on the actual vehicle, and are values calibrated on the actual vehicle. 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 at this time. Among them, the value of time T can be set according to requirements.

[0122] In the above solution, the vehicle can be controlled to be in a braking stop state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a braking stop state before entering the automatic parking state. Even if the user releases the brake pedal, the vehicle can still maintain a braking stop. In this way, the safety during the automatic parking process can be improved.

[0123] In addition, the above solution can brake the vehicle when it is determined that the vehicle is at risk of collision. When there is no risk of collision for the vehicle, 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 experience of using the vehicle can be improved.

[0124] Figure 5 is a flowchart of a vehicle control method shown in an exemplary embodiment of the present disclosure. Referring to Figure 5 , the method includes:

[0125] During the process of motor negative torque braking, detect whether the vehicle has a risk of rolling back. For example, when the vehicle speed is 0 and the wheel speed pulse increment > N, it can be determined that there is a risk of rolling back, where N is a value calibrated for the actual vehicle.

[0126] When the vehicle controller determines that there is a risk of rolling back, it can request the braking system to pull up the brake calipers to prevent the vehicle from rolling back. 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 calipers can be released and respond to the accelerator pedal.

[0127] By adopting the above solution, when the vehicle has a risk of rolling back, the vehicle can be braked by the brake calipers to prevent the vehicle from rolling back. In this way, the safety of the vehicle can be ensured.

[0128] 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 includes:

[0129] A first module 601, configured to determine that the user has a demand for automatic parking;

[0130] A second module 602, configured to control the vehicle to be in a stopped state until the vehicle enters the automatic parking state.

[0131] In the above solution, it can be determined that the user has a demand for automatic parking, and the vehicle is controlled to be in a stopped state until the vehicle enters the automatic parking state. In this way, the vehicle can be in a stopped state before entering the automatic parking state, and even if the user releases the brake pedal, the vehicle can remain stopped. In this way, the safety during the automatic parking process can be improved.

[0132] Optionally, the second module 602 includes:

[0133] A first sub-module, configured to determine that the vehicle has not entered the automatic parking state; and, when the vehicle is at risk of collision, control the vehicle to be in a stopped state until the vehicle enters the automatic parking state.

[0134] Optionally, it includes:

[0135] A third module configured to determine the accelerator pedal travel of the vehicle;

[0136] A fourth module configured to determine the duration for which the accelerator pedal travel remains 0 to obtain a first duration;

[0137] A fifth module configured to determine that there is a collision risk for the vehicle when the brake pedal travel of the vehicle is 0, the first duration is greater than a first threshold, and the vehicle is not in the automatic parking state.

[0138] Optionally, the second module 602 includes:

[0139] A second sub-module configured to control the drive system of the vehicle to output a first torque when the vehicle speed of the vehicle is 0, and the first torque can make the vehicle in a stopped state when the brake pedal travel of the vehicle is 0;

[0140] A third sub-module configured to determine a second torque according to the vehicle speed and the required deceleration duration when the vehicle speed of the vehicle is not 0;

[0141] A fourth sub-module configured to control the drive system of the vehicle to output the second torque, and the second torque can make the vehicle enter a stopped state within the required deceleration duration when the brake pedal travel of the vehicle is 0.

[0142] Optionally, it includes:

[0143] A sixth module configured to obtain the speed information of the vehicle;

[0144] A seventh module configured to control the vehicle to brake when it is determined according to the speed information that there is a risk of the vehicle rolling backward.

[0145] Optionally, the speed information includes vehicle speed and wheel speed pulse information, and the device includes:

[0146] An eighth module configured to determine the increment of the wheel speed pulse according to the wheel speed pulse information;

[0147] A ninth module configured to determine that there is a risk of the vehicle rolling backward when the vehicle speed of the vehicle is 0 and the increment of the wheel speed pulse is greater than a second threshold;

[0148] The seventh module is configured to:

[0149] Control the braking system of the vehicle to pull up the brake calipers of the vehicle.

[0150] Optionally, the first module 601 is configured to:

[0151] Obtain environmental information around the vehicle;

[0152] When it is determined that the user brakes the vehicle and a target parking space is identified according to the environmental information, it is determined that the user has an automatic parking requirement.

[0153] An embodiment of the present disclosure provides a vehicle, including:

[0154] A processor;

[0155] A memory for storing processor-executable instructions;

[0156] Wherein, the processor is configured to execute the steps of the vehicle control method provided in any embodiment of the present disclosure.

[0157] An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and 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.

[0158] An embodiment of the present disclosure provides a computer program product, including a computer program, and 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.

[0159] Regarding the vehicle control device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments of the vehicle control method, and will not be elaborated herein.

[0160] Figure 7 It is a block diagram of a vehicle 600 shown according to an exemplary embodiment. For example, the vehicle 600 may be a hybrid vehicle, or 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.

[0161] Referring to 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. Among them, the vehicle 600 may further 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 in a wired or wireless manner.

[0162] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

[0163] The perception system 620 may include several types of 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, a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0164] The decision-making control system 630 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0165] The drive system 640 may include components that provide powered movement 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 the energy provided by the energy source into mechanical energy.

[0166] Some or all of the functions of the vehicle 600 are controlled by the 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.

[0167] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0168] The memory 652 may be implemented by any type of volatile or non-volatile storage 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, a magnetic disk, or an optical disk.

[0169] In addition to instruction 653, the memory 652 may also store data, such as road maps, route information, data such as the position, direction, and speed of the vehicle. The data stored in the memory 652 can be used by the computing platform 650.

[0170] In an embodiment of the present disclosure, the processor 651 may execute the instruction 653 to complete all or part of the steps of the vehicle control method described above.

[0171] In addition, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous as compared to other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean 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 mean any of the natural inclusive permutations. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied under any of the foregoing instances. Additionally, unless otherwise specified or clear from the context referring to the singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0172] 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 upon 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. Specifically with respect to the various functions performed by the components (e.g., modules) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although a particular feature of the present disclosure may have been disclosed with respect to only one of several implementations, such a feature may be combined with one or more other features of other implementations as may be desired and advantageous for any given or particular application. Further, with respect to the use of "comprising", "having", "including", "with", or variations thereof in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "including".

[0173] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common general knowledge or conventional technical means in the technical field not disclosed by the present disclosure. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

[0174] It should be understood that the present disclosure is not limited to the exact structures already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

[0175] In addition, unless otherwise specified, the features of some embodiments of the present disclosure described herein can 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 of them; similarly, "at least one of..." includes any one of the related listed items and any combination of any two or more of them.

[0176] 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, the first module mentioned in the examples described herein can also be referred to as the second module without departing from the teachings of the examples. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description herein, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined.

Claims

1. A vehicle control method, characterized in that, Including: Determine that the user has an automatic parking requirement; Control the vehicle to be in a stopped state until the vehicle enters the automatic parking state; Said controlling the vehicle to be in a stopped state includes: When the vehicle speed of the vehicle is 0, control the drive system of the vehicle to output a first torque, and the first torque can make the vehicle in a stopped state when the brake pedal stroke of the vehicle is 0; When the vehicle speed of the vehicle is not 0, determine a second torque according to the vehicle speed and the required deceleration duration; Control the drive system of the vehicle to output a second torque, and the second torque can make the vehicle enter a stopped state within the required deceleration duration when the brake pedal stroke of the vehicle is 0.

2. The method according to claim 1, characterized in that Said controlling the vehicle to be in a stopped state until the vehicle enters the automatic parking state includes: Determine that the vehicle has not entered the automatic parking state; and, When the vehicle has a collision risk, control the vehicle to be in a stopped state until the vehicle enters the automatic parking state.

3. The method according to claim 2, characterized in that Including: Determine the accelerator pedal stroke of the vehicle; Determine the duration for which the accelerator pedal stroke remains 0 to obtain a first duration; 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 the automatic parking state, determine that the vehicle has a collision risk.

4. The method according to any one of claims 1 to 3, characterized in that Including: Obtain the speed information of the vehicle; When it is determined according to the speed information that the vehicle has a risk of rolling back, control the vehicle to brake.

5. The method according to claim 4, characterized in that, The speed information includes vehicle speed and wheel speed pulse information, and the method includes: Determine the increment of the wheel speed pulse according to the wheel speed pulse information; When the vehicle speed of the vehicle is 0 and the increment of the wheel speed pulse is greater than a second threshold, determine that the vehicle has a risk of rolling back; Said controlling the vehicle to brake includes: Control the braking system of the vehicle to pull up the brake calipers of the vehicle.

6. The method according to claim 1, characterized in that, Said determining that the user has an automatic parking requirement includes: Obtain the environmental information around the vehicle; When it is determined that the user stops the vehicle and a target parking space is identified according to the environmental information, determine that the user has an automatic parking requirement.

7. A vehicle control device, characterized in that, Including: A first module configured to determine that the user has an automatic parking requirement; A second module configured to control the vehicle to be in a stopped state until the vehicle enters the automatic parking state; Said second module includes: A second sub-module configured to, when the vehicle speed of the vehicle is 0, control the drive system of the vehicle to output a first torque, and the first torque can make the vehicle in a stopped state when the brake pedal stroke of the vehicle is 0; A third sub-module configured to, when the vehicle speed of the vehicle is not 0, determine a second torque according to the vehicle speed and the required deceleration duration; A fourth sub-module configured to control the drive system of the vehicle to output a second torque, and the second torque can make the vehicle enter a stopped state within the required deceleration duration when the brake pedal stroke of the vehicle is 0.

8. A vehicle, characterized in that, Including: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, A computer program is included, and when the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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