Automatic parking method and device, vehicle and storage medium

Abstract

The invention provides an automatic parking method and device, a vehicle and a storage medium, and relates to the technical field of vehicle control. The invention creatively provides a single-pedal parking logic which does not involve a brake pedal, that is, after the vehicle is braked, a driver can control the vehicle to be in a parking mode without stepping on the brake pedal. The parking logic corresponds to the single-pedal mode of the vehicle, so that a driver using the single-pedal mode can directly achieve automatic parking conveniently, and the collision risk caused by the fact that the vehicle cannot be automatically parked when the vehicle is static in the single-pedal mode is reduced. In addition, the use scene of the single-pedal parking logic is recognized, and the single-pedal parking logic is started only when the external environment meets the single-pedal parking requirement. False triggering of single-pedal parking logic in scenes such as a low-speed crowded road section is avoided, and the driving experience of a driver is improved.

Description

Technical Field

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

[0002] Among the vehicle's assisted driving systems, the automatic parking system is a very important assisted driving system. The automatic parking system can automatically maintain the vehicle's braking state without having to keep pressing the brake pedal. That is, when the automatic parking system is activated, when the driver removes his foot from the brake pedal, the vehicle is still in the braking state.

[0003] In traditional vehicles, the automatic parking system needs to be manually activated by the driver, which reduces the timeliness of the automatic parking system. Therefore, how to automatically trigger the automatic parking system at the right time is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] In view of this, the embodiments of the present application provide an automatic parking method, device, vehicle and storage medium, which can determine the appropriate automatic parking logic according to the actual driving environment, so that the automatic parking system can be triggered at the appropriate time.

[0005] In a first aspect, the present application provides an automatic parking method, which is applied to a vehicle, and the method includes: judging whether the current road section meets the single-pedal parking requirement based on the environmental perception information collected by the vehicle. If not, the automatic parking logic of the vehicle is adjusted to the dual-pedal parking logic, wherein the dual-pedal parking logic includes the brake pedal opening condition. If so, the automatic parking logic is adjusted to the single-pedal parking logic, wherein the single-pedal parking logic includes the speed threshold condition and does not involve the brake pedal opening condition. In response to the vehicle satisfying the automatic parking logic, the parking actuator of the vehicle is controlled to perform the parking action.

[0006] In a second aspect, the present application provides an electronic device. The electronic device includes: at least one processor and a memory connected to the at least one processor. The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the automatic parking method described in the first aspect.

[0007] In a third aspect, the present application provides a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to enable a computer to execute the automatic parking method described in the first aspect.

[0008] In a fourth aspect, the present application provides a vehicle. The vehicle includes at least one processor and a memory in communication with the at least one processor. The memory further stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the automatic parking method described in the first aspect.

[0009] Therefore, based on the automatic parking method, device, vehicle and storage medium of the embodiment of the present application, a single-pedal parking logic that does not involve a brake pedal is creatively provided, that is, after the vehicle is braked, the driver can control the vehicle to be in parking mode without stepping on the brake pedal. This parking logic corresponds to the single-pedal mode of the vehicle, which is convenient for drivers using the single-pedal mode to directly achieve automatic parking, and reduces the risk of collision caused by the inability to automatically park when the vehicle is stationary in the single-pedal mode. In addition, the present application also identifies the use scenarios of the single-pedal parking logic, and the single-pedal parking logic is only enabled when the external environment meets the single-pedal parking requirements. This avoids the false triggering of the single-pedal parking logic in scenarios such as low-speed congested roads, and improves the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 It is an exemplary flow chart of the automatic parking method provided in some embodiments of the present application.

[0012] Figure 2 It is a data flow diagram of the automatic parking logic configuration process provided by some embodiments of the present application.

[0013] Figure 3 It is an interactive schematic diagram of selecting automatic parking logic provided in some embodiments of the present application.

[0014] Figure 4 It is an interactive schematic diagram of the automatic parking logic provided by some embodiments of the present application.

[0015] Figure 5 It is a system module diagram of an automatic parking system provided in some embodiments of the present application.

[0016] Figure 6 It is a schematic diagram of the structure of an electronic device provided in some embodiments of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the present disclosure claimed for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0018] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0019] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0020] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0021] Application Overview:

[0022] In vehicle driving, "parking" usually refers to parking the vehicle in a certain position to keep it stationary and no longer move. In traditional vehicles, it is generally necessary to put the vehicle's transmission in neutral or parking gear (P gear) and pull up the handbrake or use the foot brake to prevent the vehicle from sliding.

[0023] "Auto Hold" is an assist function in modern cars that allows the vehicle to automatically hold the brakes when parking, and the vehicle will remain stationary even if the driver's foot is off the brake pedal. This function is particularly useful when parking at traffic lights or on a slope, which can reduce the driver's fatigue of having to hold the brakes for a long time. When the driver steps on the accelerator pedal again, the auto hold function is automatically released and the vehicle can continue to drive.

[0024] In actual use of the automatic parking function, it is generally triggered by an automatic parking button or brake pedal, that is, when the vehicle is stationary, the driver can further step on the brake pedal to trigger the automatic parking function. At this time, after the driver releases the brake pedal, the vehicle will still be in a braking state.

[0025] With the development of vehicle technology, the driver's control over the vehicle has gradually changed. With the widespread popularity of electric vehicles, the single-pedal mode that directly controls the electric motor of the electric vehicle is adopted by more and more drivers. Among them, the single-pedal mode of the electric vehicle is a driving mode that allows the driver to control the acceleration, deceleration and braking of the vehicle through a single accelerator pedal without frequently using the brake pedal. The core of this mode is to use the regenerative braking system (Regenerative Braking) of electric vehicles to convert braking energy into electrical energy and store it in the battery, thereby achieving the effect of deceleration and braking.

[0026] However, considering that the single-pedal mode does not require the use of the brake pedal for braking, the vehicle does not meet the conventional automatic parking conditions after being stopped by the single-pedal mode. Unless the driver actively operates, it cannot automatically enter the automatic parking state. For example, when a vehicle in this state is rear-ended by a vehicle behind, because it is not in the automatic parking state, the vehicle will move due to the collision with the vehicle behind, which is very likely to cause a chain collision accident.

[0027] In order to overcome the aforementioned situation, the present application creatively provides a single-pedal parking logic that does not involve a brake pedal, that is, after the vehicle is braked, the driver can control the vehicle to be in parking mode without stepping on the brake pedal. This parking logic corresponds to the single-pedal mode of the vehicle, which is convenient for drivers using the single-pedal mode to directly achieve automatic parking, and reduces the risk of collision caused by the inability to automatically park when the vehicle is stationary in the single-pedal mode. In addition, the present application also identifies the usage scenarios of the single-pedal parking logic, and the single-pedal parking logic is only enabled when the external environment meets the single-pedal parking requirements. This avoids the false triggering of the single-pedal parking logic in scenarios such as low-speed congested roads, and improves the driver's driving experience. The various non-limiting embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0028] Exemplary automatic parking method:

[0029] Figure 1 is an exemplary flow chart of the automatic parking method provided by some embodiments of the present application. In some embodiments, Figure 1 The process P100 shown may be executed by an on-vehicle electronic stability control system.

[0030] Electronic Stability Control (ESC) is a collection of driver assistance devices designed to help the driver maintain vehicle stability and control in emergency situations. The ESC system can detect if the vehicle is losing control, and once it detects signs of loss of control, it will automatically adjust the vehicle's braking force and engine output to help the vehicle maintain stability.

[0031] In some embodiments, the electronic stability control system may implement an automatic parking function by configuring the automatic parking logic.

[0032] like Figure 1 As shown, P100 may include the following steps:

[0033] S110. Determine whether the current road section meets the single-pedal parking requirement based on the environmental perception information collected by the vehicle.

[0034] S120: If not, adjust the vehicle's automatic parking logic to a two-pedal parking logic.

[0035] S130: If yes, adjust the automatic parking logic to the single-pedal parking logic.

[0036] S140: In response to the vehicle satisfying the automatic parking logic, controlling the parking actuator of the vehicle to perform a parking action.

[0037] Depend on Figure 1 It can be seen that the aforementioned S110 is a judgment step for determining whether the single-pedal parking logic can be activated, and the subsequent S120 and S130 can be selectively executed according to the judgment result. Among them, S120 is executed when the judgment result is no, and S130 is executed when the judgment result is yes. After adjusting the parking logic based on the aforementioned S120 and S130, S140 can be executed to achieve automatic parking when the parking logic is met. That is, in the aforementioned P100, it can be determined whether the single-pedal parking logic or the double-pedal parking logic is currently adopted, so as to control the vehicle to park based on the appropriate parking logic.

[0038] In the aforementioned P100, the single-pedal parking logic may refer to a parking logic that does not rely on the brake pedal. Considering the actual parking conditions, the single-pedal parking logic does not involve the brake pedal opening condition. That is, when parking based on the single-pedal parking logic, the brake pedal can be left unoperated to achieve automatic parking.

[0039] The pedal opening refers to the degree to which the driver presses the accelerator pedal or the brake pedal, which is used to control the power output of the car or the working force of the braking system. Among them, the pedal opening can be described based on pre-set parameters. For example, the pedal opening can be described based on the proportion of the pedal stroke at the current position to the total pedal stroke. For another example, the pedal opening can be described based on the force applied to the pedal at the current position.

[0040] The opening condition may refer to a quantitative condition based on a corresponding pedal opening parameter. During braking, considering that the accelerator pedal needs to be released, the brake pedal needs to be further stepped on. The accelerator pedal opening condition may be described as an accelerator pedal opening threshold condition. When the accelerator pedal opening threshold is less than the accelerator pedal opening threshold, it may be determined that the corresponding accelerator pedal opening condition is satisfied. The brake pedal opening condition may be a brake pedal opening threshold condition. When the brake pedal opening threshold is greater than the brake pedal opening threshold, it may be determined that the corresponding brake pedal opening condition is satisfied.

[0041] Considering that the aforementioned single-pedal parking logic does not involve the brake pedal opening condition, in order to characterize the stationary state of the vehicle, the aforementioned single-pedal parking logic may include a speed threshold condition, that is, when the vehicle speed is less than a preset threshold, it can be determined that the single-pedal parking logic is satisfied. In some embodiments, considering that the single-pedal mode mainly depends on the control of the accelerator pedal, the aforementioned single-pedal parking logic may also include an accelerator pedal opening condition.

[0042] The specific parameters of each judgment condition in the aforementioned single-pedal parking logic can be adjusted according to actual conditions. For example, the relevant parameters can be set by the user. For another example, the specific parameters of the judgment condition can be automatically analyzed based on the driver's driving habits. For example, the vehicle state when the driver performs the parking operation through the automatic parking button can be determined, and the parameter conditions when the driver wants to park can be fitted based on the vehicle speed and accelerator pedal opening under the vehicle state, and the aforementioned single-pedal parking logic can be configured.

[0043] Different from the aforementioned single-pedal parking logic, the dual-pedal parking logic generally involves both the brake pedal opening condition and the vehicle speed condition. That is, based on the dual-pedal parking logic, the driver must control the vehicle speed within the threshold by stepping on the brake pedal before the vehicle will start the automatic parking function. Similar to the aforementioned single-pedal parking logic, the specific parameters of each condition in the dual-pedal parking logic can be determined according to the driver's settings and / or driving habits.

[0044] In some embodiments, considering that the aforementioned single-pedal parking logic does not rely on the brake pedal for control, there may be a possibility of accidental touch in actual application. Therefore, the application scenario of the single-pedal parking logic can be determined in S110 of the aforementioned P100 to avoid single-pedal parking operations in incorrect scenarios.

[0045] In the aforementioned S110, it can be determined whether the current situation is suitable for the single-pedal parking logic based on the environmental perception information and the single-pedal parking requirement, so that the single-pedal parking logic is shielded when it is not appropriate and the double-pedal parking logic is adopted.

[0046] Environmental perception information refers to data collected by the vehicle that reflects the current driving environment. Environmental perception information may include relevant information obtained from the outside (such as map information, traffic light time information, road congestion information, etc.), and may also include sensor information collected by its own sensors (such as lane line information, information about surrounding vehicles / pedestrians, etc.).

[0047] Based on the description of the current environment of the vehicle by the aforementioned environmental perception information, the aforementioned single-pedal parking requirement can reflect the environmental requirements when the single-pedal parking logic can be executed. Taking into account that the single-pedal parking logic is generally characterized by a threshold condition for speed, the main requirement of the single pedal can be described as the current driving environment cannot affect the normal vehicle speed. For example, the current driving environment cannot have traffic jams or low-speed driving. For another example, the road conditions in the current driving environment cannot affect the normal driving speed of the vehicle (for example, there cannot be potholes on the road), etc.

[0048] Taking into account that the single-pedal parking requirement can generally be characterized by whether the current road section affects the vehicle's driving speed, and taking into account that road section types such as narrow roads, undulating roads and crowded roads seriously affect the vehicle's driving speed, the single-pedal parking requirement can be determined directly based on the road type. If the road type of the current road section is a type that seriously affects the vehicle's driving speed, it can be determined that it does not meet the single-pedal parking requirement.

[0049] That is, when executing the aforementioned S110, the environmental perception information of the current road section may be determined first. Then, the road section type of the current road section may be determined based on the environmental perception information collected by the vehicle. Next, whether the current road section meets the single-pedal parking requirement is determined based on the road section type. When the road section type is a target road section type, it is determined that the current road section does not meet the single-pedal parking requirement. The target road section types include narrow roads, undulating roads, and congested roads.

[0050] It should be noted that the aforementioned target road section type refers to the road section type that seriously affects the vehicle's driving speed. In practical applications, it can be increased or decreased according to the actual driving conditions to match the driver's driving habits.

[0051] In some embodiments, in addition to the aforementioned qualitative determination based on the road segment type, the parking situation of the current road segment can also be directly estimated, and whether the parking situation is normal can be determined based on the relevant parameters of the parking situation. Figure 4 and its related description.

[0052] In some embodiments, considering that the aforementioned S110 will switch to the single-pedal parking logic when the single-pedal parking requirement is met after execution, it can be reflected that the driver tends to use the single-pedal parking logic when executing S110. Considering the diversity of the driver's actual preferences, the aforementioned S110 can be selectively triggered based on the driver's actual preferences, that is, it is only executed when the driver tends to use the single-pedal parking logic. For more information about the triggering logic of S110, please refer to Figure 2 For driver configuration of parking logic, see Figure 3 and its related description.

[0053] Based on the above S110-S130, the parking logic of the current road section can be adjusted according to the environmental perception information of the current road section, thereby, automatic parking can be performed based on the parking logic. That is, after executing the above S110-S130, the above S140 can be executed based on the determined parking logic, so that the corresponding parking action is performed after the corresponding automatic parking logic is satisfied.

[0054] In the aforementioned S140, the parking actuator is generally a vehicle stability control system (ESC). When executing automatic parking, the vehicle stability control system (such as brakes) generally applies an appropriate braking force to the wheels to stop the vehicle. This braking force is just enough to stop the vehicle from moving, but not too much, so that when the accelerator is pressed again, the vehicle will not move forward too seriously. In addition, considering that electric vehicles are generally driven by motors, a specific torque can be applied to the motors to maintain their stationary state.

[0055] Therefore, based on the aforementioned automatic parking method P100, a single-pedal parking logic that does not involve a brake pedal is provided, that is, after the vehicle is braked, the driver can control the vehicle to be in parking mode without stepping on the brake pedal. This parking logic corresponds to the single-pedal mode of the vehicle, which is convenient for drivers using the single-pedal mode to directly achieve automatic parking, and reduces the risk of collision caused by the inability to automatically park in the single-pedal mode. In addition, the present application also identifies the usage scenarios of the single-pedal parking logic, and the single-pedal parking logic is only enabled when the external environment meets the single-pedal parking requirements. This avoids the false triggering of the single-pedal parking logic in scenarios such as low-speed congested roads, and improves the driver's driving experience.

[0056] After the automatic parking is performed based on the above automatic parking logic, the driver can perform subsequent steps according to actual needs. Among them, the automatic parking can generally be triggered by the temporary stop of the vehicle during normal driving, and then released according to the need to continue driving. For example, the above automatic parking logic can be triggered at a red light, and after the light turns green, the driver can lightly step on the accelerator pedal to release the automatic parking state.

[0057] In some embodiments, taking into account the vehicle stop state, which may occur when arriving at the destination in addition to temporary stops during normal driving, after the aforementioned automatic parking logic is triggered, the driver can further adjust the reverse gear, neutral gear and parking gear according to actual conditions to meet the corresponding vehicle parking requirements.

[0058] That is, the automatic parking function can generally be triggered in D gear (driving gear), which means that when the vehicle is in automatic parking state, it can remain in D gear without shifting to N gear (neutral gear) or P gear (parking gear). Considering that the vehicle in automatic parking state has completely stopped, the gear position of the vehicle in automatic parking state can be adjusted according to subsequent driving needs.

[0059] In some embodiments, the gear control of the vehicle in the automatic parking state can be automatically performed based on the driving environment of the current road section. That is, the aforementioned P100 can also include the following steps after completing the automatic parking:

[0060] S150: In response to the vehicle being in a parking state, determining a target gear position of the vehicle based on environmental perception information.

[0061] S160. Control a shifting system of the vehicle to adjust a current gear position of the vehicle based on the target gear position.

[0062] In the aforementioned S150, the target gear position may be a gear position that meets the subsequent driving needs of the vehicle. For example, if the vehicle needs to temporarily stop during driving, the aforementioned target gear position should be D gear. For another example, if the vehicle needs to stop after automatic parking, the target gear position may be P gear. For another example, if the vehicle needs to enter a parking space, the gear position may be a reverse gear (R gear) that can enter the parking space.

[0063] In some embodiments, the target gear position may be determined based on whether the current automatic parking is a temporary stop or a long-term stop. If it is a temporary stop, the target gear position may be D gear. If it is a long-term stop, the target gear position may be P gear or R gear.

[0064] In some embodiments, the subsequent driving conditions of the vehicle on the current road section can be determined based on the driving conditions of the current road section. For example, if the current road section is the end point of the navigation or a common destination in historical driving habits, it can be determined that the vehicle needs to park for a long time after the current automatic parking. If the current road section is a section in the navigation process or the vehicle is parked due to external reasons (such as traffic jams, traffic lights, etc.), it can be determined that the vehicle is temporarily parked and remains in D gear.

[0065] In some embodiments, when the vehicle is parked for a long time, it may need to enter a parking space, and this process often requires a time-sequential change in gear. In this case, the target parking position can be determined from the current road section based on the environmental perception information. Then, the target gear position of the vehicle is determined based on the relative position relationship between the target parking position and the vehicle.

[0066] That is, the vehicle can identify a parking space (i.e., a target parking position), and the identification process can be achieved through driver interaction or determined based on historical memory (such as historical parking spaces, preset parking spaces). After determining the target parking position, the driving trajectory of the vehicle entering the target parking position can be determined, thereby matching the corresponding gear position as the corresponding target gear position.

[0067] Therefore, after executing the aforementioned automatic parking, the present application can also configure the appropriate gear of the vehicle based on the subsequent driving situation. In particular, considering that the vehicle is in a stopped state during automatic parking, the R gear and the P gear can be adjusted to meet the subsequent parking requirements.

[0068] To further illustrate the triggering process of the aforementioned S110, the present application also provides an exemplary flowchart for executing the single-pedal parking requirement determination ( Figure 2 ).

[0069] like Figure 2 As shown, process P200 may include the following steps:

[0070] S210 : Determine a default parking logic for the vehicle based on user setting information and / or a vehicle driving mode.

[0071] S220: In response to the default parking logic being the single-pedal parking logic, collecting environmental perception information of the current road section in real time and determining whether the current road section meets the single-pedal parking requirement based on the environmental perception information.

[0072] In the aforementioned S210, the default parking logic may be the parking logic that the driver (ie, the user) is more accustomed to in driving habits. The default parking logic may generally be determined based on the driver's driving habits / settings. That is, the driver may set the parking logic that he or she uses on the vehicle's interactive page, so that the corresponding logic is called when the driver drives.

[0073] Considering that the single-pedal parking logic does not involve the brake pedal, the aforementioned single-pedal parking logic generally corresponds to the single-pedal mode of the vehicle driving mode. That is, if the driver uses the single-pedal mode, the default parking logic may be the single-pedal parking logic.

[0074] In some embodiments, considering the variability of the driver's driving mode, the aforementioned default parking logic can also be determined according to the actual driving mode adopted. That is, the aforementioned S210 can also include the following sub-steps:

[0075] S211 . Determine at least one candidate parking logic that matches current driver information based on user setting information.

[0076] S212: Determine a default parking logic from at least one candidate parking logic based on the vehicle driving mode.

[0077] The candidate parking logics can be various parking logics that the driver can accept. That is, the driver may often accept multiple parking logics, that is, each parking logic can be used in parallel to realize the parking function. However, in fact, in order to avoid confusion caused by repeated triggering of different parking logics, it is generally necessary to select one from the candidate parking logics as the default parking logic for the current road section to ensure the accurate execution of automatic parking.

[0078] In the aforementioned S212, to determine the default parking logic, the corresponding logic may be called from the candidate parking logics based on the vehicle driving mode. When the vehicle driving mode is the single-pedal mode, at least one candidate parking logic includes the single-pedal parking logic, and the default parking logic is configured as the single-pedal parking logic.

[0079] As shown in the aforementioned S220, the aforementioned S110 may be executed when the default parking logic is the single-pedal parking logic. That is, when the default parking logic is the double-pedal parking logic, it is not necessary to consider whether the current road section can use the single-pedal parking logic, and the double-pedal parking logic can be maintained.

[0080] It should be noted that the default parking logic determined above only reflects the driver's parking logic preference. After the single-pedal parking logic is blocked in the subsequent steps, the double-pedal parking logic can be determined from the candidate parking logics. If the double-pedal parking logic does not exist, a brake pedal opening condition can be added to the single-pedal parking logic to serve as the double-pedal parking logic.

[0081] Thus, based on the above process, the above judgment can be performed only when the user adopts the single-pedal parking logic by default. This avoids the change and judgment of the automatic parking logic when the user selects the double-pedal parking logic. This improves the adaptability of the automatic parking method provided by the present application to different scenarios.

[0082] Exemplary parking logic configuration and execution process:

[0083] To further illustrate the driver's configuration of the automatic parking logic, the present application also provides a data flow diagram of the automatic parking logic configuration process ( Figure 3 ).

[0084] like Figure 3As shown, during the execution of the aforementioned automatic parking method, the electronic stability control system 310 may further include a non-erasable memory 311 , an electronic control unit 312 and a brake 313 .

[0085] The non-erasable memory 311 may be a data storage device within the electronic stability control system 310, and the data stored in the non-erasable memory 311 may still be saved after power failure. That is, the braking state and the currently executed automatic parking logic may be stored in the non-erasable memory 311, so that the automatic parking logic and braking state before power failure may still be determined after the vehicle is restarted.

[0086] The electronic control unit 312 may be a collection of devices with computing capabilities within the electronic stability control system 310 . For example, the electronic control unit 312 may be a domain controller of the electronic stability control system 310 .

[0087] The brake 313 may be an actual execution device for braking in the electronic stability control system 310. For example, the brake 313 may be an electronic hand brake.

[0088] Based on the aforementioned electronic stability control system 310, in the aforementioned automatic parking method, the vehicle's operating state can be determined by the vehicle-mounted sensor 320 and sent to the electronic control unit 312. The electronic control unit 312 calls the automatic parking logic in the non-erasable memory 311 and compares it with the vehicle's operating state to generate a trigger signal and a release signal. The brake 313 can control the vehicle to be in a braking state or a release state based on the trigger signal and the release signal.

[0089] In some embodiments, it is considered that the non-erasable memory 311 may store multiple automatic parking logics set by multiple target drivers. When storing the automatic parking logic, the automatic parking logic may be numbered, and when calling, the number of the automatic parking logic being executed is recorded in the non-erasable memory 311. When the automatic parking logic changes, the number of the automatic parking logic recorded in the non-erasable memory 311 may be changed.

[0090] In some embodiments, in order to call the appropriate automatic parking logic, the automatic parking logic can be stored in association with the corresponding target driver. That is, when the current driver enters the vehicle, it is determined whether the current driver is the same as the target driver. If so, the automatic parking logic corresponding to the target driver is called.

[0091] In some embodiments, each target driver can be characterized by feature data. When the feature data of the current driver is identified, the feature data of the current driver can be matched with the feature data of each target driver. When the feature data of the current driver matches the historical feature data of the target driver, it can be determined that the current driver is the corresponding target driver, and the automatic parking logic of the target driver can be called to implement the automatic parking function.

[0092] The characteristic data may be data that can identify the driver. That is, the driver can be uniquely identified by the characteristic data. In some embodiments, the characteristic data may be acquired by the vehicle-mounted sensor 320. That is, when the current driver enters the vehicle, the characteristic data of the current driver may be acquired by the vehicle-mounted sensor 320. The characteristic data of the current driver is sent to the electronic stability control system 310 through a data structure (such as a CAN interface) to determine the automatic parking logic of the current driver.

[0093] In some embodiments, the feature data may include vehicle hardware adjustment data and driver detection data. The vehicle hardware adjustment data may refer to the driver's adjustment of relevant equipment on the vehicle. For example, the vehicle hardware adjustment data may include the driver's adjustment of various functional modules in the vehicle system and the adjustment of the vehicle hardware. Exemplarily, the feature data may include the driver's adjustment of the position of the driver's seat.

[0094] Driver detection data can be direct or indirect detection data of the driver's identity. Direct detection data can be understood as directly obtaining relevant data of the driver, such as collecting the driver's facial image, collecting the driver's weight information through the seat, etc. Indirect detection data can be understood as data that does not directly reflect the driver's identity, such as the terminal identification information of the driver connecting to the vehicle system, etc.

[0095] In some embodiments, when the current driver does not match each target driver (e.g., the characteristic data is different from the target driver), the automatic parking logic can be determined by the current driver. For example, the current driver can be directly informed of the default automatic parking logic of the vehicle. For another example, the automatic parking logic can be configured by the current driver.

[0096] In some embodiments, in order to obtain the corresponding relationship between the target driver and the automatic parking logic, the target driver can select and adjust the automatic parking logic through the interactive device. Figure 3 As shown, the interactive device may be a vehicle-mounted central control screen 330. That is, each preset automatic parking logic may be presented in the vehicle-mounted central control screen 330. The vehicle-mounted central control screen 330 may transmit the user-configured automatic parking logic (as a candidate parking logic) to the non-erasable memory 311 in response to the driver's operation.

[0097] In some embodiments, the target driver may configure the automatic parking logic through the vehicle-mounted central control screen 330, which may be triggered based on preset conditions. For example, in response to the target driver's parking logic change request, an information pop-up window may be displayed on the vehicle-mounted central control screen to enable the target driver to configure the corresponding automatic parking logic.

[0098] In some embodiments, the aforementioned parking logic change request can be triggered by the target driver's selection in the vehicle system. For example, the target driver can select the relevant option of "Change automatic parking logic" from the menu of the vehicle system to generate a parking logic change request, so that the vehicle responds to the parking logic change request of the target driver and displays an information pop-up window on the vehicle's central control screen. For another example, when the current driver does not match the target driver, the current driver can also generate a parking logic change request as the target driver through a specific interactive control.

[0099] In some embodiments, the parking logic change request may also be triggered based on a physical button. For example, the target driver may generate a parking logic change request by pressing the automatic parking button 314 .

[0100] In some embodiments, the target driver can input the electronic stability control system 310 through a data interface (such as a CAN interface) on the vehicle's central control screen 330 to parse the target driver's interactive operations and determine the corresponding automatic parking logic.

[0101] Exemplary one-pedal parking request determination process:

[0102] To further illustrate the determination process of a single-pedal parking request, the present application also provides an exemplary flow chart of a single-pedal parking request determination process ( Figure 4 ).

[0103] like Figure 4 As shown, process P400 may include the following steps:

[0104] S410: Determine the driving condition of the current road section based on the environmental perception information.

[0105] S420: Based on the driving situation, estimate the parking situation of the vehicle on the current road section.

[0106] S430: Determine the automatic parking probability of the current road section based on the parking situation of the current road section.

[0107] S440: Determine whether the current road section meets the single-pedal parking requirement based on the automatic parking probability.

[0108] S450: When the automatic parking probability is higher than the probability threshold, it is determined that the current road section meets the single-pedal parking requirement.

[0109] S460: When the automatic parking probability is lower than the probability threshold, it is determined that the current road section does not meet the single-pedal parking requirement.

[0110] In the aforementioned S410, the driving condition generally includes dynamic information such as the vehicle's position, speed, acceleration, driving direction, and driving path. The driving condition in the aforementioned S410 may include not only the driving condition of the current vehicle but also the driving conditions of other vehicles on the current road section. For example, the driving condition may also include information such as whether there is a following vehicle, the speed of the following vehicle, and the distance between vehicles.

[0111] When executing the aforementioned S410, comprehensive data analysis and road segment modeling can be performed based on the environmental perception information to determine the driving status of each vehicle. For details, please refer to the relevant technology, which will not be described in detail here.

[0112] In the aforementioned S420, the parking situation may refer to the subsequent situation of the vehicle after parking on the current road section. Among them, the parking situation may include the duration of the parking state, the parking triggering scene (such as a traffic light), etc. Considering that if the vehicle is not parked, the collision with the rear vehicle may cause the vehicle to be driven and collided again, the aforementioned parking situation may also include this situation and record it as the inertial collision risk. The inertial collision risk can be determined based on the distance and speed of the rear vehicle. The smaller the distance and the greater the speed, the greater the inertial collision risk.

[0113] After determining the aforementioned parking situation, the probability indicator can be used to reflect whether automatic parking should be performed in the current section. That is, in the aforementioned S430, the parking probability of whether automatic parking should be performed in the current section can be determined based on the aforementioned determined parking situations. Among them, the collision inertia risk and the parking stay time are positively correlated with the automatic parking probability. Other factors can affect the automatic parking probability depending on whether they will cause the automatic parking to be triggered incorrectly. For example, the lower the speed, the lower the probability of automatic parking, to reflect that low speed may cause the automatic parking to be triggered incorrectly. For another example, when the aforementioned parking triggering scenario includes the center of a section without traffic lights, it can also indicate that the vehicle may be blocked in the road due to the driving environment, thereby erroneously triggering the automatic parking, which hinders the continuous driving of the vehicle, and the corresponding probability can be reduced.

[0114] Based on the automatic parking probability determined above, it can be determined whether the single-pedal parking requirement is met. S440 can reflect the determination step. S450 and S460 can reflect two determination results. That is, when the automatic parking probability is higher than the probability threshold, the current road section meets the single-pedal parking requirement; when the automatic parking probability is lower than the probability threshold, the current road section does not meet the single-pedal parking requirement.

[0115] Therefore, based on the single-pedal parking requirement determination process shown in the aforementioned P400, the relevant conditions of the vehicle due to automatic parking on the current road section can be comprehensively evaluated, and the determination of whether to adopt the single-pedal parking logic can be made with higher accuracy.

[0116] Exemplary Systems and Electronic Devices:

[0117] Combination of the above Figures 1 to 4 , describes the method embodiment of the present application in detail, and the device embodiment of the present application is described in detail below. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the part not described in detail can refer to the previous method embodiment.

[0118] The present application also provides an automatic parking system, including a module for implementing the automatic parking method provided by the present application. Figure 5 As shown, Figure 5 5 is a system module diagram of an automatic parking system provided by an exemplary embodiment of the present application. The automatic parking system 500 may include a scene determination module 510 , a parking logic change module 520 and a parking control module 530 .

[0119] The scene determination module 510 may be used to determine whether the current road section meets the single-pedal parking requirement based on the environmental perception information collected by the vehicle.

[0120] The parking logic change module 520 can be used to adjust the vehicle's automatic parking logic to a double-pedal parking logic when the current road section does not meet the single-pedal parking requirement. And when the current road section meets the single-pedal parking requirement, the automatic parking logic is adjusted to a single-pedal parking logic. The double-pedal parking logic includes a brake pedal opening condition, and the single-pedal parking logic includes a speed threshold condition and does not involve a brake pedal opening condition.

[0121] The parking control module 530 may be configured to control a parking actuator of the vehicle to perform a parking action in response to the vehicle satisfying an automatic parking logic.

[0122] The present application also provides a vehicle, which includes the automatic parking or automatic parking system provided by the present application, and can execute the automatic parking method provided by the present application. The vehicle provided by the present application can be a fully automatic driving vehicle or a semi-automatic driving vehicle. The specific model of the vehicle provided by the present application can be a car, a commercial vehicle, a truck, a bus, a tram, etc.

[0123] The present application also provides an electronic device, such as Figure 6The electronic device 600 provided in the present application includes a memory 610, a processor 620, and an input / output interface 630. The memory 610, the processor 620, and the input / output interface 630 are connected through an internal connection path, the memory 610 is used to store instructions, and the processor 620 is used to execute the instructions stored in the memory 610 to control the input / output interface 630 to receive input data and information, and output data such as operation results.

[0124] It should be understood that in the embodiment of the present application, the processor 620 can adopt a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs to implement the technical solution provided in the embodiment of the present application.

[0125] The memory 610 may include a read-only memory and a random access memory, and provides instructions and data to the processor 620. A portion of the processor 620 may also include a nonvolatile random access memory. For example, the processor 620 may also store information on the device type.

[0126] In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 620 or the instruction in the form of software. The automatic parking method disclosed in the embodiment of the present application can be directly embodied as a hardware processor for execution, or it can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an erasable programmable memory, a register, etc. The storage medium is located in the memory 610, and the processor 620 reads the information in the memory 610 and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0127] The present application also provides a computer program product, including a computer program / instruction. When the computer program / instruction processor in the computer program product provided by the present application is executed, the automatic parking method provided by the present application can be implemented.

[0128] It should be understood that the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0129] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0130] In the several embodiments provided in the present application, it should be understood that the disclosed systems, 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 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.

[0131] The units described 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.

[0132] 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.

[0133] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a driver device, a core network device, operation and maintenance management (operation administration and maintenance, OAM) or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital driver line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)), etc. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0134] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An automatic parking method, characterized in that: Applied to a vehicle, the method comprises: Determining whether a current road section meets the single-pedal parking requirement based on the environmental perception information collected by the vehicle; If not, adjusting the automatic parking logic of the vehicle to a two-pedal parking logic, wherein the two-pedal parking logic includes a brake pedal opening condition; If yes, the automatic parking logic is adjusted to a single-pedal parking logic, wherein the single-pedal parking logic includes a speed threshold condition and does not involve the brake pedal opening condition; In response to the vehicle satisfying the automatic parking logic, a parking actuator of the vehicle is controlled to perform a parking action.

2. The automatic parking method according to claim 1, characterized in that: The determining whether the current road section meets the single-pedal parking requirement based on the environmental perception information collected by the vehicle includes: determining a default parking logic of the vehicle based on user setting information and / or a vehicle driving mode, wherein a single-pedal mode of the vehicle driving mode corresponds to the single-pedal parking logic; In response to the default parking logic being the single-pedal parking logic, environmental perception information of the current road section is collected in real time and it is determined whether the current road section meets the single-pedal parking requirement based on the environmental perception information.

3. The automatic parking method according to claim 2, characterized in that: The determining of the default parking logic of the vehicle based on user setting information and / or vehicle driving mode comprises: Based on the current driver information of the vehicle, calling the user setting information matching the current driver information from the target memory of the vehicle, wherein the user setting information includes at least one group of parking determination parameters and parameter threshold conditions of each parking determination parameter in each parking determination parameter group; determining at least one candidate parking logic matching the current driver information based on the user setting information; The default parking logic is determined from the at least one candidate parking logic based on the vehicle driving mode, wherein when the vehicle driving mode is a single-pedal mode, the at least one candidate parking logic includes the single-pedal parking logic, and the default parking logic is configured as the single-pedal parking logic.

4. The automatic parking method according to claim 1, characterized in that: The determining whether the current road section meets the single-pedal parking requirement based on the environmental perception information collected by the vehicle includes: Determine the environmental perception information of the current road section; Determining the road section type of the current road section based on the environmental perception information collected by the vehicle; Based on the road section type, it is determined whether the current road section meets the single-pedal parking requirement, wherein when the road section type is a target road section type, it is determined that the current road section does not meet the single-pedal parking requirement, and the target road section types include narrow roads, undulating roads and crowded roads.

5. The automatic parking method according to claim 1, characterized in that: The determining whether the current road section meets the single-pedal parking requirement based on the environmental perception information collected by the vehicle includes: Determining the driving condition of the current road section based on the environmental perception information; Based on the driving condition, estimating the parking condition of the vehicle on the current road section, wherein the parking condition includes the parking stay time and the inertial collision risk; determining an automatic parking probability of the current road section based on the parking condition of the current road section, wherein the inertial collision risk and the parking stay time are positively correlated with the automatic parking probability; Based on the automatic parking probability, it is determined whether the current road section meets the single-pedal parking requirement, wherein when the automatic parking probability is higher than a probability threshold, the current road section meets the single-pedal parking requirement; when the automatic parking probability is lower than a probability threshold, the current road section does not meet the single-pedal parking requirement.

6. The automatic parking method according to claim 1, characterized in that: The method further comprises: In response to the vehicle being in a parking state, determining a target gear position of the vehicle based on the environmental perception information, wherein the target gear position includes a parking gear and a reverse gear; A gear shift system of the vehicle is controlled to adjust a current gear of the vehicle based on the target gear.

7. The automatic parking method according to claim 6, characterized in that: The determining the target gear position of the vehicle based on the environmental perception information includes: Determine a target parking position from the current road section based on the environmental perception information; A target gear position of the vehicle is determined based on a relative position relationship between the target parking position and the vehicle.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the automatic parking method according to any one of claims 1 to 7.

9. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction processor is executed, the automatic parking method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor implements the automatic parking method according to any one of claims 1 to 7.

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