Automatic parking method and device, vehicle, storage medium and program product

Abstract

The invention relates to the technical field of vehicles, in particular to an automatic parking method and device, a vehicle, a storage medium and a program product.The method comprises the steps that the parking intention of a driver is recognized; after the parking intention of the driver is recognized, the current state of the vehicle is detected; if the current state is the static state, an electronic control stabilization system (ESC) is controlled to apply target hydraulic pressure for maintaining vehicle parking to a brake, and the duration of applying the target hydraulic pressure by the ESC is obtained; and if the duration is larger than the preset duration, an electronic parking brake (EPB) is controlled to apply target clamping force for maintaining vehicle parking to a brake disc, and an ESC is controlled to release pressure. Therefore, the problems that a common electric automobile does not have the parking function of comprehensively controlling multiple systems of the automobile, and safe, energy-saving and comfortable parking under various road conditions is difficult to achieve are solved.

Description

Technical Field

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

[0002] With the development of technology, electric vehicles have gradually become more convenient and efficient, becoming a means of transportation that people are more willing to choose.

[0003] However, the parking function of ordinary electric vehicles is far from perfect. Ordinary electric vehicles lack an integrated parking function, and most electric vehicles do not have a comprehensive control system that can coordinate the vehicle's power system, braking system and other related subsystems to achieve a safer, more energy-efficient and more comfortable parking experience.

[0004] In the related art, the parking methods of ordinary electric vehicles include: relying on a single system to achieve parking. Some electric vehicles may only rely on ESC (Electronic Stability Control) to brake themselves to achieve the purpose of parking. Although this method can ensure the safety of the vehicle to a certain extent, in some special cases, such as long-term parking, it may cause problems such as increased energy consumption or system overheating; Another common parking method is to prevent the vehicle from moving by putting the motor in a stalled state. Although this method is simple and effective, it also has the problem of energy waste and motor heating, which is more obvious when used in a high temperature environment. Summary of the invention

[0005] The present application provides an automatic parking method, device, vehicle, storage medium and program product to solve the problem that ordinary electric vehicles do not have a parking function that can comprehensively control multiple vehicle systems and achieve the goal of parking safely, energy-saving and comfortably in various road conditions.

[0006] The first aspect of the present application provides an automatic parking method, comprising the following steps: identifying a driver's intention to park; after identifying the driver's intention to park, detecting a current state of the vehicle; if the current state is a stationary state, controlling an electronic stability control system (ESC) to apply a target hydraulic pressure to the brake to maintain the vehicle parked, and obtaining the duration of the ESC applying the target hydraulic pressure; if the duration is greater than a preset duration, controlling an EPB (Electronic Parking Brake) to apply a target clamping force to the brake disc to maintain the vehicle parked, and controlling the ESC to release pressure.

[0007] Optionally, before controlling the electronic stability control system ESC to apply a target hydraulic pressure to the brake to maintain the vehicle parked, the method also includes: identifying the on / off state of the automatic parking function; if the automatic parking function is in the on state, controlling the electronic stability control system ESC to apply a target hydraulic pressure to the brake to maintain the vehicle parked; if the automatic parking function is in the off state, detecting the depression depth of the brake pedal, and if the depression depth is greater than a depth threshold, controlling the electronic stability control system ESC to apply a target hydraulic pressure to the brake to maintain the vehicle parked.

[0008] Optionally, after controlling the electronic stability control system ESC to apply a target hydraulic pressure to the brake to maintain the vehicle parked, it also includes: if it is detected that the driver's door is opened, controlling the EPB to apply a target clamping force to the brake disc to maintain the vehicle parked, and controlling the ESC to release pressure.

[0009] Optionally, before identifying the driver's parking intention, it also includes: identifying the current mode of the vehicle; if the current mode is a driving mode, identifying the driver's parking intention; if the current mode is a non-driving mode, controlling ESC and EPB to be in a released state.

[0010] Optionally, the non-driving mode includes at least one of a fault mode, a stop mode, a standby mode and an ignition-off mode.

[0011] Optionally, identifying the driver's intention to park includes: if it is identified that the driver steps on the brake pedal or the vehicle coasts to a stop uphill, determining that the driver has the intention to park.

[0012] The second aspect of the present application provides an automatic parking device, including: an identification module, used to identify the driver's parking intention; a detection module, used to detect the current state of the vehicle after identifying the driver's parking intention; a first control module, used to control the electronic stability control system ESC to apply a target hydraulic pressure to the brake to maintain the vehicle parking if the current state is a stationary state, and obtain the duration of the ESC applying the target hydraulic pressure; a second control module, used to control the electronic parking brake EPB to apply a target clamping force to the brake disc to maintain the vehicle parking if the duration is greater than a preset duration, and control the ESC to release pressure.

[0013] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic parking method of the first aspect.

[0014] The fourth aspect of the present application provides a computer-readable storage medium having a computer program or instructions stored thereon. When the computer program or instructions are executed, the automatic parking method of the first aspect is implemented.

[0015] The fifth aspect of the present application provides a computer program product, including a computer program or instructions, which, when executed, implements the automatic parking method of the first aspect.

[0016] Therefore, this application includes the following beneficial effects:

[0017] The automatic parking method proposed in the embodiment of the present application can obtain the current driver's parking intention and the current state of the vehicle. When the vehicle is detected to be stationary, the ESC is controlled to apply the target hydraulic pressure to the brake to maintain the vehicle's parking, and the duration of the ESC applying the target hydraulic pressure is obtained. When the duration is greater than the preset duration, the EPB is controlled to apply the target clamping force to the brake disc to maintain the vehicle's parking, and the ESC is controlled to release pressure. The information of multiple systems such as the whole vehicle, body, ESC and EPB and various operations of the driver are comprehensively used to integrate and coordinate the parking function of multiple systems, thereby improving the convenience, economy and safety of the electric vehicle's parking function, and the functional coverage scenarios are more comprehensive. As a result, the problem that ordinary electric vehicles do not have a parking function that comprehensively controls multiple vehicle systems and are difficult to achieve safe, energy-saving and comfortable parking in various road conditions is solved.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A flowchart of an automatic parking method provided according to an embodiment of the present application;

[0021] Figure 2 A simplified structural diagram of an automatic parking function provided according to an embodiment of the present application;

[0022] Figure 3 is an exemplary diagram of an automatic parking device according to an embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of the structure of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0025] The following describes the automatic parking method, device, vehicle, storage medium and program product of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the ordinary electric vehicle mentioned in the above background technology does not have a parking function that comprehensively controls multiple systems of the vehicle, and it is difficult to achieve safe, energy-saving and comfortable parking in various road conditions, the present application provides an automatic parking method, which can obtain the current driver's parking intention and the current state of the vehicle. When the vehicle is detected to be stationary, the ESC is controlled to apply the target hydraulic pressure to the brake to maintain the vehicle parking, and the duration of the ESC applying the target hydraulic pressure is obtained. When the duration is greater than the preset duration, the EPB is controlled to apply the target clamping force to the brake disc to maintain the vehicle parking, and the ESC is controlled to release the pressure. The information of multiple systems such as the whole vehicle, the body, the ESC and the EPB and the various operations of the driver are comprehensively used to integrate and coordinate the parking function of multiple systems, thereby improving the convenience, economy and safety of the parking function of the electric vehicle, and the function covers more comprehensive scenarios. Thus, the problem that the ordinary electric vehicle does not have a parking function that comprehensively controls multiple systems of the vehicle, and it is difficult to achieve safe, energy-saving and comfortable parking in various road conditions is solved.

[0026] Specifically, Figure 1 A schematic flow chart of an automatic parking method provided in an embodiment of the present application.

[0027] like Figure 1 As shown, the automatic parking method includes the following steps:

[0028] In step S101 , the driver's parking intention is recognized.

[0029] Among them, the driver's parking intention can be reflected by the driver stepping on the brake pedal, etc.

[0030] It is understandable that the embodiments of the present application can identify whether the driver has the intention to park by identifying whether the brake pedal is pressed or not.

[0031] In the embodiment of the present application, identifying the driver's intention to park includes: if it is identified that the driver steps on the brake pedal or the vehicle coasts to a stop uphill, determining that the driver has the intention to park.

[0032] It can be understood that the embodiment of the present application can determine that the driver intends to stop when it is recognized that the brake pedal of the vehicle is pressed, or when it is recognized that the vehicle stops sliding uphill.

[0033] In an embodiment of the present application, before identifying the driver's parking intention, it also includes: identifying the current mode of the vehicle; if the current mode is a driving mode, identifying the driver's parking intention; if the current mode is a non-driving mode, controlling the ESC and EPB to be in a released state.

[0034] The release state of the ESC and the EPB refers to placing the ESC and the EPB in an inactive state.

[0035] It can be understood that the embodiment of the present application needs to identify and judge the current driving mode of the vehicle before identifying whether the driver has the intention to park. When the vehicle is in the driving mode, the driver may park at any time, so it is necessary to identify the driver's parking intention; when the vehicle is in the non-driving mode, the vehicle itself is in a non-moving state and does not need to exercise the parking function, so there is no need to identify the driver's parking intention, and only control the ESC and EPB to be in the released state.

[0036] In the embodiment of the present application, the non-driving mode includes at least one of a fault mode, a stop mode, a standby mode and an ignition-off mode.

[0037] It can be understood that the non-driving mode in the embodiment of the present application refers to a possible mode when the vehicle is in a stationary state, including at least one of a fault mode, a stop mode, a standby mode and an ignition-off mode.

[0038] Specifically, when the vehicle stops due to a fault, the vehicle is determined to be in fault mode; when the vehicle stops by braking, the vehicle is determined to be in stop mode; when the vehicle is unlocked, allowing the user to perform certain operations but not actually started, the vehicle is determined to be in standby mode; when the vehicle is shut down and stops, the vehicle is determined to be in shutdown mode.

[0039] In step S102 , after the driver's parking intention is recognized, the current state of the vehicle is detected.

[0040] The state of the vehicle includes a stationary state and a moving state.

[0041] It can be understood that after identifying the driver's driving intention, the embodiment of the present application detects the state of the vehicle. The vehicle may be in a moving state of decelerating and gliding or a stationary state of braking and stopping. When the vehicle is in a moving state, the process waits for the vehicle to decelerate and stop. When the vehicle is in a stationary state, the process proceeds to the next step.

[0042] In step S103 , if the current state is a stationary state, the electronic stability control system ESC is controlled to apply a target hydraulic pressure to the brake to maintain the vehicle parking state, and the duration of the ESC applying the target hydraulic pressure is obtained.

[0043] Among them, the target hydraulic pressure for maintaining the vehicle parking is generally determined by factors such as vehicle weight and slope, and can be calculated by collecting data through various sensors (such as tilt sensors, pressure sensors, etc.); the duration of ESC applying the target hydraulic pressure can be obtained by a timer starting from the moment ESC starts applying the target hydraulic pressure.

[0044] It can be understood that, when the vehicle is stationary, the embodiment of the present application collects data through various sensors (such as tilt sensors, pressure sensors, etc.) and calculates the target hydraulic pressure for maintaining the vehicle parked, and controls the ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked, and starts timing at the moment when the ESC starts to apply the target hydraulic pressure to obtain the duration of the ESC applying the target hydraulic pressure.

[0045] In the embodiment of the present application, before controlling the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked, it also includes: identifying the on / off state of the automatic parking function; if the automatic parking function is in the on state, controlling the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked; if the automatic parking function is in the off state, detecting the depression depth of the brake pedal, and if the depression depth is greater than the depth threshold, controlling the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked.

[0046] The depth threshold is a brake pedal stepping depth value set according to actual needs and is not specifically limited here.

[0047] It can be understood that, before the embodiment of the present application controls the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked, it is necessary to identify the on / off state of the automatic parking function to decide whether to control the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked. When the automatic parking function is in the on state, the electronic stability control system ESC is controlled to apply the target hydraulic pressure to the brake to maintain the vehicle parked; when the automatic parking function is in the off state, the depression depth of the brake pedal is detected. When the depression depth is greater than the set depth threshold, the electronic stability control system ESC is controlled to apply the target hydraulic pressure to the brake to maintain the vehicle parked.

[0048] In an embodiment of the present application, after controlling the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked, it also includes: if it is detected that the driver's door is opened, controlling the EPB to apply the target clamping force to the brake disc to maintain the vehicle parked, and controlling the ESC to release pressure.

[0049] Among them, the target clamping force for maintaining the vehicle parking can be collected and calculated through various sensors (such as tilt sensors, pressure sensors, etc.); ESC pressure relief refers to the ESC releasing the hydraulic pressure of the braking system.

[0050] It can be understood that after the embodiment of the present application controls the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parking, when it detects that the door on the driver's side is opened, it controls the EPB to apply sufficient clamping force to ensure the safe parking of the vehicle, and controls the ESC to release pressure to release any active braking pressure of the ESC on the braking system.

[0051] In step S104 , if the duration is longer than a preset duration, the electronic parking brake EPB is controlled to apply a target clamping force to the brake disc to maintain the vehicle parked, and the ESC is controlled to release pressure.

[0052] Among them, the duration refers to the duration during which the ESC applies the target hydraulic pressure; the preset duration is the length of time set according to actual needs and is not specifically limited here.

[0053] It can be understood that in the embodiment of the present application, when the duration of the ESC applying the target hydraulic pressure exceeds the preset duration, the EPB is controlled to apply sufficient clamping force to ensure safe parking of the vehicle, and the ESC is controlled to release pressure to release any active braking pressure of the ESC on the braking system.

[0054] According to the automatic parking method proposed in the embodiment of the present application, the current parking intention of the driver and the current state of the vehicle can be obtained. When it is detected that the vehicle is stationary, the ESC is controlled to apply the target hydraulic pressure to the brake to maintain the vehicle parking, and the duration of the ESC applying the target hydraulic pressure is obtained. When the duration is greater than the preset duration, the EPB is controlled to apply the target clamping force to the brake disc to maintain the vehicle parking, and the ESC is controlled to release pressure. The information of multiple systems such as the whole vehicle, body, ESC and EPB and various operations of the driver are comprehensively utilized to integrate and coordinate the parking function of multiple systems, thereby improving the convenience, economy and safety of the parking function of electric vehicles, and the function covers more comprehensive scenarios.

[0055] The automatic parking method proposed in the embodiment of the present application is further described below through a specific embodiment. Figure 2 As shown, the hardware structure involved in the automatic parking function includes ESC, EPB, BDC (Body Domain Controller), VCU (Vehicle Control Unit), CDS (Central Display System) and IDS (Intelligent Display System).

[0056] The control method of the embodiment of the present application includes three parts in specific implementation: signal input, control algorithm, and actuator control. The functions of each part are as follows:

[0057] 1. Signal input: including mode switch, ESC status, EPB status, and vehicle operation status. These are all the signals required for the control algorithm to run.

[0058] The input signals involved include:

[0059] VCU current operating torque, VCU accelerator pedal opening, VCU vehicle operating status, VCU current gear, ESP vehicle stationary signal, ESP brake pedal travel, ESP status, ESP vehicle speed, EPB status, IDS large screen automatic parking switch command and BDC door status.

[0060] 2. Control algorithm: Control the opening and closing of ESC hydraulic brake and EPB mechanical brake according to the current operating status and current driver operation.

[0061] 3. Actuator: When ESC and EPB receive switch commands, they respectively execute the controlled hydraulic and mechanical brakes. At the same time, IDS and CDS display the display information issued by automatic parking.

[0062] Output signals include:

[0063] The current mode of automatic parking, ESC pressure increase and decrease command and EPB switch command.

[0064] The automatic parking function has 8 modes in total, namely

[0065] 1. Flame-out mode

[0066] 2. Error mode

[0067] 3. Stop mode

[0068] 4. Standby mode

[0069] 5. Activation Mode

[0070] 6. Standby 2 mode

[0071] 7. Activate Mode 2

[0072] 8. EPB activation mode

[0073] The conditions and functions of each mode are as follows:

[0074] 1. Flame-out mode, entry conditions: The VCU vehicle operation status is in the OFF state, the vehicle is not powered on and started, at this time, the automatic parking does not send any commands to ESC and EPB, and the automatic parking working indicator light is off.

[0075] 2. Error mode, entry conditions: When the vehicle has any of the following faults: vehicle fault, accelerator pedal fault, gear fault, ESC fault, EPB fault, abnormal vehicle speed, the vehicle will enter error mode. At this time, both ESC and EPB are released to avoid affecting vehicle movement. The fault light on the instrument will light up and automatic parking will not work.

[0076] 3. Stop mode, entry conditions: the vehicle is started and is not in the off or error mode, the gear is in P gear, and the automatic parking function is inoperative.

[0077] 4. Standby mode, entry conditions: the vehicle is started and not in shutdown or error mode, the gear is in D gear, and the automatic parking function switch is on. At this time, ESC and EPB are both in the released state, and the vehicle can drive normally.

[0078] 5. Activation mode, entry conditions: the vehicle is started and is not in the off or error mode, the gear is in D gear, and the automatic parking function switch is on. At this time, if the driver steps on the brake to stop the vehicle, or drives uphill to stop the vehicle, the automatic parking will command ESC to increase pressure at the moment the vehicle stops, so that the vehicle remains in the braked state.

[0079] 6. Standby 2 mode, entry conditions: the vehicle is started and is not in off or error mode, the gear is in D gear, the automatic parking function switch is in the off state, at this time ESC and EPB are both in the released state, and the vehicle can drive normally.

[0080] 7. Activation 2 mode, entry conditions: the vehicle is started and is not in the off or error mode, the gear is in D gear, and the automatic parking function switch is in the off state. At this time, if the driver stops the vehicle and continues to step on the brake pedal deeply, that is, after stopping the vehicle, he steps on the brake pedal deeply to the set threshold value, it will enter the activation 2 mode. At this time, the automatic parking control ESC applies pressure to stop the vehicle, and the EPB releases.

[0081] 8. EPB activation mode, entry conditions: the vehicle is started and is not in the off or error mode, the driver's door is opened, the vehicle will immediately enter the EPB activation mode, at this time ESC is in the released state, and EPB is in the clamped state.

[0082] Next, the automatic parking device proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0083] Figure 3 It is a block diagram of an automatic parking device according to an embodiment of the present application.

[0084] like Figure 3 As shown, the automatic parking device 10 includes: an identification module 301 , a detection module 302 , a first control module 303 and a second control module 304 .

[0085] Among them, the identification module 301 is used to identify the driver's parking intention; the detection module 302 is used to detect the current state of the vehicle after identifying the driver's parking intention; the first control module 303 is used to control the electronic stability control system ESC to apply a target hydraulic pressure to the brake to maintain the vehicle parking if the current state is a stationary state, and obtain the duration of the ESC applying the target hydraulic pressure; the second control module 304 is used to control the electronic parking brake EPB to apply a target clamping force to the brake disc to maintain the vehicle parking if the duration is greater than a preset duration, and control the ESC to release pressure.

[0086] In the embodiment of the present application, the recognition module 301 is further used to: if it is recognized that the driver steps on the brake pedal or the vehicle stops sliding uphill, determine that the driver has the intention to stop.

[0087] In an embodiment of the present application, before identifying the driver's parking intention, it also includes: identifying the current mode of the vehicle; if the current mode is a driving mode, identifying the driver's parking intention; if the current mode is a non-driving mode, controlling the ESC and EPB to be in a released state.

[0088] In the embodiment of the present application, the non-driving mode includes at least one of a fault mode, a stop mode, a standby mode and an ignition-off mode.

[0089] In the embodiment of the present application, the first control module 303 is further used to: before controlling the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked, identify the on / off state of the automatic parking function; if the automatic parking function is in the on state, control the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked; if the automatic parking function is in the off state, detect the depression depth of the brake pedal, and if the depression depth is greater than the depth threshold, control the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parked.

[0090] In the embodiment of the present application, the second control module 304 is further used for: after controlling the electronic stability control system ESC to apply the target hydraulic pressure to the brake to maintain the vehicle parking, if it is detected that the door on the driver's side is opened, controlling the EPB to apply the target clamping force to the brake disc to maintain the vehicle parking, and controlling the ESC to release pressure.

[0091] It should be noted that the above explanation of the embodiment of the automatic parking method is also applicable to the automatic parking device of this embodiment, and will not be repeated here.

[0092] According to the automatic parking device proposed in the embodiment of the present application, the current driver's parking intention and the current state of the vehicle can be obtained through the coordinated action of the identification module, the detection module, the first control module and the second control module. When it is detected that the vehicle is stationary, the ESC is controlled to apply the target hydraulic pressure to the brake to maintain the vehicle parking, and the duration of the ESC applying the target hydraulic pressure is obtained. When the duration is greater than the preset duration, the EPB is controlled to apply the target clamping force to the brake disc to maintain the vehicle parking, and the automatic parking method of controlling the ESC to release pressure is used. The information of multiple systems such as the whole vehicle, body, ESC and EPB and various operations of the driver are comprehensively used to integrate and coordinate the parking function of multiple systems, thereby improving the convenience, economy and safety of the parking function of electric vehicles, and the function covers more comprehensive scenarios.

[0093] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0094] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0095] When the processor 402 executes the program, the automatic parking method provided in the above embodiment is implemented.

[0096] Furthermore, the vehicle also includes:

[0097] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0098] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0099] The memory 401 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0100] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0101] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0102] The processor 402 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0103] The embodiment of the present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the above-mentioned automatic parking method is implemented.

[0104] The embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed, implements the above-mentioned automatic parking method.

[0105] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0106] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0107] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0108] It should be understood that the various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, the steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0109] A person of ordinary skill in the art may understand that all or part of the steps carried by the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the above-mentioned program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0110] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An automatic parking method, characterized in that: The following steps are involved: Recognize the driver's parking intention; After recognizing the driver's parking intention, detecting the current state of the vehicle; If the current state is a stationary state, controlling an electronic stability control system (ESC) to apply a target hydraulic pressure to the brake to maintain the vehicle parked, and obtaining a duration for which the ESC applies the target hydraulic pressure; If the duration is longer than a preset duration, the electronic parking brake EPB is controlled to apply a target clamping force to the brake disc to maintain the vehicle parked, and the ESC is controlled to release pressure.

2. The automatic parking method according to claim 1, characterized in that: Before the electronic stability control system ESC is controlled to apply the target hydraulic pressure to the brake to maintain the vehicle parking, it also includes: Identify the on / off status of the automatic parking function; If the automatic parking function is in the on state, the electronic stability control system ESC is controlled to apply a target hydraulic pressure to the brake to maintain the vehicle parked; If the automatic parking function is in an off state, the depression depth of the brake pedal is detected, and if the depression depth is greater than a depth threshold, the electronic stability control system ESC is controlled to apply a target hydraulic pressure to the brake to maintain the vehicle parking.

3. The automatic parking method according to claim 1, characterized in that: After the electronic stability control system ESC is controlled to apply the target hydraulic pressure to the brake to maintain the vehicle parking, it also includes: If it is detected that the door on the driver's side is opened, the EPB is controlled to apply a target clamping force to the brake disc to maintain the vehicle parked, and the ESC is controlled to release pressure.

4. The automatic parking method according to claim 1, characterized in that: Before recognizing the driver's parking intention, it also includes: Identify the vehicle's current mode; If the current mode is the driving mode, identifying the driver's parking intention; If the current mode is a non-driving mode, the ESC and EPB are controlled to be in a released state.

5. The automatic parking method according to claim 4, characterized in that: The non-driving mode includes at least one of a fault mode, a stop mode, a standby mode and an ignition-off mode.

6. The automatic parking method according to claim 1 or 4, characterized in that: The identifying the driver's parking intention includes: If the system detects that the driver has stepped on the brake pedal or the vehicle has coasted to a stop uphill, it is determined that the driver intends to stop.

7. An automatic parking device, characterized in that: include: A recognition module, used to recognize the driver's parking intention; A detection module, for detecting the current state of the vehicle after recognizing the driver's parking intention; a first control module, configured to control an electronic stability control system (ESC) to apply a target hydraulic pressure to a brake to maintain parking of the vehicle if the current state is a stationary state, and to obtain a duration for which the ESC applies the target hydraulic pressure; The second control module is used for controlling the electronic parking brake EPB to apply a target clamping force to the brake disc to maintain the vehicle parking, and controlling the ESC to release pressure if the duration is greater than a preset duration.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic parking method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the automatic parking method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the automatic parking method according to any one of claims 1 to 6 is implemented.

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