Automatic release method, device and equipment for vehicle parking and storage medium

Abstract

The invention provides an automatic releasing method, device and equipment for vehicle parking and a storage medium. When a target vehicle is located on a ramp, whether a driver of the target vehicle is in place or not is detected; if it is determined that the driver is in place, whether a brake pedal of the target vehicle is stepped down or not is detected; if it is determined that the brake pedal is stepped down, a current gradient signal of the target vehicle is detected, and corresponding target braking force and target driving force are determined according to the gradient signal; if it is determined that the gear of the target vehicle is switched to the running gear, the current electronic parking calipers are released, and hydraulic braking force is adjusted to the target braking force; and when it is detected that the accelerator pedal of the target vehicle is stepped down, the hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force. According to the method, the starting safety of the vehicle can be improved, and the driving experience is improved. The invention relates to the technical field of vehicles.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, device, equipment and storage medium for automatically releasing a vehicle from parking. Background Art

[0002] In recent years, with the continuous development of social economy, the number of cars has continued to increase. Compared with public transportation, cars can go directly from the departure point to the destination, saving waiting and transfer time, improving travel efficiency, and providing convenience and comfort for people's life and work.

[0003] At present, with the popularization of electronic parking function, more and more cars are equipped with electronic parking calipers. Cars equipped with electronic parking calipers can clamp and release the calipers through electronic control. According to the use scenarios of the vehicles, there are many situations in which the parking is automatically released according to the driving environment without the driver operating the clamping and releasing switch of the electronic parking caliper. For example, when the driver controls the gear to change from P gear to other gears, if the vehicle determines that the driving environment is safe, it will automatically control the parking caliper to release the clamping force, and the vehicle can drive directly when the driver steps on the accelerator next; or the current gear of the vehicle is D gear or R gear, and the electronic parking caliper is in a clamped state at this time. If the driver steps on the accelerator at this time and plans to start the vehicle, then if the driving environment is safe at this time, the system will control the parking caliper to be released directly, and the vehicle can start directly without the driver operating the parking function switch; the above two scenarios save the driver's operation and improve the convenience of vehicle use.

[0004] However, during the above operation, the clamping force of the electronic parking caliper is released by controlling the motor so that the mechanical mechanism connected to the motor retreats from the state of pushing the friction plate and the brake disc to the state of no clamping force between the friction plate and the brake disc. Because the mechanical hard connection connected to the motor is directly controlled, and the vehicle may be parked on a slope at this time, when the driver steps on the accelerator to drive the vehicle, in order to ensure that the vehicle does not slip, and the driving force and parking brake force cannot be stuck, it is necessary to calibrate and match the slope of the motor parking brake force release and the rate of increase of the driving torque at this time, so as to avoid starting stuck or vehicle slipping. However, due to the mechanical hard connection between the motor and the friction plate and the randomness of the slope where the vehicle is parked, it is difficult to ensure a smooth start, and the practicality is not good.

[0005] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0006] The purpose of the present invention is to solve one of the technical problems existing in the related art to at least a certain extent.

[0007] The main purpose of the embodiments of the present application is to provide a method, device, equipment and storage medium for automatically releasing a parking vehicle.

[0008] To achieve the above object, one aspect of an embodiment of the present application provides a method for automatically releasing a parking vehicle, the method comprising:

[0009] When the target vehicle is on a ramp, detecting whether the driver of the target vehicle is in position;

[0010] If it is determined that the driver is in position, detecting whether the brake pedal of the target vehicle is depressed;

[0011] If it is determined that the brake pedal is depressed, the current slope signal of the target vehicle is detected, and the corresponding target braking force and target driving force are determined according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when the target vehicle does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope;

[0012] If it is determined that the gear position of the target vehicle is switched to the driving gear position, releasing the current electronic parking caliper and adjusting the hydraulic braking force to the target braking force;

[0013] When it is detected that the accelerator pedal of the target vehicle is depressed, the hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

[0014] In addition, the automatic release method for parking a vehicle according to the above embodiment of the present application may also have the following additional technical features:

[0015] In some embodiments, the detecting whether the driver of the target vehicle is present includes:

[0016] Obtain pressure detection data from a pressure sensor disposed at the driver's seat;

[0017] If the pressure detection data is greater than a first threshold, it is determined that the driver of the target vehicle is in position.

[0018] In some embodiments, the detecting whether the driver of the target vehicle is present includes:

[0019] Detecting a seat belt signal of a driver's seat of the target vehicle;

[0020] According to the seat belt signal, it is determined whether the driver of the target vehicle is in place.

[0021] In some embodiments, the detecting whether the driver of the target vehicle is present includes:

[0022] Collecting image data of the driving position of the target vehicle;

[0023] Perform image recognition on the image data, and determine whether the driver of the target vehicle is in place based on the result of the image recognition.

[0024] In some embodiments, if it is determined that the driver is in position, detecting whether the brake pedal of the target vehicle is depressed includes:

[0025] If it is determined that the driver is in place, detecting whether the doors of the target vehicle are all closed;

[0026] If it is determined that all doors of the target vehicle are closed, it is detected whether the brake pedal of the target vehicle is stepped on.

[0027] In some embodiments, detecting the current slope signal of the target vehicle includes:

[0028] detecting the longitudinal acceleration of the target vehicle;

[0029] A current slope signal of the target vehicle is determined according to the longitudinal acceleration.

[0030] In some embodiments, adjusting the hydraulic braking force to the target braking force includes:

[0031] detecting a first braking force corresponding to a current stroke of the brake pedal;

[0032] If the first braking force is less than the target braking force, the current hydraulic braking force is increased to the target braking force; or, if the first braking force is greater than the target braking force, the current hydraulic braking force is reduced to the target braking force.

[0033] In some embodiments, the method further comprises:

[0034] If it is determined that the brake pedal is not depressed, detecting whether the current electronic parking caliper is clamped;

[0035] If it is determined that the electronic parking caliper is clamped and the gear position of the target vehicle is the forward gear position, the current slope signal of the target vehicle is detected, and the corresponding target braking force and target driving force are determined according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope;

[0036] Detecting whether the accelerator pedal of the target vehicle is depressed;

[0037] If it is determined that the accelerator pedal of the target vehicle is depressed, and the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force, releasing the current electronic parking caliper and adjusting the hydraulic braking force to the target braking force;

[0038] The hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

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

[0040] If it is determined that the accelerator pedal of the target vehicle is depressed and the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force, the current electronic parking caliper is released.

[0041] In some embodiments, the method further comprises:

[0042] Acquiring detection data of at least one of an inertial measurement unit, a wheel speed sensor, or a pressure sensor of the target vehicle;

[0043] According to the detection data, it is determined whether the target vehicle is on a slope.

[0044] In some embodiments, the method further comprises:

[0045] Acquiring the location information of the target vehicle through a global positioning system;

[0046] According to the position information, it is determined whether the target vehicle is on a slope.

[0047] In some embodiments, the method further comprises:

[0048] If it is determined that the accelerator pedal of the target vehicle is depressed, recording the accumulated time duration during which the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force;

[0049] When it is determined that the accumulated time exceeds a second threshold, the electronic parking caliper is controlled to be clamped.

[0050] One aspect of an embodiment of the present application provides an automatic release device for parking a vehicle, the device comprising:

[0051] A first detection unit, used for detecting whether the driver of the target vehicle is in position when the target vehicle is on a slope;

[0052] A second detection unit is used to detect whether the brake pedal of the target vehicle is depressed if it is determined that the driver is in position;

[0053] a processing unit, configured to detect a current slope signal of the target vehicle if it is determined that the brake pedal is depressed, and determine a corresponding target braking force and a target driving force according to the slope signal; wherein the target braking force is a minimum braking force corresponding to the target vehicle when the target vehicle does not slip on the slope, and the target driving force is a minimum driving force for the target vehicle to start moving upward on the slope;

[0054] an adjusting unit, configured to release the current electronic parking caliper and adjust the hydraulic braking force to the target braking force if it is determined that the gear position of the target vehicle is switched to the driving gear position;

[0055] The execution unit is used to release the hydraulic braking force synchronously according to the stroke of the accelerator pedal when it is detected that the accelerator pedal of the target vehicle is stepped on, until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

[0056] In some embodiments, the apparatus further comprises a second execution unit, wherein the second execution unit is configured to:

[0057] If it is determined that the brake pedal is not depressed, detecting whether the current electronic parking caliper is clamped;

[0058] If it is determined that the electronic parking caliper is clamped and the gear position of the target vehicle is the forward gear position, the current slope signal of the target vehicle is detected, and the corresponding target braking force and target driving force are determined according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope;

[0059] Detecting whether the accelerator pedal of the target vehicle is depressed;

[0060] If it is determined that the accelerator pedal of the target vehicle is depressed, and the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force, releasing the current electronic parking caliper and adjusting the hydraulic braking force to the target braking force;

[0061] The hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

[0062] In some embodiments, the second execution unit is further configured to:

[0063] If it is determined that the accelerator pedal of the target vehicle is depressed and the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force, the current electronic parking caliper is released.

[0064] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the automatic release method of the vehicle parking described above is implemented.

[0065] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides a vehicle, wherein the vehicle includes the above-mentioned automatic parking release device or the above-mentioned electronic device.

[0066] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned method for automatically releasing a parking vehicle is implemented.

[0067] The embodiments of the present application include at least the following beneficial effects:

[0068] The present application provides a method, device, equipment and storage medium for automatically releasing a vehicle when it is parked. The method detects whether the driver of the target vehicle is in position when the target vehicle is on a slope; if it is determined that the driver is in position, detects whether the brake pedal of the target vehicle is pressed; if it is determined that the brake pedal is pressed, detects the current slope signal of the target vehicle, and determines the corresponding target braking force and target driving force according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope; if it is determined that the gear position of the target vehicle is switched to the driving gear position, releases the current electronic parking caliper, and adjusts the hydraulic braking force to the target braking force; when it is detected that the accelerator pedal of the target vehicle is pressed, the hydraulic braking force is released synchronously according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force. This method automatically releases the electronic parking caliper based on the driver's operation after identifying the driver's starting demand, and ensures that the vehicle does not roll down the slope through compensation of hydraulic braking force. When the driver continues to increase the throttle opening to drive the vehicle, the method controls the coordination of the hydraulic braking force and the increasing driving force to ensure the smoothness of the vehicle's starting power increase, improve the safety of the vehicle's starting, enhance the driving experience, and improve practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is a schematic diagram of an implementation environment of an automatic release method for parking a vehicle provided in an embodiment of the present application;

[0070] Figure 2 is a flow chart of a method for automatically releasing a vehicle parking provided by an embodiment of the present application;

[0071] Figure 3 This is a flowchart of the first method of detecting whether the driver is in place provided by an embodiment of the present application;

[0072] Figure 4 This is a second flow chart for detecting whether the driver is in place provided by an embodiment of the present application;

[0073] Figure 5 This is a flowchart of a third method of detecting whether a driver is in place provided by an embodiment of the present application;

[0074] Figure 6 is a flow chart of detecting whether the brake pedal of a target vehicle is depressed, provided by an embodiment of the present application;

[0075] Figure 7 is a flow chart of adjusting the hydraulic braking force to the target braking force provided by an embodiment of the present application;

[0076] Figure 8 It is a structural schematic diagram of an automatic release device for parking a vehicle provided in an embodiment of the present application;

[0077] Fig. 9 It is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application;

[0078] Fig.10 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0079] The present application is further described in detail. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. 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 embodiments of the present application. They are only examples of devices / equipment and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0080] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0081] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0082] In recent years, with the continuous development of social economy, the number of cars has continued to increase. Compared with public transportation, cars can go directly from the departure point to the destination, saving waiting and transfer time, improving travel efficiency, and providing convenience and comfort for people's life and work.

[0083] At present, with the popularization of electronic parking function, more and more cars are equipped with electronic parking calipers. Cars equipped with electronic parking calipers can clamp and release the calipers through electronic control. According to the use scenarios of the vehicles, there are many situations in which the parking is automatically released according to the driving environment without the driver operating the clamping and releasing switch of the electronic parking caliper. For example, when the driver controls the gear to change from P gear to other gears, if the vehicle determines that the driving environment is safe, it will automatically control the parking caliper to release the clamping force, and the vehicle can drive directly when the driver steps on the accelerator next; or the current gear of the vehicle is D gear or R gear, and the electronic parking caliper is in a clamped state at this time. If the driver steps on the accelerator at this time and plans to start the vehicle, then if the driving environment is safe at this time, the system will control the parking caliper to be released directly, and the vehicle can start directly without the driver operating the parking function switch; the above two scenarios save the driver's operation and improve the convenience of vehicle use.

[0084] However, during the above operation, the clamping force of the electronic parking caliper is released by controlling the motor so that the mechanical mechanism connected to the motor retreats from the state of pushing the friction plate and the brake disc to the state of no clamping force between the friction plate and the brake disc. Because the mechanical hard connection connected to the motor is directly controlled, and the vehicle may be parked on a slope at this time, when the driver steps on the accelerator to drive the vehicle, in order to ensure that the vehicle does not slip, and the driving force and parking brake force cannot be stuck, it is necessary to calibrate and match the slope of the motor parking brake force release and the rate of increase of the driving torque at this time, so as to avoid starting stuck or vehicle slipping. However, due to the mechanical hard connection between the motor and the friction plate and the randomness of the slope where the vehicle is parked, it is difficult to ensure a smooth start, and the practicality is not good.

[0085] In view of this, an embodiment of the present application provides an automatic release method, device, equipment and storage medium for parking a vehicle. When a target vehicle is on a slope, the method detects whether the driver of the target vehicle is in position; if it is determined that the driver is in position, detects whether the brake pedal of the target vehicle is pressed; if it is determined that the brake pedal is pressed, detects the current slope signal of the target vehicle, and determines the corresponding target braking force and target driving force according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when the target vehicle does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start upward movement on the slope; if it is determined that the gear position of the target vehicle is switched to the driving gear, releases the current electronic parking caliper and adjusts the hydraulic braking force to the target braking force; when it is detected that the accelerator pedal of the target vehicle is pressed, the hydraulic braking force is released synchronously according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force. This method automatically releases the electronic parking caliper based on the driver's operation after identifying the driver's starting demand, and ensures that the vehicle does not roll down the slope through compensation of hydraulic braking force. When the driver continues to increase the throttle opening to drive the vehicle, the method controls the coordination of the hydraulic braking force and the increasing driving force to ensure the smoothness of the vehicle's starting power increase, improve the safety of the vehicle's starting, enhance the driving experience, and improve practicality.

[0086] Please refer to Figure 1 , Figure 1 A schematic diagram of the implementation environment of an automatic release method for parking a vehicle provided in an embodiment of the present application is shown. In this implementation environment, the main hardware and software entities involved include a terminal device 110, a target vehicle 120, and a cloud server 130, wherein a communication connection can be established between the terminal device 110, the target vehicle 120, and the cloud server 130. The automatic release method for parking a vehicle provided in an embodiment of the present application can be implemented locally in the target vehicle 120, or can be executed based on data interaction between the terminal device 110 and the target vehicle 120, or between the target vehicle 120 and the cloud server 130.

[0087] Among them, the terminal device 110 of the above embodiment may include a mobile phone, a computer, a smart wearable device, a PDA device, an intelligent voice interaction device, a vehicle terminal, etc., but is not limited thereto.

[0088] The cloud server 130 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), as well as big data and artificial intelligence platforms.

[0089] The terminal device 110, the target vehicle 120 and the cloud server 130 may establish a communication connection through a wireless network or a wired network. The wireless network or wired network uses standard communication technology and / or protocols, and the network may be set to the Internet or any other network, such as but not limited to a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), a mobile, wired or wireless network, a private network or any combination of a virtual private network.

[0090] Of course, it is understandable that Figure 1 The implementation environment in the embodiment of the present application is only some optional application scenarios of the automatic release method of the vehicle parking provided in the embodiment of the present application, and the actual application is not fixed to Figure 1 The hardware and software environment shown.

[0091] Below, in combination with the introduction of the aforementioned implementation environment, an automatic release method for parking a vehicle provided in an embodiment of the present application is introduced and illustrated.

[0092] Please refer to Figure 2 , Figure 2 is a schematic diagram of an automatic release method for parking a vehicle provided in an embodiment of the present application, and the automatic release method for parking a vehicle includes but is not limited to:

[0093] Step 210: When the target vehicle is on a ramp, detecting whether the driver of the target vehicle is in place;

[0094] Step 220: If it is determined that the driver is in place, detect whether the brake pedal of the target vehicle is pressed;

[0095] Step 230: If it is determined that the brake pedal is depressed, detect the current slope signal of the target vehicle, and determine the corresponding target braking force and target driving force according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope;

[0096] Step 240: If it is determined that the gear position of the target vehicle is switched to the driving gear position, release the current electronic parking caliper and adjust the hydraulic braking force to the target braking force;

[0097] Step 250: When it is detected that the accelerator pedal of the target vehicle is depressed, the hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

[0098] In an embodiment of the present application, a method for automatically releasing a parked vehicle is provided. The method automatically releases an electronic parking caliper after identifying the driver's starting demand based on the driver's operation, and ensures that the vehicle does not roll down a slope by compensating the hydraulic braking force. When the driver continues to increase the throttle opening to drive the vehicle, the hydraulic braking force is controlled to coordinate with the increasing driving force to ensure the smoothness of the vehicle's starting power increase, improve the safety of the vehicle's starting, enhance the driving experience, and improve practicality.

[0099] Specifically, in the embodiment of the present application, the target vehicle refers to a vehicle equipped with an automatic release function for parking the vehicle, which can be any type of vehicle, and the present application does not limit this. The method in the embodiment of the present application can be applied to the scene where the target vehicle is parked on a slope. When executing the method in the embodiment of the present application, it can be detected whether the target vehicle is on a slope first. For example, in some embodiments, the present application can determine the body posture of the target vehicle by means of a sensor, so as to determine whether it is on a slope. For example, an inertial measurement unit, a wheel speed sensor and a pressure sensor are generally installed on the target vehicle. The inertial measurement unit is a commonly used sensor that can measure the posture and acceleration of the vehicle, usually including a three-axis accelerometer and a three-axis gyroscope, and can provide the vehicle's tilt angle information in real time. The wheel speed sensor can monitor the rotation speed of the wheel, and judge whether the vehicle is on a slope by comparing the speed difference between the front and rear wheels: on a flat road, the speed of the front and rear wheels is basically the same, and on a slope, due to the effect of gravity, the load distribution of the front and rear wheels is different, which may cause a speed difference. Therefore, by monitoring the difference in the front and rear wheel speeds, it can be inferred whether the vehicle is on a slope. A pressure sensor is installed in the suspension system of the vehicle, and the pressure sensor can detect the vertical load on each wheel. On a ramp, due to the effect of gravity, the loads of the front and rear wheels will be different. By comparing the load differences of each wheel, it is possible to determine whether the vehicle is on a ramp. Therefore, in the embodiment of the present application, the detection data of the inertial measurement unit, wheel speed sensor or pressure sensor of the target vehicle can be obtained, and according to these detection data, it is possible to determine whether the target vehicle is on a ramp. The detection data here can be of one sensor or of multiple sensors. When multiple sensors are used, it can be determined that the target vehicle is on a ramp only when each sensor determines that the target vehicle is on a ramp, or it can be determined that the target vehicle is on a ramp only when more than half of the sensors determine that the target vehicle is on a ramp, and the application does not limit this. In some embodiments, the position information of the target vehicle can also be obtained by a global positioning system (GPS), and then it is determined whether the target vehicle is on a ramp based on the position information.

[0100] In the embodiment of the present application, when the target vehicle is on a ramp, it is possible to detect whether the driver of the target vehicle is in place, that is, whether there is a driver ready to drive in the driving position of the current target vehicle. If the driver is in place, it is possible to further detect whether the brake pedal of the current target vehicle is stepped on. If the brake pedal is stepped on, it means that the current target vehicle is likely to start from the parked position. At this time, the current slope signal of the target vehicle can be detected, for example, the longitudinal acceleration of the target vehicle can be detected, and then the current slope signal of the target vehicle can be determined based on the longitudinal acceleration. The slope signal here refers to the inclination angle of the ramp where the target vehicle is located. In the embodiment of the present application, its specific size is not limited.

[0101] After the slope signal is detected, the target braking force and target driving force corresponding to the current target vehicle can be determined according to the slope signal, where the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the ramp, and the target driving force is the minimum driving force for the target vehicle to start the upward movement on the ramp. According to the target braking force, it is convenient to control the braking force when automatically parking, and according to the target driving force, it can be judged whether the current driver controls the target vehicle to move forward. In the embodiment of the present application, it is further monitored whether the driver of the target vehicle has a shift operation, that is, the gear of the target vehicle is switched from the parking gear to the driving gear (such as D gear or R gear), if so, the current electronic parking caliper is released, and then the hydraulic braking force is adjusted to the target braking force. In this way, the electronic parking caliper can be released in advance, and the hydraulic braking force and the driving force controlled by the driver can be coordinated later to achieve a smooth start of the target vehicle.

[0102] In an embodiment of the present application, the working condition of the accelerator pedal of the target vehicle can be detected. When it is determined that the accelerator pedal is stepped on, the hydraulic braking force can be released synchronously according to the stroke of the accelerator pedal. The purpose of synchronously releasing the hydraulic braking force here is to balance the driving force and braking force of the vehicle to prevent the wheels from slipping or the vehicle from sliding backward. Specifically, in an embodiment of the present application, the stroke of the accelerator pedal can be detected at all times to determine the first driving force corresponding to it, and then the hydraulic braking force can be gradually reduced according to the increase of the first driving force. The hydraulic braking force reduced in this process matches the increased driving force, ensuring that the vehicle will not stagnate due to excessive braking force, nor will it slide backward due to insufficient braking force. Until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force, the hydraulic braking force is released, and the target vehicle can just start to go up on the slope, thereby achieving a smooth and smooth slope start.

[0103] It can be understood that the automatic release method for vehicle parking provided in the embodiment of the present application automatically releases the electronic parking caliper after identifying the driver's starting demand based on the driver's operation, and ensures that the vehicle does not roll down the slope through compensation of hydraulic braking force. When the driver continues to increase the throttle opening to drive the vehicle, the hydraulic braking force is controlled to coordinate with the increasing driving force to ensure the smoothness of the vehicle's starting power increase, improve the safety of the vehicle's starting, improve the driving experience, and improve practicality.

[0104] Specifically, refer to Figure 3 In some embodiments, the detecting whether the driver of the target vehicle is present includes:

[0105] Obtain pressure detection data from a pressure sensor disposed at the driver's seat;

[0106] If the pressure detection data is greater than a first threshold, it is determined that the driver of the target vehicle is in position.

[0107] In the embodiment of the present application, when detecting whether the driver of the target vehicle is in place, in some embodiments, the pressure detection data of the pressure sensor set in the driving position can be obtained. In the embodiment of the present application, the pressure sensor can be installed under the driver's seat or inside the seat cushion to monitor whether the driver is sitting in the driving position in real time. It can work together with the data acquisition module and the central processing unit (CPU) to realize the detection of the driver's position. Specifically, in the embodiment of the present application, the data acquisition module can be connected to the pressure sensor, which is responsible for collecting pressure data and converting it into a digital signal that can be recognized by the system. The central processing unit can receive data from the data acquisition module and determine whether the driver is in place according to a preset first threshold. It can be understood that if there is no one in the current driving position, the detected pressure detection data is 0 or a smaller value; if the driver is sitting in the driving position, the detected pressure detection data will be a larger value. Therefore, in the embodiment of the present application, a threshold can be pre-set, recorded as the first threshold. If the pressure detection data is greater than the first threshold, it can be determined that the driver of the target vehicle is in place. On the contrary, if the pressure detection data is less than or equal to the first threshold, it can be determined that the driver of the target vehicle is not in place. In the embodiment of the present application, the size of the first threshold can be flexibly determined according to actual needs, and the present application does not limit this.

[0108] Specifically, refer to Figure 4 In some embodiments, the detecting whether the driver of the target vehicle is present includes:

[0109] Detecting a seat belt signal of a driver's seat of the target vehicle;

[0110] According to the seat belt signal, it is determined whether the driver of the target vehicle is in place.

[0111] In the embodiment of the present application, when detecting whether the driver of the target vehicle is in place, in some cases, the seat belt signal of the driver's seat of the target vehicle can also be detected, that is, it is determined whether the seat belt of the driver's seat of the target vehicle is used. If it is used, it means that there is a driver in the current driver's seat, and it can be determined that the driver of the target vehicle is in place. Conversely, if it is not used, it means that there is probably no driver in the current driver, and it can be determined that the driver of the target vehicle is not in place.

[0112] Specifically, refer to Figure 5 In some embodiments, the detecting whether the driver of the target vehicle is present includes:

[0113] Collecting image data of the driving position of the target vehicle;

[0114] Perform image recognition on the image data, and determine whether the driver of the target vehicle is in place based on the result of the image recognition.

[0115] In the embodiment of the present application, when detecting whether the driver of the target vehicle is in place, in some cases, image data of the driver's seat of the target vehicle can also be collected. Then, image recognition can be performed on the image data, for example, machine learning, deep learning and other algorithms can be used to detect whether there is a person in the image data. If there is, it can be determined that the driver of the target vehicle is in place. If not, it can be determined that the driver of the target vehicle is not in place.

[0116] Specifically, refer to Figure 6 In some embodiments, if it is determined that the driver is in position, detecting whether the brake pedal of the target vehicle is depressed includes:

[0117] If it is determined that the driver is in place, detecting whether the doors of the target vehicle are all closed;

[0118] If it is determined that all doors of the target vehicle are closed, it is detected whether the brake pedal of the target vehicle is stepped on.

[0119] In the embodiment of the present application, after determining that the driver is in position, when the automatic release function of the vehicle parking is performed, in order to ensure the safety of vehicle driving, it can be detected whether the doors of the target vehicle are completely closed. If so, the subsequent detection task is further performed, that is, whether the brake pedal of the target vehicle is stepped on. If it is found that the door is not completely closed, the driver can be reminded to operate, thereby improving the safety of vehicle application.

[0120] Specifically, refer to Figure 7 In some embodiments, adjusting the hydraulic braking force to the target braking force includes:

[0121] detecting a first braking force corresponding to a current stroke of the brake pedal;

[0122] If the first braking force is less than the target braking force, the current hydraulic braking force is increased to the target braking force; or, if the first braking force is greater than the target braking force, the current hydraulic braking force is reduced to the target braking force.

[0123] In the embodiment of the present application, when adjusting the hydraulic braking force to the target braking force, the first braking force corresponding to the current brake pedal stroke can be detected first. If the first braking force is small and smaller than the target braking force, the current hydraulic braking force can be increased to the target braking force; on the contrary, if the first braking force is large and larger than the target braking force, the current hydraulic braking force can be reduced to the target braking force.

[0124] Specifically, in some embodiments, the method further includes:

[0125] If it is determined that the brake pedal is not depressed, detecting whether the current electronic parking caliper is clamped;

[0126] If it is determined that the electronic parking caliper is clamped and the gear position of the target vehicle is the forward gear position, the current slope signal of the target vehicle is detected, and the corresponding target braking force and target driving force are determined according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope;

[0127] Detecting whether the accelerator pedal of the target vehicle is depressed;

[0128] If it is determined that the accelerator pedal of the target vehicle is depressed, and the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force, releasing the current electronic parking caliper and adjusting the hydraulic braking force to the target braking force;

[0129] The hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

[0130] In the embodiment of the present application, if the driver does not step on the brake pedal, but the electronic parking caliper is clamped at this time, it can be further determined whether the gear position of the target vehicle is the forward gear position. If so, the electronic parking caliper can also be released according to the throttle situation. Specifically, in the embodiment of the present application, the slope signal of the current target vehicle can be detected to determine the corresponding target braking force and target driving force, which have the same meanings as in the aforementioned embodiment and are not repeated here. Then, it can be detected whether the throttle of the target vehicle is stepped on. If so, it can continue to determine whether the first driving force corresponding to the stroke of the throttle pedal reaches the target driving force. If it reaches, the current electronic parking caliper can be directly released, and the vehicle will move forward directly at this time. If the target driving force is not reached, the current electronic parking caliper can be released, and the hydraulic braking force can be adjusted to the target braking force, and then the hydraulic braking force can be released synchronously according to the stroke of the throttle pedal until the first driving force corresponding to the stroke of the throttle pedal reaches the target driving force. At this time, the hydraulic braking force is released, and the target vehicle can just start to go up on the slope, thereby achieving a smooth and smooth slope start.

[0131] Specifically, in some embodiments, the method further includes:

[0132] If it is determined that the accelerator pedal of the target vehicle is depressed, recording the accumulated time duration during which the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force;

[0133] When it is determined that the accumulated time exceeds a second threshold, the electronic parking caliper is controlled to be clamped.

[0134] In the embodiment of the present application, if the driver steps on the accelerator pedal, but the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force, and the duration is relatively long, for the sake of safety, the electronic parking caliper can be pulled up again to park the vehicle. Specifically, in the embodiment of the present application, the cumulative duration of the first driving force corresponding to the stroke of the accelerator pedal not reaching the target driving force can be recorded, and a threshold value can be set specifically, recorded as the second threshold value. If the cumulative duration exceeds the second threshold value, the electronic parking caliper can be controlled to clamp again.

[0135] Reference Figure 8 In an embodiment of the present application, there is also provided an automatic release device for parking a vehicle, the device comprising:

[0136] A first detection unit, used for detecting whether the driver of the target vehicle is in position when the target vehicle is on a slope;

[0137] A second detection unit is used to detect whether the brake pedal of the target vehicle is depressed if it is determined that the driver is in position;

[0138] a processing unit, configured to detect a current slope signal of the target vehicle if it is determined that the brake pedal is depressed, and determine a corresponding target braking force and a target driving force according to the slope signal; wherein the target braking force is a minimum braking force corresponding to the target vehicle when the target vehicle does not slip on the slope, and the target driving force is a minimum driving force for the target vehicle to start moving upward on the slope;

[0139] an adjusting unit, configured to release the current electronic parking caliper and adjust the hydraulic braking force to the target braking force if it is determined that the gear position of the target vehicle is switched to the driving gear position;

[0140] The execution unit is used to release the hydraulic braking force synchronously according to the stroke of the accelerator pedal when it is detected that the accelerator pedal of the target vehicle is stepped on, until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

[0141] In some embodiments, the apparatus further comprises a second execution unit, wherein the second execution unit is configured to:

[0142] If it is determined that the brake pedal is not depressed, detecting whether the current electronic parking caliper is clamped;

[0143] If it is determined that the electronic parking caliper is clamped and the gear position of the target vehicle is the forward gear position, the current slope signal of the target vehicle is detected, and the corresponding target braking force and target driving force are determined according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope;

[0144] Detecting whether the accelerator pedal of the target vehicle is depressed;

[0145] If it is determined that the accelerator pedal of the target vehicle is depressed, and the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force, releasing the current electronic parking caliper and adjusting the hydraulic braking force to the target braking force;

[0146] The hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

[0147] In some embodiments, the second execution unit is further configured to:

[0148] If it is determined that the accelerator pedal of the target vehicle is depressed and the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force, the current electronic parking caliper is released.

[0149] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0150] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above method when executing the computer program. The electronic device can be a mobile phone, a computer, a smart wearable device, a PDA device, an intelligent voice interaction device, a vehicle terminal, etc., but is not limited thereto.

[0151] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0152] See also Fig. 9 , Fig. 9 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the electronic device may include:

[0153] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0154] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 902, and the processor 901 calls and executes the methods of the embodiments of this application;

[0155] Input / output interface 903, used to implement information input and output;

[0156] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0157] A bus 905 that transmits information between various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0158] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0159] Reference Fig.10 In an embodiment of the present application, a vehicle is also provided, the vehicle including the above-mentioned automatic release device for parking the vehicle or the electric drive assembly of the electronic device. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle can also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0160] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program implements the above method when executed by a processor.

[0161] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0162] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0163] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0164] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0165] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0167] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0168] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0169] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0170] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0171] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0172] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0173] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for automatically releasing a vehicle from parking, characterized in that: The method comprises: When the target vehicle is on a ramp, detecting whether the driver of the target vehicle is in position; If it is determined that the driver is in position, detecting whether the brake pedal of the target vehicle is depressed; If it is determined that the brake pedal is depressed, the current slope signal of the target vehicle is detected, and the corresponding target braking force and target driving force are determined according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when the target vehicle does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope; If it is determined that the gear position of the target vehicle is switched to the driving gear position, releasing the current electronic parking caliper and adjusting the hydraulic braking force to the target braking force; When it is detected that the accelerator pedal of the target vehicle is depressed, the hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

2. The automatic release method for parking a vehicle according to claim 1, characterized in that: The detecting whether the driver of the target vehicle is present comprises: Obtain pressure detection data from a pressure sensor disposed at the driver's seat; If the pressure detection data is greater than a first threshold, it is determined that the driver of the target vehicle is in position.

3. The automatic release method for parking a vehicle according to claim 1, characterized in that: The detecting whether the driver of the target vehicle is present comprises: Detecting a seat belt signal of a driver's seat of the target vehicle; According to the seat belt signal, it is determined whether the driver of the target vehicle is in place.

4. The automatic release method for parking a vehicle according to claim 1, characterized in that: The detecting whether the driver of the target vehicle is present comprises: Collecting image data of the driving position of the target vehicle; Perform image recognition on the image data, and determine whether the driver of the target vehicle is in place based on the result of the image recognition.

5. A method for automatically releasing a vehicle from parking according to any one of claims 1 to 4, characterized in that: If it is determined that the driver is in position, detecting whether the brake pedal of the target vehicle is depressed includes: If it is determined that the driver is in place, detecting whether the doors of the target vehicle are all closed; If it is determined that all doors of the target vehicle are closed, it is detected whether the brake pedal of the target vehicle is stepped on.

6. The automatic release method for parking a vehicle according to claim 1, characterized in that: The detecting the current slope signal of the target vehicle comprises: detecting the longitudinal acceleration of the target vehicle; A current slope signal of the target vehicle is determined according to the longitudinal acceleration.

7. The automatic release method for parking a vehicle according to claim 1, characterized in that: The adjusting the hydraulic braking force to the target braking force comprises: detecting a first braking force corresponding to a current stroke of the brake pedal; If the first braking force is less than the target braking force, the current hydraulic braking force is increased to the target braking force; or, if the first braking force is greater than the target braking force, the current hydraulic braking force is reduced to the target braking force.

8. The automatic release method for parking a vehicle according to claim 1, characterized in that: The method further comprises: If it is determined that the brake pedal is not depressed, detecting whether the current electronic parking caliper is clamped; If it is determined that the electronic parking caliper is clamped and the gear position of the target vehicle is the forward gear position, the current slope signal of the target vehicle is detected, and the corresponding target braking force and target driving force are determined according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope; Detecting whether the accelerator pedal of the target vehicle is depressed; If it is determined that the accelerator pedal of the target vehicle is depressed, and the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force, releasing the current electronic parking caliper and adjusting the hydraulic braking force to the target braking force; The hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

9. The automatic release method for parking a vehicle according to claim 8, characterized in that: The method further comprises: If it is determined that the accelerator pedal of the target vehicle is depressed and the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force, the current electronic parking caliper is released.

10. The automatic release method for parking a vehicle according to claim 1, characterized in that: The method further comprises: Acquiring detection data of at least one of an inertial measurement unit, a wheel speed sensor, or a pressure sensor of the target vehicle; According to the detection data, it is determined whether the target vehicle is on a slope.

11. The automatic release method for parking a vehicle according to claim 1, characterized in that: The method further comprises: Acquiring the location information of the target vehicle through a global positioning system; According to the position information, it is determined whether the target vehicle is on a slope.

12. The automatic release method for parking a vehicle according to claim 1 or 8, characterized in that: The method further comprises: If it is determined that the accelerator pedal of the target vehicle is depressed, recording the accumulated time duration during which the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force; When it is determined that the accumulated time exceeds a second threshold, the electronic parking caliper is controlled to be clamped.

13. An automatic release device for parking a vehicle, characterized in that: The device comprises: A first detection unit, used for detecting whether the driver of the target vehicle is in position when the target vehicle is on a slope; A second detection unit is used to detect whether the brake pedal of the target vehicle is depressed if it is determined that the driver is in position; a processing unit, configured to detect a current slope signal of the target vehicle if it is determined that the brake pedal is depressed, and determine a corresponding target braking force and a target driving force according to the slope signal; wherein the target braking force is a minimum braking force corresponding to the target vehicle when the target vehicle does not slip on the slope, and the target driving force is a minimum driving force for the target vehicle to start moving upward on the slope; an adjusting unit, configured to release the current electronic parking caliper and adjust the hydraulic braking force to the target braking force if it is determined that the gear position of the target vehicle is switched to the driving gear position; The execution unit is used to release the hydraulic braking force synchronously according to the stroke of the accelerator pedal when it is detected that the accelerator pedal of the target vehicle is stepped on, until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

14. The automatic release device for parking a vehicle according to claim 13, characterized in that: The device further includes a second execution unit, wherein the second execution unit is configured to: If it is determined that the brake pedal is not depressed, detecting whether the current electronic parking caliper is clamped; If it is determined that the electronic parking caliper is clamped and the gear position of the target vehicle is the forward gear position, the current slope signal of the target vehicle is detected, and the corresponding target braking force and target driving force are determined according to the slope signal; wherein the target braking force is the minimum braking force corresponding to the target vehicle when it does not slip on the slope, and the target driving force is the minimum driving force for the target vehicle to start moving upward on the slope; Detecting whether the accelerator pedal of the target vehicle is depressed; If it is determined that the accelerator pedal of the target vehicle is depressed, and the first driving force corresponding to the stroke of the accelerator pedal does not reach the target driving force, releasing the current electronic parking caliper and adjusting the hydraulic braking force to the target braking force; The hydraulic braking force is synchronously released according to the stroke of the accelerator pedal until the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force.

15. The automatic release device for parking a vehicle according to claim 14, characterized in that: The second execution unit is further configured to: If it is determined that the accelerator pedal of the target vehicle is depressed and the first driving force corresponding to the stroke of the accelerator pedal reaches the target driving force, the current electronic parking caliper is released.

16. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the automatic release method for parking a vehicle as described in any one of claims 1-12.

17. A vehicle, characterized in that: The vehicle comprises the automatic release device for vehicle parking according to claim 13 or the electronic device according to claim 16.

18. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to implement an automatic release method for parking a vehicle as described in any one of claims 1-12 when executed by the processor.

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