Vehicle parking method, device, equipment, storage medium and computer program product

Abstract

The invention discloses a vehicle parking method, device and equipment, a storage medium and a computer program product, and relates to the technical field of vehicles. The method comprises the steps that under the condition that a vehicle meets a preset parking condition, a target road type corresponding to the actual position where the vehicle is located and the torque and the rotating speed of a motor are obtained, a target rotating speed threshold value corresponding to the target road type is determined according to the corresponding relation between the road type and the rotating speed threshold value, and under the condition that the rotating speed is larger than the target rotating speed threshold value, the vehicle is parked. And the torque of the motor is reduced until the preset condition is met, the preset condition is determined at least based on the judgment whether the rotating speed is reduced to the target rotating speed threshold value or not, and then zero-rotating-speed closed-loop control is conducted on the vehicle to achieve parking. According to the embodiment of the invention, the conditions of sliding and channeling of the vehicle during parking can be avoided.

Description

Technical Field

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

[0002] With the widespread use of pure electric vehicles, thanks to the motor's ability to control vehicle parking through torque, it can achieve rapid response and improve the driving safety and convenience of the entire vehicle. More and more OEMs and users expect to realize the electronic parking function through electric drive systems.

[0003] The existing electric drive system realizes electronic parking technology by controlling the motor controller to reduce the torque of the motor according to a certain slope when it detects that the vehicle enters the preset electronic parking condition, that is, when there is no acceleration and braking request from the vehicle controller and the motor speed is within the preset range. After the motor torque is reduced to the preset threshold, it starts to enter zero speed closed-loop control to realize vehicle parking. The existing technology is based on fixed torque as the condition for entering zero speed closed-loop control, which is not compatible with roads with different slopes and is prone to vehicle slippage and vehicle colliding. Summary of the invention

[0004] The embodiments of the present application provide a vehicle parking method, device, equipment, storage medium and computer program product, which can prevent the vehicle from rolling or colliding when parking.

[0005] In a first aspect, an embodiment of the present application provides a vehicle parking method, the method comprising:

[0006] When the vehicle meets the preset parking conditions, the target road type, the torque and the speed of the motor corresponding to the actual position of the vehicle are obtained;

[0007] Determining a target speed threshold corresponding to the target road type according to a correspondence between the road type and the speed threshold;

[0008] When the speed is greater than the target speed threshold, reducing the torque of the motor until a preset condition is met, the preset condition being at least determined based on determining whether the speed is reduced to the target speed threshold;

[0009] The vehicle is controlled in a closed loop at zero speed to achieve parking.

[0010] In a second aspect, an embodiment of the present application provides a vehicle parking device, the device comprising:

[0011] An acquisition module, used to acquire the target road type, motor torque and speed corresponding to the actual position of the vehicle when the vehicle meets the preset parking conditions;

[0012] A determination module, used to determine a target speed threshold corresponding to a target road type according to a correspondence between the road type and the speed threshold;

[0013] A control module, configured to reduce the torque of the motor when the speed is greater than a target speed threshold until a preset condition is satisfied, wherein the preset condition is at least determined based on determining whether the speed is reduced to the target speed threshold;

[0014] The control module is also used to perform zero-speed closed-loop control on the vehicle to achieve parking.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the vehicle parking method of the first aspect is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the vehicle parking method of the first aspect is implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle parking method of the first aspect.

[0018] In a sixth aspect, an embodiment of the present application provides a vehicle, the vehicle comprising at least one of the following:

[0019] A vehicle parking device as in any one of the embodiments of the second aspect;

[0020] An electronic device as in any one of the embodiments of the third aspect;

[0021] A computer storage medium as in any one of the embodiments of the fourth aspect;

[0022] A computer program product as in any embodiment of the fifth aspect.

[0023] The vehicle parking method, device, equipment, storage medium and computer program product of the embodiment of the present application are to perform zero speed closed-loop control on the vehicle to achieve parking by reducing the torque of the motor until the speed is reduced to the target speed threshold or the torque is less than the target torque threshold when the speed of the vehicle motor is greater than the target speed threshold. The target speed threshold is determined according to the target road type corresponding to the actual position of the vehicle. Different target road types correspond to different target speed thresholds. Therefore, the method of using the target speed threshold as the condition for the vehicle to perform zero speed closed-loop control can be compatible with roads of different slope types, and different torques for entering zero speed closed-loop control are obtained for roads of different slope types, so that the vehicle obtains the torque corresponding to the target road type, avoiding the situation of vehicle slipping or sliding due to excessive or insufficient torque. In this way, the embodiment of the present application can avoid the occurrence of vehicle slipping and vehicle slipping when the vehicle is parked. At the same time, considering that in certain road conditions, the speed has not yet dropped to the target speed threshold, but the torque has dropped to the target torque that can ensure stable parking of the vehicle, the embodiment of the present application can enter zero-speed closed-loop control to achieve parking when the torque is reduced to the target torque threshold, without having to wait until the speed is reduced to the target speed threshold to enter zero-speed closed-loop control, which can improve the immediacy of vehicle parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 is a flow chart of a vehicle parking method provided by an embodiment of the present application;

[0026] Figure 2 is a flow chart of a vehicle parking method provided by another embodiment of the present application;

[0027] Figure 3 is a schematic structural diagram of a vehicle parking device provided by an embodiment of the present application;

[0028] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0029] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0031] With the widespread use of pure electric vehicles, thanks to the motor's ability to control vehicle parking through torque, it can achieve rapid response and improve the driving safety and convenience of the entire vehicle. More and more OEMs and users expect to realize the electronic parking function through electric drive systems.

[0032] The existing electric drive system realizes electronic parking technology by controlling the motor controller to reduce the torque of the motor according to a certain slope when it detects that the vehicle enters the preset electronic parking condition, that is, when there is no acceleration and braking request from the vehicle controller and the motor speed is within the preset range. After the motor torque is reduced to the preset threshold, it starts to enter zero speed closed-loop control to realize vehicle parking. The existing technology is based on fixed torque as the condition for entering zero speed closed-loop control, which is not compatible with roads with different slopes and is prone to vehicle slippage and vehicle colliding.

[0033] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle parking method, device, equipment, storage medium and computer program product. The embodiments of the present application are to reduce the torque of the motor until the speed of the vehicle motor is greater than the target speed threshold, and then perform zero speed closed-loop control on the vehicle to achieve parking. The target speed threshold is determined according to the target road type corresponding to the actual position of the vehicle. Different target road types correspond to different target speed thresholds. Therefore, the method of using the target speed threshold as the condition for zero speed closed-loop control of the vehicle can be compatible with roads of different slope types, and different torques for entering zero speed closed-loop control are obtained for roads of different slope types, so that the vehicle obtains the torque corresponding to the target road type, avoiding the situation of vehicle slipping or sliding due to excessive or too small torque. In this way, the embodiments of the present application can avoid the occurrence of vehicle slipping and vehicle slipping when the vehicle is parked. At the same time, considering that in certain road conditions, the speed has not yet dropped to the target speed threshold, but the torque has dropped to the target torque that can ensure stable parking of the vehicle, the embodiment of the present application can enter zero-speed closed-loop control to achieve parking when the torque is reduced to the target torque threshold, without having to wait until the speed is reduced to the target speed threshold to enter zero-speed closed-loop control, which can improve the immediacy of vehicle parking.

[0034] The following first introduces the vehicle parking method provided in the embodiment of the present application.

[0035] Figure 1 FIG. 1 is a flow chart of a vehicle parking method provided by an embodiment of the present application. Figure 1 As shown, the method may include the following steps: S101 to S104.

[0036] S101: When the vehicle meets the preset parking conditions, the target road type, the torque and the rotation speed of the motor corresponding to the actual position of the vehicle are obtained.

[0037] The preset parking condition indicates the basic condition for the vehicle to park. If the preset parking condition is not met, the vehicle cannot park. The preset parking condition can be that the vehicle controller has no acceleration request, no brake request, and the motor speed is within a certain speed range and lasts for a certain period of time. For example, the speed range can be [-240, 240] rpm, and the duration can be 24 milliseconds (ms).

[0038] The target road type is defined based on the slope of the road and can include uphill roads or flat roads.

[0039] In some embodiments, the target road type corresponding to the actual position of the vehicle can be obtained by comparing the torque of the vehicle in the target state with a preset torque threshold. Specifically, when the torque is greater than the preset torque threshold, the road type corresponding to the actual position of the vehicle is determined to be an uphill road, and when the torque is not greater than the preset torque threshold, the road type corresponding to the actual position of the vehicle is determined to be a flat road.

[0040] In some embodiments, the target road type corresponding to the actual position of the vehicle may be obtained by determining the target road type based on position data detected by a position sensor on the vehicle.

[0041] In some embodiments, the target road type corresponding to the actual position of the vehicle may be obtained by identifying an image of the road on which the vehicle is located and determining the target road type based on image data of the road.

[0042] In some embodiments, the torque and speed of the motor may be obtained through a vehicle controller.

[0043] S102: Determine a target speed threshold corresponding to the target road type according to the correspondence between the road type and the speed threshold.

[0044] The correspondence between the road type and the speed threshold can be set manually. Generally, the greater the road slope corresponding to the road type, the greater the speed threshold corresponding to the road type. As an example, the target speed threshold corresponding to an uphill road may be 200 rpm, and the target speed threshold corresponding to a flat road may be 60 rpm.

[0045] In some embodiments, the correspondence between the road type and the speed threshold can be a mapping relationship table. According to the correspondence between the road type and the speed threshold, the target speed threshold corresponding to the target road type is determined. The speed threshold mapped to the target road type can be searched in the mapping relationship table based on the target road type that has been acquired, so as to determine the target speed threshold corresponding to the target road type.

[0046] S103: When the rotation speed is greater than the target rotation speed threshold, reducing the torque of the motor until a preset condition is satisfied, where the preset condition is at least determined based on determining whether the rotation speed is reduced to the target rotation speed threshold.

[0047] The target speed threshold can be used as a condition for entering zero speed closed-loop control.

[0048] In the prior art, after the preset parking condition is met, the motor torque is reduced to a certain threshold before entering zero speed closed loop control, that is, the torque is used as the condition for entering zero speed closed loop control to achieve parking. Although this method does not need to consider the initial torque when the preset parking condition is met, it is not compatible with roads with different slopes and is prone to vehicle slippage.

[0049] To this end, this embodiment uses the target speed threshold corresponding to the target road type as the condition for entering zero speed closed-loop control. When the preset parking conditions are met, the vehicle controller has no braking and acceleration requests, and the speed of the motor naturally decreases at a certain rate. When the speed drops to the target speed threshold corresponding to the target road type, it starts to enter zero speed closed-loop control. It can implement the corresponding closed-loop control strategy for the target road type, that is, roads with different slopes, so as to achieve compatibility with roads with different slopes to avoid the situation where the vehicle slips. At the same time, in some road conditions, there is a situation where the speed has not dropped to the target speed threshold, but the torque has dropped to the target torque that can ensure stable parking of the vehicle. In order to achieve the immediacy of vehicle parking, the torque of the motor can also be compared with the target torque threshold. When the torque drops to the target torque threshold, it can enter zero speed closed-loop control to achieve parking, without having to wait until the speed drops to the target speed threshold to enter zero speed closed-loop control.

[0050] In some embodiments, reducing the torque of the motor may be achieved by controlling the motor controller to reduce the torque according to a certain slope, wherein the slope may be calibrated in combination with the vehicle conditions.

[0051] S104: Perform zero speed closed-loop control on the vehicle to achieve parking.

[0052] Closed-loop control is a system control method that continuously monitors and adjusts the system to achieve the desired goal. Zero-speed closed-loop control can refer to the control method of the vehicle's electric drive system, which continuously monitors and adjusts the speed of the vehicle's motor to zero to achieve parking.

[0053] In some embodiments, the zero-speed closed-loop control of the vehicle may be achieved by having the vehicle controller of the vehicle issue a zero-speed closed-loop control instruction.

[0054] In the embodiment of the present application, when the speed of the vehicle motor is greater than the target speed threshold, the torque of the motor is reduced until the speed is reduced to the target speed threshold or the torque is less than the target torque threshold, and then the vehicle is subjected to zero speed closed-loop control to achieve parking. The target speed threshold is determined according to the target road type corresponding to the actual position of the vehicle. Different target road types correspond to different target speed thresholds. Therefore, the method of using the target speed threshold as the condition for the vehicle to perform zero speed closed-loop control can be compatible with roads of different slope types, and different torques for entering zero speed closed-loop control are obtained for roads of different slope types, so that the vehicle obtains the torque corresponding to the target road type, avoiding the situation of the vehicle slipping or sliding due to excessive or insufficient torque. In this way, the embodiment of the present application can avoid the occurrence of the vehicle slipping and the vehicle slipping when parking. At the same time, considering that in certain road conditions, the speed has not yet dropped to the target speed threshold, but the torque has dropped to the target torque that can ensure stable parking of the vehicle, the embodiment of the present application can enter zero-speed closed-loop control to achieve parking when the torque is reduced to the target torque threshold, without having to wait until the speed is reduced to the target speed threshold to enter zero-speed closed-loop control, which can improve the immediacy of vehicle parking.

[0055] In some embodiments, in S101, obtaining the target road type corresponding to the actual position of the vehicle may include:

[0056] Acquire a first torque of the motor when the vehicle is in a target state; the target state is determined when the speed of the motor is less than a first set value and the speed change rate of the motor is less than a second set value;

[0057] When the first torque is greater than a preset torque threshold, determining that the road type corresponding to the actual position of the vehicle is an uphill road;

[0058] When the first torque is not greater than the preset torque threshold, it is determined that the road type corresponding to the actual position of the vehicle is a flat road.

[0059] The target state is used to indicate that the vehicle is in a stationary state where it does not move within a certain period of time, wherein the certain period of time may be two operation cycles of the controller. The stationary state does not only mean that the speed of the vehicle motor is zero and stationary, because when the vehicle is on an uphill road, if the vehicle is not to move forward or backward, the speed of the motor must not be zero. Therefore, whether the vehicle is in the target state can be determined based on the speed of the motor and the speed change rate. For example, when the speed of the motor is less than the first set value and the speed change rate of the motor is less than the second set value, it can be determined that the vehicle is in the target state. The first set value and the second set value can be calibrated in combination with the vehicle's situation.

[0060] When the vehicle is on an uphill road, in order to ensure that the vehicle does not slip, it is necessary to balance the vehicle's own gravity, so a relatively large torque is required. When the vehicle is on a flat road, it is not necessary to balance the vehicle's own gravity, so only a relatively small torque is required.

[0061] By comparing the first torque of the vehicle in the target state with a preset torque threshold, wherein the preset torque threshold can be calibrated, when the first torque is greater than the preset torque threshold, it is determined that the road type corresponding to the actual position of the vehicle is an uphill road, and when the first torque is not greater than the preset torque threshold, it is determined that the road type corresponding to the actual position of the vehicle is a flat road, so that the target road type corresponding to the actual position of the vehicle can be accurately determined.

[0062] In some embodiments, in S101, obtaining the target road type corresponding to the actual position of the vehicle may also include:

[0063] Acquire target position data detected by the position sensor;

[0064] According to the target position data, the target road type corresponding to the actual position of the vehicle is determined.

[0065] The target position data represents the position data of the actual position of the vehicle. As an example, the target position data can be the latitude and longitude data of the actual position of the vehicle.

[0066] As an example, acquiring the target position data may be achieved by acquiring data detected by a position sensor on the vehicle.

[0067] As an example, the target road type corresponding to the actual position of the vehicle can be determined based on the target position data, by comparing the acquired latitude and longitude data of the vehicle with the latitude and longitude data in a pre-stored electronic map to determine the actual geographical location of the vehicle, and then determining the target road type corresponding to the current position based on the actual geographical location displayed on the electronic map.

[0068] In some embodiments, in S101, obtaining the target road type corresponding to the actual position of the vehicle may also include:

[0069] Acquire a road image of the actual position of the vehicle;

[0070] According to the road image, the target road type corresponding to the actual position of the vehicle is determined.

[0071] As an example, the road image of the actual position of the vehicle can be obtained by a camera device. The camera device can be a camera installed on the vehicle or a camera device installed on both sides of the road where the vehicle is located, which is not limited here.

[0072] As an example, determining the target road type corresponding to the actual position of the vehicle based on the road image can be achieved by recognizing the road image using an image recognition algorithm. The image recognition algorithm may include a deep learning algorithm, such as using a convolutional neural network model to recognize images and a feature extraction algorithm, which is not limited here.

[0073] In some embodiments, when the target road type is an uphill road, S103 may include:

[0074] In the process of reducing the torque of the motor, the speed of the motor is obtained in real time;

[0075] Determine whether the rotation speed is less than or equal to the target rotation speed threshold;

[0076] When the speed is not greater than the target speed threshold, the torque reduction of the motor is stopped.

[0077] In some embodiments, Figure 2 As shown, when the target road type is a flat road, S103 may include:

[0078] S1031: In the process of reducing the torque of the motor, the rotation speed and torque of the motor are obtained in real time.

[0079] In some embodiments, in the process of reducing the torque of the motor, the speed and torque of the motor are obtained in real time, which can be obtained in real time through the vehicle controller of the vehicle.

[0080] S1032: Determine whether the rotation speed is less than or equal to a target rotation speed threshold and determine whether the torque is less than a target torque threshold.

[0081] Among them, the target speed threshold and the target torque threshold can be calibrated in combination with the vehicle situation.

[0082] In some embodiments, determining whether the rotational speed is less than or equal to a target rotational speed threshold and determining whether the torque is less than a target torque threshold may be implemented by a vehicle controller of the vehicle.

[0083] S1033: Stop reducing the torque of the motor when at least one of the following conditions is met:

[0084] The speed is not greater than the target speed threshold;

[0085] The torque is less than the target torque threshold.

[0086] In some embodiments, stopping reducing the torque of the motor may be achieved by controlling the vehicle controller of the vehicle.

[0087] When the vehicle is on a flat road, since the initial torque required for the vehicle to meet the preset parking condition is small, there is usually a situation where the speed has not yet dropped to the target speed threshold, while the torque has dropped to the target torque that can ensure stable parking of the vehicle.

[0088] In order to achieve instant parking of the vehicle, the speed and torque of the motor can be obtained in real time. While judging whether the speed is less than or equal to the target speed threshold, it is also judged whether the torque of the motor is less than the target torque threshold. When any one of the conditions of the speed being not greater than the target speed threshold or the torque being less than the target torque threshold is met first, the vehicle is subjected to zero-speed closed-loop control.

[0089] In this way, before the speed drops to the target speed threshold, but the torque has dropped to the target torque threshold, zero-speed closed-loop control can be entered to achieve parking, without having to wait until the speed drops to the target speed threshold to enter zero-speed closed-loop control, which can improve the immediacy of the parking function.

[0090] As an example, when the vehicle is on a flat road, the target speed threshold corresponding to the flat road is 60rpm, and the target torque threshold is 3 Nm. By obtaining the motor speed and torque in real time, it can be obtained that the speed is 70rpm and the torque is 2Nm. It can be seen that the motor speed has not dropped to the target speed threshold, but the torque is less than the target torque threshold, that is, the condition that the torque is less than the target torque threshold has been met. At this time, the torque reduction can be stopped and the vehicle can be started to be closed-loop controlled at zero speed.

[0091] In some embodiments, based on any of the above embodiments, after S102, the vehicle parking method may further include:

[0092] When the speed is not greater than the target speed threshold, the vehicle is subjected to zero speed closed-loop control to achieve parking.

[0093] When the speed is not greater than the target speed threshold, the torque of the motor has reached the desired torque, and the vehicle can be controlled in a zero-speed closed-loop manner. The zero-speed closed-loop control of the vehicle can be achieved through the vehicle controller to achieve parking.

[0094] Figure 3 is a schematic diagram of the structure of a vehicle parking device 300 provided in an embodiment of the present application. Figure 3 As shown, the apparatus may include an acquisition module 310 , a determination module 320 , and a control module 330 .

[0095] The acquisition module 310 is used to acquire the target road type, the torque and the speed of the motor corresponding to the actual position of the vehicle when the vehicle meets the preset parking condition;

[0096] A determination module 320, configured to determine a target speed threshold corresponding to a target road type according to a correspondence between the road type and the speed threshold;

[0097] The control module 330 is used to reduce the torque of the motor when the speed is greater than the target speed threshold until a preset condition is satisfied, wherein the preset condition is at least determined based on determining whether the speed is reduced to the target speed threshold;

[0098] The control module 330 is also used to perform zero speed closed-loop control on the vehicle to achieve parking.

[0099] In the embodiment of the present application, when the speed of the vehicle motor is greater than the target speed threshold, the torque of the motor is reduced until the speed is reduced to the target speed threshold or the torque is less than the target torque threshold, and then the vehicle is subjected to zero speed closed-loop control to achieve parking. The target speed threshold is determined according to the target road type corresponding to the actual position of the vehicle. Different target road types correspond to different target speed thresholds. Therefore, the method of using the target speed threshold as the condition for the vehicle to perform zero speed closed-loop control can be compatible with roads of different slope types, and different torques for entering zero speed closed-loop control are obtained for roads of different slope types, so that the vehicle obtains the torque corresponding to the target road type, avoiding the situation of the vehicle slipping or sliding due to excessive or insufficient torque. In this way, the embodiment of the present application can avoid the occurrence of the vehicle slipping and the vehicle slipping when parking. At the same time, considering that in certain road conditions, the speed has not yet dropped to the target speed threshold, but the torque has dropped to the target torque that can ensure stable parking of the vehicle, the embodiment of the present application can enter zero-speed closed-loop control to achieve parking when the torque is reduced to the target torque threshold, without having to wait until the speed is reduced to the target speed threshold to enter zero-speed closed-loop control, which can improve the immediacy of vehicle parking.

[0100] In some embodiments, the acquisition module 310 is further used to acquire a first torque of the motor when the vehicle is in a target state; the target state is determined when the speed of the motor is less than a first set value and the speed change rate of the motor is less than a second set value;

[0101] The determination module 320 is further configured to determine that the road type corresponding to the actual position of the vehicle is an uphill road when the first torque is greater than a preset torque threshold;

[0102] The determination module 320 is further configured to determine that the road type corresponding to the actual position of the vehicle is a flat road when the first torque is not greater than a preset torque threshold.

[0103] In some embodiments, the acquisition module 310 is further used to acquire target position data detected by the position sensor;

[0104] The determination module 320 is further used to determine the target road type corresponding to the actual position of the vehicle according to the target position data.

[0105] In some embodiments, the vehicle parking device 300 further includes a determination module;

[0106] The acquisition module 310 is further used to acquire the speed and torque of the motor in real time during the process of reducing the torque of the motor;

[0107] A judgment module, used to judge whether the rotation speed is less than or equal to a target rotation speed threshold and whether the torque is less than a target torque threshold;

[0108] The control module 330 is further configured to stop reducing the torque of the motor when at least one of the following conditions is met:

[0109] The speed is not greater than the target speed threshold;

[0110] The torque is less than the target torque threshold.

[0111] In some embodiments, the control module 330 is further configured to perform zero-speed closed-loop control on the vehicle to achieve parking when the speed is not greater than a target speed threshold.

[0112] Figure 4 The various modules in the device shown can be implemented Figure 1 Each step in the above steps can achieve the corresponding technical effect, which will not be repeated here for the sake of brevity.

[0113] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0114] The electronic device may include a processor 401 and a memory 402 storing computer program instructions.

[0115] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0116] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside of an integrated gateway disaster recovery device. In a specific embodiment, memory 402 is a non-volatile solid-state memory.

[0117] In certain embodiments, the memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present application.

[0118] The processor 401 implements any one of the vehicle parking methods in the above embodiments by reading and executing computer program instructions stored in the memory 402 .

[0119] In one example, the electronic device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0120] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0121] Bus 410 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0122] In addition, in combination with the vehicle parking method in the above embodiment, the embodiment of the present application can provide a computer storage medium to implement. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the vehicle parking methods in the above embodiment is implemented.

[0123] An embodiment of the present application also provides a computer program product, including a computer program, which implements any one of the vehicle parking methods in the above embodiments when the computer program is processed and executed.

[0124] In addition, the embodiment of the present application further provides a vehicle, which may include at least one of the following:

[0125] A vehicle parking device as in any one of the embodiments of the second aspect;

[0126] An electronic device as in any one of the embodiments of the third aspect;

[0127] A computer-readable storage medium as in any one of the embodiments of the fourth aspect;

[0128] The computer program product in any one of the embodiments of the fifth aspect will not be described in detail here.

[0129] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0130] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0131] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0132] The above reference is to the flowchart and / or block diagram of the method, device, equipment, storage medium and computer program product according to the embodiment of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0133] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A vehicle parking method, characterized in that: The vehicle includes an electric machine, and the method includes: When the vehicle meets the preset parking condition, obtaining the target road type corresponding to the actual position of the vehicle, the torque and the speed of the motor; Determining a target speed threshold corresponding to the target road type according to a correspondence between the road type and the speed threshold; When the rotation speed is greater than the target rotation speed threshold, reducing the torque of the motor until a preset condition is satisfied, wherein the preset condition is at least determined based on determining whether the rotation speed is reduced to the target rotation speed threshold; The vehicle is subjected to zero speed closed-loop control to achieve parking.

2. The method according to claim 1, characterized in that The obtaining of the target road type corresponding to the actual position of the vehicle includes: Acquire a first torque of the motor when the vehicle is in a target state; the target state is determined when the rotation speed of the motor is less than a first set value and the rotation speed change rate of the motor is less than a second set value; When the first torque is greater than a preset torque threshold, determining that the target road type corresponding to the actual position of the vehicle is an uphill road; When the first torque is not greater than a preset torque threshold, it is determined that the target road type corresponding to the actual position of the vehicle is a flat road.

3. The method according to claim 1, characterized in that The vehicle includes a position sensor, and obtaining a target road type corresponding to an actual position of the vehicle includes: Acquiring target position data detected by the position sensor; A target road type corresponding to the actual position of the vehicle is determined according to the target position data.

4. The method according to claim 2, characterized in that: The target road type is the uphill road, and the torque of the motor is reduced until a target condition is met, wherein the target condition is at least determined based on determining whether the speed is reduced to the target speed threshold, including: In the process of reducing the torque of the motor, obtaining the rotation speed of the motor in real time; Determining whether the rotation speed is less than or equal to the target rotation speed threshold; When the rotation speed is not greater than the target rotation speed threshold, stopping reducing the torque of the motor.

5. The method according to claim 2, characterized in that: The target road type is the flat road, and the torque of the motor is reduced until a target condition is met, wherein the target condition is at least determined based on determining whether the rotation speed is reduced to the target rotation speed threshold, including: In the process of reducing the torque of the motor, obtaining the rotation speed and torque of the motor in real time; Determining whether the rotation speed is less than or equal to the target rotation speed threshold and determining whether the torque is less than the target torque threshold; When at least one of the following conditions is met, the torque reduction of the motor is stopped: The rotation speed is not greater than the target rotation speed threshold; The torque is less than the target torque threshold.

6. The method according to any one of claims 1 to 5, characterized in that: After determining the target speed threshold corresponding to the road type according to the correspondence between the road type and the speed threshold, the method further includes: When the rotation speed is not greater than the target rotation speed threshold, the vehicle is subjected to zero rotation speed closed-loop control to achieve parking.

7. A vehicle parking device, characterized in that: The vehicle comprises a motor; the device comprises: An acquisition module, used for acquiring a target road type corresponding to an actual position of the vehicle, a torque and a speed of the motor when the vehicle meets a preset parking condition; A determination module, configured to determine a target speed threshold corresponding to the target road type according to a correspondence between the road type and the speed threshold; a control module, configured to reduce the torque of the motor when the rotational speed is greater than the target rotational speed threshold, until the rotational speed is reduced to the target rotational speed threshold or the torque is less than a target torque threshold; The control module is also used to perform zero-speed closed-loop control on the vehicle to achieve parking.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the vehicle parking method according to any one of claims 1 to 6 is implemented.

9. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle parking method as described in any one of claims 1 to 6.

10. A vehicle, characterized in that: Include at least one of the following: The vehicle parking device according to claim 7; The computer readable storage medium of claim 8; A computer program product as claimed in claim 9.

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