Vehicle parking control method and related equipment

Abstract

The invention discloses a vehicle parking control method and related equipment, and the method comprises the steps: when a vehicle is parked on a ramp, obtaining the sequential relation between the actual parking mechanical force and the brake hydraulic force of the vehicle at preset time intervals; the parking gradient of the vehicle on the ramp is obtained, and the theoretical parking target mechanical force of the vehicle is calculated based on the parking gradient; determining the actual parking target mechanical force of the vehicle corresponding to the time sequence relation based on the theoretical parking target mechanical force; and controlling the vehicle to park based on the actual parking target mechanical force. The problems that according to an existing ramp parking technology, influence factors of hydraulic braking force are not considered, so that deformation force of a vehicle brake disc cannot be accurately controlled, the phenomenon of landslide or sliding is prone to occurring when a vehicle is parked on a ramp, and the safety of ramp parking is low are solved.

Description

Background Art

[0002] With the development of vehicle technology, people have higher and higher requirements for vehicle driving safety, especially safe parking of vehicles on slopes. In the prior art, the mechanical force control of the vehicle during parking brake is based on the slope when parking, and the target parking mechanical force required to stop the vehicle at the current slope is calculated. The left and right parking motors of the vehicle drive the corresponding screw mechanisms to obtain the target parking mechanical force. When the target parking mechanical force is reached, the motor stops driving and the parking control process ends.

[0003] Since the brake disc of the vehicle is deformed by the combined force of the hydraulic braking force and the parking mechanical force, the greater the combined force on the brake disc, the greater the deformation force of the brake disc. However, the above ramp parking technology does not take into account the influence of the hydraulic braking force, making it impossible to accurately control the deformation force of the vehicle brake disc, which will cause the screw mechanism of the parking mechanical force system to be subjected to inconsistent brake disc deformation force at different stages of parking. When the safety redundancy of the screw mechanism material strength cannot withstand the deformation force, the parking mechanical force system may fail, causing the vehicle to easily slide or slip when parking on a ramp, and the safety of ramp parking is low. Summary of the invention

[0004] In order to overcome the problem that the existing slope parking technology does not take into account the influencing factors of hydraulic braking force, making it impossible to accurately control the deformation force of the vehicle brake disc, resulting in the vehicle easily sliding or slipping when parking on a slope, and the safety of slope parking is low, the present application provides a vehicle parking control method and related equipment.

[0005] In a first aspect, in order to solve the above technical problems, the present application provides a vehicle parking control method, comprising:

[0006] When the vehicle is parked on a slope, the time sequence relationship between the actual parking mechanical force and brake fluid pressure of the vehicle is obtained at every preset time interval;

[0007] Obtaining the parking slope of the vehicle on the ramp, and calculating the theoretical parking target mechanical force of the vehicle based on the parking slope;

[0008] Determining an actual parking target mechanical force of the vehicle corresponding to the timing relationship based on the theoretical parking target mechanical force;

[0009] The vehicle is parked by mechanical force control based on the actual parking target.

[0010] In a second aspect, the present application also provides a vehicle, applying a vehicle parking control method.

[0011] In a third aspect, the present application also provides a vehicle parking control system, comprising:

[0012] An acquisition module, used for acquiring the time sequence relationship between the actual parking mechanical force and the brake fluid pressure of the vehicle at every preset time interval when the vehicle is parked on a slope;

[0013] A calculation module, used to obtain the parking slope of the vehicle on the ramp, and calculate the theoretical parking target mechanical force of the vehicle based on the parking slope;

[0014] A determination module, configured to determine an actual parking target mechanical force of the vehicle corresponding to the timing relationship based on the theoretical parking target mechanical force;

[0015] The control module is used to control the vehicle to park according to the actual parking target mechanical force.

[0016] In a third aspect, the present application also provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor, and when the processor executes the program, the steps of a vehicle parking control method as described above are implemented.

[0017] In a fourth aspect, the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle parking control method.

[0018] The beneficial effects of the present application are: when the vehicle is parked on a slope, the time sequence relationship between the actual parking mechanical force and the brake fluid pressure of the vehicle is obtained at each preset time interval, and the theoretical parking target mechanical force of the vehicle is obtained based on the parking slope of the vehicle on the slope. The actual parking target mechanical force of the vehicle corresponding to the time sequence relationship is determined based on the theoretical parking target mechanical force, and the vehicle is controlled to park based on the actual parking target mechanical force. In this way, the brake fluid pressure is taken into account when controlling the vehicle to park, and the deformation force of the vehicle brake disc can be accurately controlled, so that the deformation force of the brake disc borne by the screw mechanism of the vehicle's parking mechanical force system at different stages of parking can be consistent, reducing the phenomenon of landslide or slipping when the vehicle is parked on the slope, thereby improving the safety of parking on the slope. In addition, the actual parking target mechanical force used for parking the vehicle is intermittently adjusted at each preset time interval, so that the dynamic parking of the vehicle on the slope is realized, the parking control accuracy is improved, and the safety of parking on the slope is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic flow chart of a vehicle parking control method according to an exemplary embodiment of the present application;

[0020] Figure 2 This is a flowchart of a vehicle parking control method provided by the application in an exemplary embodiment of the present application;

[0021] Figure 3 The present invention is a schematic structural diagram of a vehicle parking control system according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0022] The following examples are provided to further explain and supplement the present application and do not constitute any limitation to the present application.

[0023] A vehicle parking control method and related equipment according to an embodiment of the present application are described below in conjunction with the accompanying drawings.

[0024] A vehicle parking control method in an embodiment of the present application is applied to a terminal device. In the present application scheme, the terminal device or server is used as the execution subject to illustrate the present application scheme. The terminal device or server is used to execute the steps of a vehicle parking control method.

[0025] See also Figure 1 , Figure 1 A vehicle parking control method is shown as an exemplary embodiment of the present application, such as Figure 1 As shown, the present application provides a vehicle parking control method, comprising:

[0026] Step S11, when the vehicle is parked on a slope, obtaining the time sequence relationship between the actual parking mechanical force and the brake fluid pressure of the vehicle at every preset time interval;

[0027] Step S12, obtaining the parking slope of the vehicle on the ramp, and calculating the theoretical parking target mechanical force of the vehicle based on the parking slope;

[0028] Step S13, determining an actual parking target mechanical force of the vehicle corresponding to the time sequence relationship based on the theoretical parking target mechanical force;

[0029] Step S14, controlling the vehicle to park based on the actual parking target mechanical force.

[0030] A vehicle parking control method of this embodiment obtains the time series relationship between the actual parking mechanical force and the brake fluid pressure of the vehicle at each preset time interval when the vehicle is parked on a slope, and obtains the theoretical parking target mechanical force of the vehicle based on the parking slope of the vehicle on the slope. The actual parking target mechanical force of the vehicle corresponding to the time series relationship is determined based on the theoretical parking target mechanical force, and the vehicle is controlled to park based on the actual parking target mechanical force. In this way, the brake fluid pressure is taken into account when controlling the vehicle to park, and the deformation force of the vehicle brake disc can be accurately controlled, so that the deformation force of the brake disc borne by the screw mechanism of the vehicle's parking mechanical force system at different stages of parking can be consistent, reducing the phenomenon of landslide or slipping when the vehicle is parked on a slope, thereby improving the safety of parking on a slope. In addition, the actual parking target mechanical force used for parking the vehicle is intermittently adjusted at each preset time interval, realizing dynamic parking of the vehicle on the slope, improving the accuracy of parking control, further improving the safety of parking on the slope, and thus improving the market competitiveness of the vehicle.

[0031] At the same time, the screw mechanism of the vehicle parking mechanical force system of this embodiment does not need to reserve a large safety redundancy when designing the material strength, so that the brake disc deformation force borne by the screw mechanism of the vehicle's parking mechanical force system in different stages of parking can be consistent, thereby achieving safe parking of the vehicle on a slope, reducing the design cost of the parking mechanical force system, and then reducing the overall vehicle cost, further improving the market competitiveness of the vehicle.

[0032] Optionally, obtaining the parking slope of the vehicle on the ramp, and calculating the theoretical parking target mechanical force of the vehicle based on the parking slope, includes:

[0033] Angle sensors are used to collect the parking slope of the vehicle on the ramp;

[0034] Get the weight of the vehicle;

[0035] Using the weight and parking slope, the theoretical parking target mechanical force of the vehicle is calculated using the following formula:

[0036] F T = mgSinθ;

[0037] Among them, F T represents the theoretical parking target mechanical force, m represents weight, g represents gravitational acceleration, and θ represents the parking slope.

[0038] In this embodiment, an angle sensor is used to collect the parking slope of the vehicle on the ramp, and the theoretical parking target mechanical force of the vehicle is calculated using the weight of the vehicle and the parking slope, so that the energy theoretically required for the vehicle to park on the current ramp can be understood, so that the actual parking target mechanical force of the vehicle corresponding to the timing relationship can be determined based on the theoretical parking target mechanical force, and the parking of the vehicle on the ramp can be dynamically controlled at each preset time interval, thereby improving the accuracy of the vehicle parking process, thereby improving the safety of the vehicle parking on the ramp.

[0039] Optionally, determining the actual parking target mechanical force of the vehicle corresponding to the timing relationship based on the theoretical parking target mechanical force includes:

[0040] When the timing relationship indicates that the actual parking mechanical force is generated before the brake fluid pressure, the theoretical parking target mechanical force is used as the actual parking target mechanical force of the vehicle.

[0041] In this embodiment, when the timing relationship indicates that the actual parking mechanical force is formed before the brake fluid pressure, it means that the vehicle has not yet been mechanically braked. At this time, it is necessary to first use the theoretical parking target mechanical force as the vehicle's actual parking target mechanical force to control the vehicle to brake, so as to brake the vehicle in time and reduce the vehicle's sliding or slipping on the slope, thereby improving the safety of slope parking.

[0042] Optionally, determining the actual parking target mechanical force of the vehicle corresponding to the timing relationship based on the theoretical parking target mechanical force includes:

[0043] When the timing relationship indicates that the actual parking mechanical force is formed later than the brake fluid pressure, the pressure change rate between the brake fluid pressure and the brake fluid pressure obtained in the previous acquisition cycle is obtained;

[0044] The pressure change rate is calculated as follows:

[0045] ΔF P =F P -F P-1 ;

[0046] Where, ΔF P Indicates the pressure change rate in N / ms, F P Indicates the brake fluid pressure of the current acquisition cycle, in N, F P-1 Indicates the brake fluid pressure of the last acquisition cycle, in N;

[0047] When the pressure change rate is greater than or equal to 0, the theoretical parking target mechanical force is used as the actual parking target mechanical force of the vehicle.

[0048] In this embodiment, when the timing relationship indicates that the actual parking mechanical force is formed after the brake fluid pressure, it means that the vehicle has braked based on the actual parking mechanical force. At this time, based on the pressure change rate between the brake fluid pressure and the brake fluid pressure obtained in the previous acquisition cycle, the change of the brake fluid pressure in the adjacent acquisition cycle can be understood, and when the pressure change rate is greater than or equal to 0, the theoretical parking target mechanical force F is set to 0. T As the actual parking target mechanical force F of the vehicle A , that is, F A =F T , F A and F T The unit is N. The vehicle can be dynamically parked based on the change of brake fluid pressure in adjacent acquisition cycles in different acquisition cycles, and the deformation force of the vehicle brake disc can be accurately controlled, thereby improving the safety of parking on a slope. Among them, the brake fluid pressure is directly collected by a pressure sensor.

[0049] Optionally, determining the actual parking target mechanical force of the vehicle corresponding to the timing relationship based on the theoretical parking target mechanical force includes:

[0050] When the timing relationship indicates that the actual parking mechanical force is formed later than the brake fluid pressure, the pressure change rate between the brake fluid pressure and the brake fluid pressure acquired in the previous acquisition cycle is calculated;

[0051] When the pressure change rate is less than 0, the actual parking target mechanical force of the vehicle is determined based on the theoretical parking target mechanical force and the pressure change rate.

[0052] In this embodiment, when the timing relationship characterizes that the formation time of the actual parking mechanical force is after the brake fluid pressure, it means that the vehicle has braked based on the actual parking mechanical force. At this time, based on the pressure change rate between the brake fluid pressure and the brake fluid pressure obtained in the previous acquisition cycle, the change of the brake fluid pressure in adjacent acquisition cycles can be understood, and when the pressure change rate is greater than or equal to 0, the actual parking target mechanical force of the vehicle is determined based on the theoretical parking target mechanical force and the pressure change rate. The vehicle can be dynamically parked based on the change of the brake fluid pressure in adjacent acquisition cycles in different acquisition cycles, and the deformation force of the vehicle brake disc can be accurately controlled, thereby improving the safety of slope parking.

[0053] In an exemplary embodiment, the actual parking mechanical force F M The calculation formula is: M =I A α+β, where I AIt indicates the motor current of the vehicle, which is directly collected by the sensor, and the unit is mA. α indicates the conversion coefficient of current to mechanical force, and β indicates the correction offset coefficient. Both α and β are obtained based on the mechanical characteristics test of the vehicle.

[0054] Optionally, determining the actual parking target mechanical force of the vehicle based on the theoretical parking target mechanical force and the pressure change rate includes:

[0055] The sum of the theoretical parking target mechanical force and the pressure change rate is calculated to obtain the reference mechanical force;

[0056] The calculation formula of reference mechanical force is as follows:

[0057] F A’ =F T +ΔF P ;

[0058] Among them, F A’ Indicates the reference mechanical force, F T represents the theoretical parking target mechanical force, ΔF P Indicates the rate of change of pressure;

[0059] Calculate the product of the theoretical parking target mechanical force and the rated percentage to obtain the lower limit mechanical force;

[0060] When the reference mechanical force is greater than or equal to the lower limit mechanical force, the reference mechanical force is used as the actual parking target mechanical force of the vehicle, that is, F A =F A’ =F T +ΔF P ;

[0061] When the reference mechanical force is less than the lower limit mechanical force, the lower limit mechanical force is used as the actual parking target mechanical force of the vehicle, that is, F A =F A” = Rated percentage * F T , where F A” Indicates the lower limit of mechanical force.

[0062] In this embodiment, the lower limit mechanical force is the parking mechanical force when the vehicle is in the extreme parking state. When the sum of the theoretical parking target mechanical force and the pressure change rate is greater than or equal to the product of the theoretical parking target mechanical force and the rated percentage, it means that the parking control of the vehicle is in a stable state. At this time, the reference mechanical force of the sum of the theoretical parking target mechanical force and the pressure change rate is used as the actual parking target mechanical force of the vehicle to control the vehicle, and the vehicle can continue to be in a dynamically stable ramp parking state. When the sum of the theoretical parking target mechanical force and the pressure change rate is less than the product of the theoretical parking target mechanical force and the rated percentage, it means that the reference mechanical force is lower than the parking mechanical force when the vehicle is in the extreme parking state. If the vehicle is still controlled according to the reference mechanical force as the actual parking target mechanical force of the vehicle, the parking power of the vehicle on the slope will be insufficient, resulting in unstable ramp parking, which will reduce the safety of ramp parking. In this embodiment, the lower limit mechanical force is used as the actual parking target mechanical force of the vehicle. When the reference mechanical force is insufficient to maintain the parking force of the vehicle on the slope, the vehicle can maintain the parking mechanical force in the extreme parking state to park on the slope. This ensures that the vehicle always maintains sufficient parking force on the slope, improves the parking stability of the vehicle on the slope, and can not only improve the safety of the vehicle on the slope parking, but also improve the parking experience of the driver on the slope.

[0063] See also Figure 2 , Figure 2 This is a flow chart of a vehicle parking control method provided by the application in an exemplary embodiment of the present application, such as Figure 2 As shown, F M Indicates the actual parking mechanical force, F P Indicates brake fluid pressure, F A Indicates the actual parking target mechanical force, F T represents the theoretical parking target mechanical force, ΔF P Indicates the pressure change rate between the brake fluid pressure of the current acquisition cycle and the brake fluid pressure acquired in the previous acquisition cycle. First, when the vehicle is parked on a slope, the actual parking mechanical force F of the vehicle is acquired at every preset time interval. M and brake fluid pressure F P The temporal relationship between them, and judge F based on the temporal relationship M Is it before F P exist.

[0064] The actual parking mechanical force F is represented in the timing relationship M The formation time of the brake fluid pressure F P Before, the theoretical parking target mechanical force F T As the actual parking target mechanical force F of the vehicle A , that is, F A =F T The actual parking mechanical force F is represented in the timing relationshipM The formation time of the brake fluid pressure F P After that, the brake fluid pressure F is obtained and the brake fluid pressure F obtained in the previous acquisition cycle is obtained. P-1 The pressure change rate ΔF P , and determine the pressure change rate ΔF P Is it greater than or equal to 0. At the pressure change rate ΔF P When it is greater than or equal to 0, the theoretical parking target mechanical force F T As the actual parking target mechanical force F of the vehicle A , that is, F A =F T ; At the pressure change rate ΔF P When it is less than 0, calculate the theoretical parking target mechanical force F T and pressure change rate ΔF P The sum of the reference mechanical force F A’ , that is, F A’ =F T +ΔF P , and calculate the theoretical parking target mechanical force F T Multiply the product of the rated percentage to get the lower limit mechanical force F A” , that is, F A” = Rated percentage * F T ; In the reference mechanical force F A’ Greater than or equal to the lower limit mechanical force F A” When the reference mechanical force F A’ As the actual parking target mechanical force F of the vehicle A , that is, F A =F A’ =F T +ΔF P , in reference to the mechanical force F A’ Less than the lower limit mechanical force F A” When the lower limit mechanical force F A” As the actual parking target mechanical force F of the vehicle A , that is, F A =F A” = Rated percentage * F T Then based on the actual parking target mechanical force F A Control the vehicle to park so that the actual parking mechanical force F M Able to achieve the actual parking target mechanical force F A , that is, F A =F M , to complete dynamic parking of the vehicle on a slope.

[0065] The method of the present application considers the brake fluid pressure when controlling the vehicle to park, and can accurately control the deformation force of the vehicle brake disc, so that the deformation force of the brake disc borne by the screw mechanism of the vehicle's parking mechanical force system at different stages of parking can be consistent, reducing the phenomenon of sliding or slipping when the vehicle is parked on a slope, thereby improving the safety of slope parking. And the actual parking target mechanical force used by the vehicle for parking is intermittently adjusted at each preset time interval, realizing dynamic parking of the vehicle on the slope, improving the accuracy of parking control, and further improving the safety of slope parking. At the same time, when the reference mechanical force is less than the lower limit mechanical force, the lower limit mechanical force is used as the actual parking target mechanical force of the vehicle, so that when the reference mechanical force is insufficient to maintain the parking power of the vehicle on the slope, the vehicle can maintain the parking mechanical force of the extreme parking state for slope parking, so that the vehicle always maintains sufficient parking power on the slope, improves the stability of the vehicle on the slope, and can not only improve the safety of the vehicle on the slope parking, but also improve the parking experience of the driver. In addition, the method of the present application is mainly based on the optimization of algorithm control logic, the vehicle hardware system is smaller and has high feasibility.

[0066] A vehicle in an embodiment of the present application applies the above-mentioned vehicle parking control method.

[0067] See also Figure 3 , Figure 3 A vehicle parking control system is shown as an exemplary embodiment of the present application, such as Figure 3 As shown, the present application provides a vehicle parking control system 300, including:

[0068] An acquisition module 301 is used to acquire the time sequence relationship between the actual parking mechanical force and the brake fluid pressure of the vehicle at every preset time interval when the vehicle is parked on a slope;

[0069] A calculation module 302 is used to obtain the parking slope of the vehicle on the ramp, and calculate the theoretical parking target mechanical force of the vehicle based on the parking slope;

[0070] A determination module 303, configured to determine an actual parking target mechanical force of the vehicle corresponding to the time sequence relationship based on the theoretical parking target mechanical force;

[0071] The control module 304 is used to control the vehicle to park according to the actual parking target mechanical force.

[0072] A vehicle parking control system of this embodiment, when the vehicle is parked on a slope, the acquisition module 301 is used to obtain the time sequence relationship between the actual parking mechanical force and the brake fluid pressure of the vehicle at each preset time interval, and the calculation module 302 is used to obtain the theoretical parking target mechanical force of the vehicle based on the parking slope of the vehicle on the slope. The determination module 303 is used to determine the actual parking target mechanical force of the vehicle corresponding to the time sequence relationship based on the theoretical parking target mechanical force, and the control module 304 is used to control the vehicle to park based on the actual parking target mechanical force. In this way, the brake fluid pressure is taken into account when controlling the vehicle to park, and the deformation force of the vehicle brake disc can be accurately controlled, so that the deformation force of the brake disc borne by the screw mechanism of the vehicle's parking mechanical force system at different stages of parking can be consistent, reducing the phenomenon of landslide or slipping when the vehicle is parked on the slope, thereby improving the safety of slope parking. In addition, the actual parking target mechanical force used for parking the vehicle is intermittently adjusted at each preset time interval, so that the dynamic parking of the vehicle on the slope is realized, the parking control accuracy is improved, and the safety of slope parking is further improved. At the same time, the screw mechanism of the vehicle parking mechanical force system of this embodiment does not need to reserve a large safety redundancy when designing the material strength, so that the brake disc deformation force borne by the screw mechanism of the vehicle's parking mechanical force system in different stages of parking can be consistent, thereby achieving safe parking of the vehicle on a slope, reducing the design cost of the parking mechanical force system, and then reducing the overall vehicle cost, further improving the market competitiveness of the vehicle.

[0073] Optionally, the computing module is specifically configured to:

[0074] Angle sensors are used to collect the parking slope of the vehicle on the ramp;

[0075] Get the weight of the vehicle;

[0076] Using the weight and parking slope, the theoretical parking target mechanical force of the vehicle is calculated using the following formula:

[0077] F T = mgSinθ;

[0078] Among them, F T represents the theoretical parking target mechanical force, m represents weight, g represents gravitational acceleration, and θ represents the parking slope.

[0079] Optionally, a module is determined, specifically for:

[0080] When the timing relationship indicates that the actual parking mechanical force is generated before the brake fluid pressure, the theoretical parking target mechanical force is used as the actual parking target mechanical force of the vehicle.

[0081] Optionally, a module is determined, specifically for:

[0082] When the timing relationship indicates that the actual parking mechanical force is formed later than the brake fluid pressure, the pressure change rate between the brake fluid pressure and the brake fluid pressure obtained in the previous acquisition cycle is obtained;

[0083] When the pressure change rate is greater than or equal to 0, the theoretical parking target mechanical force is used as the actual parking target mechanical force of the vehicle.

[0084] Optionally, a module is determined, specifically for:

[0085] When the timing relationship indicates that the actual parking mechanical force is formed later than the brake fluid pressure, the pressure change rate between the brake fluid pressure and the brake fluid pressure acquired in the previous acquisition cycle is calculated;

[0086] When the pressure change rate is less than 0, the actual parking target mechanical force of the vehicle is determined based on the theoretical parking target mechanical force and the pressure change rate.

[0087] Optionally, a module is determined, specifically for:

[0088] The sum of the theoretical parking target mechanical force and the pressure change rate is calculated to obtain the reference mechanical force;

[0089] Calculate the product of the theoretical parking target mechanical force and the rated percentage to obtain the lower limit mechanical force;

[0090] When the reference mechanical force is greater than or equal to the lower limit mechanical force, the reference mechanical force is used as the actual parking target mechanical force of the vehicle;

[0091] When the reference mechanical force is less than the lower limit mechanical force, the lower limit mechanical force is used as the actual parking target mechanical force of the vehicle.

[0092] It should be noted that the vehicle parking control system provided in the above embodiment and the vehicle parking control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In actual application, the vehicle parking control system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0093] A computing device according to an embodiment of the present application includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all of the steps of the above-mentioned vehicle parking control method are implemented.

[0094] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present application can refer to the parameters and steps in the embodiment of the vehicle parking control method above, and will not be repeated here.

[0095] In an embodiment of the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned vehicle parking control method are executed.

[0096] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0097] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient computer-readable storage medium.

[0098] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0099] Those skilled in the art know that the present application can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "module" or "system" herein. In addition, in some embodiments, the present application can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0100] 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 do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more 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.

[0101] 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. A vehicle parking control method, characterized in that: include: When the vehicle is parked on a slope, the time sequence relationship between the actual parking mechanical force and the brake fluid pressure of the vehicle is obtained at each preset time interval; Acquiring a parking slope of the vehicle on the ramp, and calculating a theoretical parking target mechanical force of the vehicle based on the parking slope; determining an actual parking target mechanical force of the vehicle corresponding to the timing relationship based on the theoretical parking target mechanical force; The vehicle is controlled to park based on the actual parking target mechanical force.

2. The method according to claim 1, characterized in that: The obtaining of the parking slope of the vehicle on the ramp and calculating the theoretical parking target mechanical force of the vehicle based on the parking slope includes: Using an angle sensor to collect the parking slope of the vehicle on the ramp; obtaining the weight of the vehicle; The theoretical parking target mechanical force of the vehicle is calculated using the weight and the parking slope, and the calculation formula is as follows: F T =mgSinθ; Among them, F T represents the theoretical parking target mechanical force, m represents weight, g represents gravitational acceleration, and θ represents the parking slope.

3. The method according to claim 1, characterized in that The determining, based on the theoretical parking target mechanical force, the actual parking target mechanical force of the vehicle corresponding to the timing relationship comprises: When the time series relationship indicates that the actual parking mechanical force is generated before the brake fluid pressure, the theoretical parking target mechanical force is used as the actual parking target mechanical force of the vehicle.

4. The method according to claim 1, characterized in that The determining, based on the theoretical parking target mechanical force, the actual parking target mechanical force of the vehicle corresponding to the timing relationship comprises: When the timing relationship indicates that the actual parking mechanical force is formed later than the brake fluid pressure, acquiring a pressure change rate between the brake fluid pressure and the brake fluid pressure acquired in a previous acquisition cycle; When the pressure change rate is greater than or equal to 0, the theoretical parking target mechanical force is used as the actual parking target mechanical force of the vehicle.

5. The method according to claim 1, characterized in that: The determining, based on the theoretical parking target mechanical force, the actual parking target mechanical force of the vehicle corresponding to the timing relationship comprises: When the timing relationship indicates that the actual parking mechanical force is formed later than the brake fluid pressure, calculating a pressure change rate between the brake fluid pressure and the brake fluid pressure acquired in a previous acquisition cycle; When the pressure change rate is less than 0, the actual parking target mechanical force of the vehicle is determined based on the theoretical parking target mechanical force and the pressure change rate.

6. The method according to claim 5, characterized in that The determining the actual parking target mechanical force of the vehicle based on the theoretical parking target mechanical force and the pressure change rate includes: calculating the sum of the theoretical parking target mechanical force and the pressure change rate to obtain a reference mechanical force; Calculating the product of the theoretical parking target mechanical force and the rated percentage to obtain a lower limit mechanical force; When the reference mechanical force is greater than or equal to the lower limit mechanical force, using the reference mechanical force as the actual parking target mechanical force of the vehicle; When the reference mechanical force is smaller than the lower limit mechanical force, the lower limit mechanical force is used as the actual parking target mechanical force of the vehicle.

7. A vehicle, characterized in that: A vehicle parking control method as described in any one of claims 1 to 6 is applied.

8. A vehicle parking control system, characterized in that: include: An acquisition module, used for acquiring the time sequence relationship between the actual parking mechanical force and the brake fluid pressure of the vehicle at every preset time interval when the vehicle is parked on a slope; a calculation module, configured to obtain a parking slope of the vehicle on the ramp, and calculate a theoretical parking target mechanical force of the vehicle based on the parking slope; a determination module, configured to determine an actual parking target mechanical force of the vehicle corresponding to the timing relationship based on the theoretical parking target mechanical force; A control module is used to control the vehicle to park according to the actual parking target mechanical force.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of a vehicle parking control method as described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle parking control method as described in any one of claims 1 to 6.

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