A vehicle control method, apparatus, device, medium, and program product

Abstract

The application discloses a vehicle control method, device, equipment, medium and program product, comprising: obtaining a starting coordinate and a starting speed corresponding to a starting moment of a vehicle in a current period; determining a target speed of the vehicle corresponding to the current period according to a distance between the starting coordinate and an end coordinate in a current single-step planning path and the starting speed; monitoring an actual speed of the vehicle corresponding to the current period; determining a target torque of the vehicle corresponding to the current period according to the actual speed and the target speed, and sending the target torque to a corresponding downstream actuator for execution. The application not only does not need to calibrate the corresponding relationship between the accelerator pedal opening and the torque value, but also concentrates the process of obtaining the target torque based on the starting coordinate, the starting speed, the end coordinate and other information in a longitudinal control module, improves the real-time torque control of automatic parking, and realizes comfortable automatic parking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle control method, device, equipment, medium and program product. BACKGROUND

[0002] Automatic parking is an intelligent car technology that enables a vehicle to automatically find and park in a parking space without human operation. This technology identifies the surrounding environment, including parking spaces and obstacles, through sensors on the vehicle, such as cameras and radars, and plans the best parking path accordingly. During parking, the vehicle automatically controls the throttle, brakes, and steering to achieve fully automated parking operation.

[0003] In related technologies, automatic parking is achieved through deep learning, but this approach consumes high computing resources and has non-transparent internal logic, making the effect of automatic parking uncontrollable. Therefore, how to ensure the effect of automatic parking is more stable is a current problem to be solved. SUMMARY

[0004] The embodiments of the present application provide a vehicle control method, device, equipment, medium and program product, which solve the technical problem of uncontrollable effect of automatic parking in the prior art through deep learning to achieve automatic parking, and achieve the technical effect of ensuring the effect of automatic parking is more stable.

[0005] In a first aspect, the present application provides a vehicle control method, which comprises:

[0006] In the case that the vehicle is in a current single-step planning path in an automatic parking process, obtaining a starting coordinate and a starting speed of the vehicle corresponding to a starting time of a current time period;

[0007] According to the distance between the starting coordinate and the end coordinate in the current single-step planning path and the starting speed, determining a target speed of the vehicle corresponding to the current time period;

[0008] Monitoring the actual speed of the vehicle corresponding to the current time period;

[0009] According to the actual speed and the target speed, determining a target torque of the vehicle corresponding to the current time period, and sending the target torque to a corresponding downstream actuator for execution;

[0010] the end time corresponding to the current time period as the start time corresponding to the next time period, updating the next time period as the current time period, and returning to execute the step of obtaining the start coordinate and the start speed of the vehicle at the start time corresponding to the current time period in the case that the vehicle is in the current single-step planning path of the automatic parking process, until the vehicle reaches the end coordinate of the current single-step planning path.

[0011] Further, after the vehicle reaches the end coordinate of the current single-step planning path, the method further comprises:

[0012] obtaining a next single-step planning path of the vehicle in the automatic parking process, updating the next single-step planning path as the current single-step planning path, and returning to execute the step of obtaining the start coordinate and the start speed of the vehicle at the start time corresponding to the current time period in the case that the vehicle is in the current single-step planning path of the automatic parking process, until the vehicle reaches the target parking space.

[0013] Further, the determining the target speed of the vehicle corresponding to the current time period according to the distance between the start coordinate and the end coordinate in the current single-step planning path and the start speed comprises:

[0014] determining a to-be-verified speed of the vehicle corresponding to the current time period according to the Euclidean distance between the start coordinate and the end coordinate, the start speed, a preset gain coefficient, and a preset compensation value;

[0015] judging whether the to-be-verified speed is less than or equal to a preset maximum speed limit of the vehicle;

[0016] in the case that the to-be-verified speed is less than or equal to the preset maximum speed limit, determining the to-be-verified speed as the target speed of the vehicle corresponding to the current time period;

[0017] in the case that the to-be-verified speed is greater than the preset maximum speed limit, determining the preset maximum speed limit as the target speed of the vehicle corresponding to the current time period.

[0018] Further, the determining the to-be-verified speed of the vehicle corresponding to the current time period according to the Euclidean distance between the start coordinate and the end coordinate, the start speed, a preset gain coefficient, and a preset compensation value comprises:

[0019]

[0020] wherein exp1 is the to-be-verified speed, x N , y N is the end coordinate, x i , yi For the starting coordinates, gain and k are gain coefficients, curspeed is the starting speed, and offset is a compensation value.

[0021] Further, before determining whether the to-be-verified speed is less than or equal to the preset maximum speed limit of the vehicle, the method further comprises:

[0022] obtaining a weather condition corresponding to the current time period, obtaining a first distance between the vehicle and a starting coordinate in the current single-step planning path, obtaining a second distance between an obstacle in the current driving direction of the vehicle and the vehicle, and obtaining a third distance between the vehicle and the end coordinate;

[0023] determining the preset maximum speed limit of the vehicle corresponding to the current time period according to the weather condition, the first distance, the second distance, and the third distance.

[0024] Further, the determining the target torque of the vehicle corresponding to the current time period according to the actual speed and the target speed comprises:

[0025] determining a to-be-verified torque of the vehicle corresponding to the current time period according to a speed deviation between the actual speed and the target speed;

[0026] in a case where the target speed is greater than a preset threshold speed and the speed deviation is greater than a preset threshold deviation, monitoring a first state duration in which the target speed is greater than the preset threshold speed and the speed deviation is greater than the preset threshold deviation;

[0027] in a case where the first state duration is greater than a preset threshold duration, determining a sum of the to-be-verified torque and a preset calibrated torque as the target torque of the vehicle corresponding to the current time period;

[0028] in a case where the target speed is less than or equal to a preset threshold speed, or the first state duration is less than or equal to the preset threshold duration, determining the to-be-verified torque as the target torque of the vehicle corresponding to the current time period.

[0029] Further, the determining the target torque of the vehicle corresponding to the current time period according to the actual speed and the target speed, and sending the target torque to a corresponding downstream actuator for execution, comprises:

[0030] determining the target torque of the vehicle corresponding to the current time period according to the actual speed and the target speed;

[0031] performing smoothing filtering processing on the target torque;

[0032] sending the target torque after the smoothing filtering to a corresponding downstream actuator for execution.

[0033] Further, in the case that the vehicle is in the current single-step planning path in the automatic parking process, the method further comprises:

[0034] obtaining a second distance between the vehicle and a nearest obstacle in the current driving direction of the vehicle and an obstacle type of the nearest obstacle;

[0035] determining a target deceleration braking mode of the vehicle according to the second distance and the obstacle type, and sending the target deceleration braking mode to a corresponding downstream actuator for execution.

[0036] Further, after sending the target torque or the target deceleration braking mode to the corresponding downstream actuator for execution, the method further comprises:

[0037] receiving a notification instruction of a failure of legality verification feedback by the downstream actuator for the target torque or the target deceleration braking mode;

[0038] in response to the notification instruction, determining an emergency braking mode of the vehicle, and sending the emergency braking mode to the corresponding downstream actuator for execution.

[0039] Further, in the case that the vehicle is in the current single-step planning path in the automatic parking process, the method further comprises:

[0040] screening abnormal data of the vehicle in the automatic parking process, and uploading the abnormal data to the cloud.

[0041] Further, in the case that the vehicle is in the current single-step planning path in the automatic parking process, the method further comprises:

[0042] monitoring an actual coordinate and an actual torque of the vehicle;

[0043] in the case that the actual coordinate is unchanged and the actual torque is increased, if a second state that the actual coordinate is unchanged and the actual torque is increased lasts for more than a preset duration, it is determined that a tire of the vehicle collides with an obstacle;

[0044] feeding back sensing information of the collision between the tire and the obstacle to a sensing module, so that the sensing module feeds back environment information of the vehicle to a path planning module according to the sensing information, and the path planning module generates a next single-step planning path according to the environment information.

[0045] In a second aspect, the present application provides a vehicle control device, the device comprising:

[0046] an acquisition unit configured to acquire a starting coordinate and a starting vehicle speed of the vehicle at a starting time point of a current time period, in a case where the vehicle is in an automatic parking process of a current single-step planning path;

[0047] a vehicle speed determination unit configured to determine a target vehicle speed of the vehicle in the current time period according to a distance between the starting coordinate and an ending coordinate in the current single-step planning path and the starting vehicle speed;

[0048] a monitoring unit configured to monitor an actual vehicle speed of the vehicle in the current time period;

[0049] a torque determination unit configured to determine a target torque of the vehicle in the current time period according to the actual vehicle speed and the target vehicle speed, and send the target torque to a corresponding downstream actuator for execution;

[0050] a loop unit configured to take an ending time point of the current time period as a starting time point of a next time period, update the next time period as the current time period, and return to execute the step of acquiring the starting coordinate and the starting vehicle speed of the vehicle at the starting time point of the current time period, in a case where the vehicle is in the automatic parking process of the current single-step planning path, until the vehicle reaches the ending coordinate of the current single-step planning path.

[0051] In a third aspect, the present application provides an electronic device, comprising:

[0052] a processor;

[0053] a memory for storing instructions executable by the processor;

[0054] wherein the processor is configured to execute to implement the vehicle control method according to the first aspect.

[0055] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to implement the vehicle control method according to the first aspect.

[0056] In a fifth aspect, the present application provides a computer program product comprising computer instructions executable by a processor to implement the vehicle control method according to the first aspect.

[0057] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0058] The embodiment of the present application discards the calibration lookup table method and the deep learning method in the related art, and determines the target vehicle speed corresponding to the current period of the vehicle based on the starting coordinates, the starting vehicle speed, the end coordinates and other information that can be directly collected. The torque control of the vehicle is realized based on the difference between the target vehicle speed and the actual vehicle speed of the vehicle, and then the automatic parking process of the vehicle is realized. The embodiment of the present application not only does not need to calibrate the corresponding relationship between the accelerator pedal opening degree and the torque value, but also realizes the process of obtaining the target torque based on the starting coordinates, the starting vehicle speed, the end coordinates and other information in a longitudinal control module, does not need to excessively rely on the downstream actuator, and does not involve the conversion process from the accelerator pedal opening degree to the torque value, thereby improving the real-time torque control of the automatic parking and realizing the comfortable automatic parking.

[0059] In addition, the embodiment of the present application is based on the starting coordinates, the starting vehicle speed, the end coordinates and other information that can be directly collected, does not need to perform the complex calculation involved in the deep learning, saves the calculation resources, and realizes the torque control of the vehicle based on the difference between the target vehicle speed and the actual vehicle speed of the vehicle in the embodiment of the present application. The internal logic is transparent, the effect of the automatic parking is more controllable, and the stability and safety of the automatic parking are improved. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0061] Figure 1 A flowchart of a vehicle control architecture provided by the embodiment of the present application is shown in the figure.

[0062] Figure 2 A flowchart of a vehicle control method provided by the embodiment of the present application is shown in the figure.

[0063] Figure 3 A schematic diagram of a single-step planning path provided by the embodiment of the present application is shown in the figure.

[0064] Figure 4 A structural schematic diagram of a vehicle control device provided by the embodiment of the present application is shown in the figure.

[0065] Figure 5 A structural schematic diagram of an electronic device provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0066] The embodiment of the application provides a vehicle control method, and solves the uncontrollable effect of automatic parking in the prior art.

[0067] The technical scheme of the embodiment of the application solves the above technical problem, and the general idea is as follows:

[0068] The embodiment of the application discards the calibration table method and the deep learning method in the related art, and determines the target vehicle speed of the vehicle in the current period based on the information that can be directly collected, such as the starting coordinates, the starting vehicle speed, and the end coordinates. The torque control of the vehicle is realized based on the difference between the target vehicle speed and the actual vehicle speed, and then the automatic parking process of the vehicle is realized. The embodiment of the application not only does not need to calibrate the corresponding relationship between the accelerator pedal opening degree and the torque value, but also realizes the process of obtaining the target torque based on the starting coordinates, the starting vehicle speed, and the end coordinates in a longitudinal control module. The embodiment of the application does not need to excessively rely on the downstream actuator, and does not involve the conversion process of the accelerator pedal opening degree to the torque value. The torque control real-time performance of the automatic parking is improved, and the comfortable automatic parking is realized.

[0069] In addition, the embodiment of the application is based on the information that can be directly collected, such as the starting coordinates, the starting vehicle speed, and the end coordinates. The complex calculation involved in deep learning does not need to be performed, the computing resources are saved, and the torque control of the vehicle is realized based on the difference between the target vehicle speed and the actual vehicle speed in the embodiment of the application. The internal logic is transparent, the effect of the automatic parking is more controllable, and the stability and safety of the automatic parking are improved.

[0070] In order to better understand the above technical scheme, the above technical scheme will be described in detail in combination with the drawings of the specification and the specific embodiments.

[0071] Firstly, the term "and / or" appearing in the present text is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in the present text generally represents an "or" relationship between the front and rear associated objects.

[0072] Automatic parking is an intelligent automobile technology that enables a vehicle to automatically find and park in a parking space without human operation. This technology identifies the surrounding environment, including parking spaces and obstacles, through sensors on the vehicle, such as cameras and radars, and plans the best parking path accordingly. During the parking process, the vehicle automatically controls the throttle, brake, and steering to achieve fully automated parking operation.

[0073] In the related art, automatic parking can be realized by calibration lookup table, specifically, a related controller sends an accelerator pedal opening value to a downstream controller, the downstream controller converts the accelerator pedal opening value into a torque value by lookup table, and the downstream controller sends the torque value to a downstream actuator for execution. However, this method excessively relies on the downstream actuator, and the conversion process from the accelerator pedal opening to the torque value is relatively complex, with poor real-time performance, making it difficult to realize comfortable automatic parking.

[0074] In addition, in the related art, automatic parking is also realized by deep learning, however, this method has high consumption of computing resources, and the internal logic is not transparent, making the effect of automatic parking uncontrollable.

[0075] Therefore, how to ensure that the effect of automatic parking is more stable is a current problem to be solved.

[0076] To solve the above problems, the embodiments of the present application provide a vehicle control method, which can be specifically performed by a related control module, such as a longitudinal control module. The controller architecture where the longitudinal control module is located includes a perception module, a path planning module, a longitudinal control module, and an actuator, and the architecture schematic diagram is shown in Figure 1 . The perception module relies on cameras, radars and other devices on the vehicle to monitor the environment of the vehicle during automatic parking, and comprehensively obtains perception information. The perception module sends the perception information to the path planning module, the path planning module calculates a single-step planning path for automatic parking of the vehicle according to the perception information, and sends it to the longitudinal control module. The longitudinal control module determines the related control information of the vehicle automatic parking, such as vehicle speed, remaining driving distance, vehicle expected torque, deceleration braking mode, etc., for the single-step planning path. The longitudinal control module sends the related control information to the corresponding actuator, and the actuator executes the target action of the related control information. The actuator can include the controllers corresponding to the steering wheel, accelerator pedal, brake pedal and other devices.

[0077] Now, a vehicle control method provided by the embodiments of the present application will be described in conjunction with the control architecture shown in Figure 1 . Referring to Figure 2 , the vehicle control method provided by the embodiments of the present application includes steps S21-S25.

[0078] Step S21, in the case that the vehicle is in a current single-step planning path during automatic parking, obtaining a starting coordinate and a starting vehicle speed corresponding to a starting time of a current time period of the vehicle;

[0079] Step S22, determining a target vehicle speed corresponding to the current time period of the vehicle according to a distance between the starting coordinate and an end point coordinate in the current single-step planning path and the starting vehicle speed;

[0080] Step S23, monitoring an actual vehicle speed of the vehicle in the current time period;

[0081] Step S24, determining a target torque of the vehicle in the current time period according to the actual vehicle speed and the target vehicle speed, and sending the target torque to a corresponding downstream actuator for execution;

[0082] Step S25, taking an ending time point of the current time period as a starting time point of a next time period, updating the next time period as the current time period, and returning to execute the step of obtaining a starting coordinate and a starting vehicle speed of the vehicle at a starting time point of the current time period, until the vehicle reaches the ending coordinate of the current single-step planning path.

[0083] Regarding step S21, obtaining a starting coordinate and a starting vehicle speed of the vehicle at a starting time point of the current time period, in a case that the vehicle is in a current single-step planning path in an automatic parking process.

[0084] In the process of automatic parking of the vehicle, in order for the vehicle to enter the parking space and park, the vehicle may need to be constantly adjusted and moved forward and backward, that is, the vehicle needs to move forward for a distance, then move backward for a distance, then move forward for a distance, and then move backward for a distance, which can be referred to as a rolling process. In this process, the same direction movement path is referred to as a single-step planning path by the embodiments of the present application. For example, the vehicle needs to move forward for a distance A, move backward for a distance B, move forward for a distance C, and move backward for a distance D to enter the parking space and complete the parking action. The path in the process of moving forward for a distance A is referred to as a single-step planning path by the embodiments of the present application, and the path in the process of moving backward for a distance B is referred to as a single-step planning path, the path in the process of moving forward for a distance C is referred to as a single-step planning path, and the path in the process of moving backward for a distance D is referred to as a single-step planning path.

[0085] As described above, the path planning module calculates the single-step planning path of the vehicle in the automatic parking process according to the perception information and sends it to the longitudinal control module. It should be noted that the single-step planning path can be a walking path corresponding to any point of the vehicle, which can be, for example, the center point of the rear axle of the vehicle.

[0086] After the longitudinal control module obtains the single-step planning path, step S21 is executed. The single-step planning path being executed is defined as the current single-step planning path by the embodiments of the present application. The current single-step planning path includes a starting coordinate, an ending coordinate, and a vehicle pre-traveling path between the starting coordinate and the ending coordinate. The starting coordinate is denoted as (x0, y0) and the ending coordinate is denoted as (x N , y N ) by the embodiments of the present application, as shown in Figure 3As shown, a schematic diagram of a certain single-step planning path.

[0087] In the case that the vehicle is in the current single-step planning path in the automatic parking process, the current single-step planning path is divided into a plurality of time periods according to a preset time length, for example, a time length corresponding to each second is divided into a time period, and the embodiments of the present application will take 1 second as a time period as an example to describe the subsequent scheme.

[0088] Suppose the current time period of the vehicle is the i-th time period, which represents the time period corresponding to the i-th second in the current single-step planning path, i is an integer starting from 0 and traversing to N, where N is a positive integer. From the position sensor and the speed sensor arranged on the vehicle, the starting coordinates and the starting speed of the vehicle corresponding to the starting time of the current time period are obtained. The starting coordinates are denoted as (x i , y i ), and the starting speed is denoted as curspeed. The time period changes with the passage of time, i increases from 0 in turn, and the embodiments of the present application take the i-th time period as an example to describe the subsequent scheme. The i-th time period can be any time period in the current single-step planning path.

[0089] Regarding step S22, according to the distance between the starting coordinates and the end point coordinates in the current single-step planning path and the starting speed, the target speed of the vehicle corresponding to the current time period is determined.

[0090] Specifically, the determination method of the target speed of the vehicle corresponding to the current time period can include steps S221-S224.

[0091] Step S221, according to the Euclidean distance between the starting coordinates and the end point coordinates, the starting speed, a preset gain coefficient and a preset compensation value, determining a to-be-verified speed of the vehicle corresponding to the current time period;

[0092] Step S222, judging whether the to-be-verified speed is less than or equal to a preset maximum speed limit of the vehicle;

[0093] Step S223, in the case that the to-be-verified speed is less than or equal to the preset maximum speed limit, determining the to-be-verified speed as the target speed of the vehicle corresponding to the current time period;

[0094] Step S224, in the case that the to-be-verified speed is greater than the preset maximum speed limit, determining the preset maximum speed limit as the target speed of the vehicle corresponding to the current time period.

[0095] Regarding step S221, reference can be made to the following formula (1).

[0096]

[0097] wherein exp1 is the to-be-verified vehicle speed, x N , y N is the end point coordinate, x i , y i is the start coordinate, gain and k are gain coefficients, curspeed is the start vehicle speed, and offset is a compensation value. The gain, k, offset can be adjusted and calibrated according to the actual working condition of the vehicle.

[0098] Regarding step S222, the determination method of the preset maximum speed limit includes steps S2221-S2222.

[0099] Step S2221, obtaining the weather condition of the vehicle in the current period, obtaining a first distance between the vehicle and the start coordinate in the current single-step planning path, obtaining a second distance between the obstacle in the current driving direction of the vehicle and the vehicle, and obtaining a third distance between the vehicle and the end point coordinate;

[0100] Step S2222, determining the preset maximum speed limit of the vehicle in the current period according to the weather condition, the first distance, the second distance, and the third distance.

[0101] It should be noted that when determining the preset maximum speed limit, the weather condition, the first distance, the second distance, and the third distance need to be considered comprehensively to limit the preset maximum speed limit, and then the final preset maximum speed limit corresponding to the current period is obtained.

[0102] Now the limitation of the preset maximum speed limit will be described from the aspects of the weather condition, the first distance, the second distance, and the third distance.

[0103] When the weather condition is rain and snow weather, the corresponding preset maximum speed limit is relatively low, and when the weather condition is non-rain and snow weather, the corresponding preset maximum speed limit is relatively high.

[0104] When the first distance between the current position (x i , y i ) of the vehicle and the start coordinate (x0, y0) is closer, the corresponding preset maximum speed limit is relatively lower, and when the first distance is farther, the corresponding preset maximum speed limit is relatively higher.

[0105] When the second distance between the obstacle in the current driving direction of the vehicle and the vehicle is closer, the corresponding preset maximum speed limit is relatively lower, and when the second distance between the obstacle in the current driving direction of the vehicle and the vehicle is farther, the corresponding preset maximum speed limit is relatively higher.

[0106] When the third distance between the current position (x i , y i ) of the vehicle and the end point coordinates (x N , y N ) is closer, the corresponding preset maximum speed limit is relatively lower, and when the third distance is farther, the corresponding preset maximum speed limit is relatively higher.

[0107] The influences of the weather condition, the first distance, the second distance, and the third distance on the preset maximum speed limit are comprehensively considered to obtain the final corresponding preset maximum speed limit of the current period.

[0108] After obtaining the final corresponding preset maximum speed limit of the current period, the preset maximum speed limit is compared with the to-be-verified vehicle speed, when the to-be-verified vehicle speed is less than or equal to the preset maximum speed limit, step S223 is executed, and when the to-be-verified vehicle speed is greater than the preset maximum speed limit, step S224 is executed.

[0109] Regarding step S223, when the to-be-verified vehicle speed is less than or equal to the preset maximum speed limit, it means that the to-be-verified vehicle speed meets the maximum speed limit condition and can be directly used, and then the to-be-verified vehicle speed is determined as the target vehicle speed of the vehicle corresponding to the current period.

[0110] Regarding step S224, when the to-be-verified vehicle speed is greater than the preset maximum speed limit, it means that the to-be-verified vehicle speed does not meet the maximum speed limit condition and cannot be used, and then the preset maximum speed limit is determined as the target vehicle speed of the vehicle corresponding to the current period.

[0111] Regarding step S23, the actual vehicle speed of the vehicle corresponding to the current period is monitored.

[0112] The actual vehicle speed of the vehicle corresponding to the current period can be monitored at a preset frequency, and the actual vehicle speed at different time points in the current period can be different. When the actual vehicle speed is at the starting time point of the current period, the actual vehicle speed is the starting vehicle speed. The preset frequency can be less than or equal to the time length corresponding to the current period, and can be set according to actual conditions, which is not limited by the embodiments of the present application.

[0113] Step S23 can be executed synchronously in the process of executing step S21 and step S22.

[0114] Regarding step S24, the target torque of the vehicle corresponding to the current period is determined according to the actual vehicle speed and the target vehicle speed, and the target torque is sent to the corresponding downstream actuator for execution.

[0115] The target vehicle speed is a speed that the vehicle is intended to eventually reach. When there is a difference between the actual vehicle speed and the target vehicle speed, the actual vehicle speed needs to be controlled to change so that the actual vehicle speed constantly approaches the target vehicle speed, and in an optimal case, the actual vehicle speed can be adjusted to the target vehicle speed.

[0116] The method for determining the target torque comprises steps S241-S244.

[0117] In step S241, a to-be-verified torque of the vehicle in the current period is determined according to a speed deviation between the actual vehicle speed and the target vehicle speed.

[0118] In step S242, when the target vehicle speed is greater than a preset threshold speed and the speed deviation is greater than a preset threshold deviation, a first state duration in which the target vehicle speed is greater than the preset threshold speed and the speed deviation is greater than the preset threshold deviation is monitored.

[0119] In step S243, when the first state duration is greater than a preset threshold duration, a sum of the to-be-verified torque and a preset calibration torque is determined as the target torque of the vehicle in the current period.

[0120] In step S244, when the target vehicle speed is less than or equal to the preset threshold speed or the first state duration is less than or equal to the preset threshold duration, the to-be-verified torque is determined as the target torque of the vehicle in the current period.

[0121] Regarding step S241, a to-be-verified torque of the vehicle in the current period is determined according to a speed deviation between the actual vehicle speed and the target vehicle speed.

[0122] Regarding steps S242 and S243, the preset threshold speed and the preset threshold duration are calibration values and can be determined according to actual conditions. The preset threshold speed and the preset threshold duration are used to determine whether the to-be-verified torque needs to be compensated. When the target vehicle speed is greater than the preset threshold speed, it means that the target vehicle speed is relatively large, and it is further needed to determine whether the speed deviation is greater than the preset threshold deviation. If yes, it means that the to-be-verified torque may need to be compensated. At this time, the first state duration in which the target vehicle speed is greater than the preset threshold speed and the speed deviation is greater than the preset threshold deviation is further monitored. When the first state duration is greater than the preset threshold duration, it means that the error is continuously large, and the to-be-verified torque needs to be compensated. Specifically, the to-be-verified torque is added to the preset calibration torque, and a sum of the to-be-verified torque and the preset calibration torque is used as the final target torque.

[0123] As to step S244, in the case that the target vehicle speed is less than or equal to a preset threshold speed, or the first state duration is less than or equal to the preset threshold duration, it is considered that the to-be-verified torque does not need to be compensated, and the to-be-verified torque is directly determined as the target torque of the vehicle in the current time period.

[0124] After the target torque is determined, before the target torque is sent to a corresponding downstream actuator for execution, the target torque is subjected to a smoothing filtering process, and then the target torque subjected to the smoothing filtering process is sent to the corresponding downstream actuator for execution, so that the torque change is more smooth, and the comfort of the vehicle in the automatic parking process is improved.

[0125] As to step S25, the end time point corresponding to the current time period is taken as a start time point of a next time period, the next time period is updated as the current time period, and the step of acquiring the start coordinate and the start vehicle speed of the vehicle at the start time point of the current time period in the case that the vehicle is in the current single-step planning path in the automatic parking process is executed until the vehicle reaches the end coordinate of the current single-step planning path.

[0126] At the end of the current time period, the corresponding end time point is also the start time point of the next time period, the next time period is taken as a new current time period, and steps S21-S24 are sequentially executed until the vehicle reaches the end coordinate of the current single-step planning path. At this time, the vehicle completes the parking action of the current single-step planning path.

[0127] After the vehicle reaches the end coordinate of the current single-step planning path, the next single-step planning path of the vehicle in the automatic parking process can also be acquired, the next single-step planning path is updated as the current single-step planning path, and the step of acquiring the start coordinate and the start vehicle speed of the vehicle at the start time point of the current time period in the case that the vehicle is in the current single-step planning path in the automatic parking process is executed until the vehicle reaches the target parking space. At this time, the vehicle completes the parking action of the automatic parking.

[0128] In addition, in order to ensure the safety of the vehicle in the automatic parking, the embodiment of the application also provides the following technical solutions, which are specifically implemented in the process that the vehicle is in the current single-step planning path in the automatic parking process, and specifically include steps S31-S32.

[0129] Step S31: acquiring a second distance between a nearest obstacle in a current driving direction of the vehicle and the vehicle and an obstacle type of the nearest obstacle.

[0130] Step S32, determining a target deceleration braking mode of the vehicle according to the second distance and the obstacle type, and sending the target deceleration braking mode to the corresponding downstream actuator for execution.

[0131] Based on the camera and ultrasonic radar data, the closest obstacle distance and obstacle type in the current driving direction of the vehicle are identified, and different deceleration braking modes are set based on the obstacle distance and type to ensure parking safety.

[0132] For example, the deceleration braking mode can include four modes, namely no braking mode, light braking mode, comfortable braking mode and emergency braking mode, the braking efficiency increases in turn, the braking effect is strengthened in turn, but at the same time the user's braking experience on the vehicle is deteriorated in turn. According to the second distance and the obstacle type, one target deceleration braking mode is selected from the above four braking modes, and the target deceleration braking mode is sent to the corresponding downstream actuator for execution.

[0133] After sending the target torque or the target deceleration braking mode to the corresponding downstream actuator for execution, the method further comprises steps S41-S42.

[0134] Step S41, receiving a notification instruction of a legality verification failure of the downstream actuator for the target torque or the target deceleration braking mode;

[0135] Step S42, in response to the notification instruction, determining that the deceleration braking mode of the vehicle is an emergency braking mode, and sending the emergency braking mode to the corresponding downstream actuator for execution.

[0136] After the downstream actuator receives the target torque or the target deceleration braking mode, it will verify the related information of the target torque or the target deceleration braking mode. If the verification fails, it will feed back a notification instruction of a legality verification failure to the longitudinal control module. Based on the notification instruction, the longitudinal control module sends the emergency braking mode as the current target deceleration braking mode to the downstream actuator for execution, realizes the rapid braking of the vehicle, avoids causing greater harm or loss to the vehicle during automatic parking, and improves safety.

[0137] Wherein, the verification method can adopt related technologies, such as CRC verification (Cyclic Redundancy Check), which is not limited in the embodiments of the present application.

[0138] When the longitudinal control module determines that the current braking mode is the emergency braking mode, it can send an abnormal signal to the central control display of the vehicle or the mobile terminal associated with the vehicle, reminding the user to pay attention to the influence of the emergency braking, and improving the user experience.

[0139] In the case that the vehicle is in the current single-step planning path in the automatic parking process, the abnormal data of the vehicle in the automatic parking process can also be screened and uploaded to the cloud, and the local data package cleaning is regularly quantified.

[0140] For example, in the automatic parking function software code, log printing is added at the entrance and exit of the key function, and the key algorithm parameters are recorded. The abnormal data is screened according to the established logic locally, such as data value abnormality, CPU load being too high, function failure, etc. The screened problem log can be uploaded to the cloud through the OTA (Over-the-Air Technology) channel, helping enterprises to summarize real vehicle problem data for continuous iteration and optimization.

[0141] Uploading the abnormal data to the cloud facilitates the cloud to statistically analyze the abnormal data in the automatic parking process, and provides a data basis for improving the automatic parking strategy. Regularly quantifying the local data package cleaning can ensure sufficient local storage space, reduce the probability of insufficient local storage space, and improve user experience.

[0142] In the case that the vehicle is in the current single-step planning path in the automatic parking process, the method further comprises steps S51-S53.

[0143] Step S51, monitoring the actual coordinates and actual torque of the vehicle;

[0144] Step S52, in the case that the actual coordinates are unchanged and the actual torque is increased, if the second state that the actual coordinates are unchanged and the actual torque is increased lasts for more than a preset duration, it is determined that the tire of the vehicle is in contact with an obstacle;

[0145] Step S53, feeding back the sensing information that the tire is in contact with the obstacle to a perception module, so that the perception module feeds back the environmental information of the vehicle to a path planning module in combination with the sensing information, and the path planning module generates a next single-step planning path according to the environmental information.

[0146] Regarding step S51, whether the actual coordinates of the vehicle are changing is monitored, and whether the actual torque of the vehicle is increasing is monitored.

[0147] As to step S52, when the actual coordinate is unchanged and the actual torque is increased, then a second state duration of the state is monitored, and it is judged whether the second state duration exceeds a preset duration, if yes, it means that the torque of the vehicle is continuously increased while the position of the vehicle is not changed, which means that the tire of the vehicle is in contact with an obstacle, and the obstacle is likely to be a wheel stop. At this time, the longitudinal control module feeds back the sensing information that the tire is in contact with the obstacle to the sensing module, the sensing module comprehensively obtains sensing information according to the sensing information that the tire is in contact with the obstacle sent by the longitudinal control module and the collection information of various sensors. The sensing module sends the sensing information to the path planning module for single-step path planning, and then the path planning module sends the single-step path planning path to the longitudinal control module to return to execute steps S21-S25 to control the vehicle automatically.

[0148] It can be seen that the longitudinal control module of the embodiment of the application can feed back the local and subtle road conditions at the tire of the vehicle to the sensing module, which makes up for the monitoring blind area of the monitoring devices such as the camera and the radar, improves the comprehensive sensing of the sensing module, and improves the fine control degree in the automatic parking process of the vehicle and the stability of the automatic parking.

[0149] In summary, in the case that the vehicle is in the current single-step planning path in the automatic parking process, the embodiment of the application obtains the starting coordinate and the starting speed of the vehicle corresponding to the starting time of the current period; determines the target speed of the vehicle corresponding to the current period according to the distance between the starting coordinate and the end coordinate in the current single-step planning path and the starting speed; monitors the actual speed of the vehicle corresponding to the current period; determines the target torque of the vehicle corresponding to the current period according to the actual speed and the target speed, and sends the target torque to the corresponding downstream actuator for execution; takes the end time of the current period as the starting time of the next period, updates the next period as the current period, and returns to execute the step of obtaining the starting coordinate and the starting speed of the vehicle corresponding to the starting time of the current period in the case that the vehicle is in the current single-step planning path in the automatic parking process, until the vehicle reaches the end coordinate of the current single-step planning path.

[0150] It can be seen that the embodiment of the application discards the calibration lookup table method and the deep learning method in the related art, and determines the target vehicle speed corresponding to the current period of the vehicle based on the starting coordinates, the starting vehicle speed, the end point coordinates and other information that can be directly collected. The torque control of the vehicle is realized based on the difference between the target vehicle speed and the actual vehicle speed of the vehicle, and the automatic parking process of the vehicle is realized. The embodiment of the application not only does not need to calibrate the corresponding relationship between the accelerator pedal opening degree and the torque value, but also realizes the process of obtaining the target torque based on the starting coordinates, the starting vehicle speed, the end point coordinates and other information in a longitudinal control module. The embodiment of the application does not need to excessively rely on downstream actuators, and does not involve the conversion process of the accelerator pedal opening degree to the torque value. The torque control real-time performance of the automatic parking is improved, and the comfortable automatic parking is realized.

[0151] In addition, the embodiment of the application is based on the starting coordinates, the starting vehicle speed, the end point coordinates and other information that can be directly collected. The complex calculation involved in deep learning does not need to be performed, the computing resources are saved, and the embodiment of the application realizes the torque control of the vehicle based on the difference between the target vehicle speed and the actual vehicle speed of the vehicle. The internal logic is transparent, the effect of the automatic parking is more controllable, and the stability and safety of the automatic parking are improved.

[0152] Based on the same inventive concept, the embodiment of the application provides a vehicle control device as shown in Figure 4 The device comprises:

[0153] The acquisition unit 41 is configured to acquire starting coordinates and a starting vehicle speed corresponding to a starting moment of a current period of the vehicle when the vehicle is in an automatic parking process.

[0154] The vehicle speed determination unit 42 is configured to determine a target vehicle speed corresponding to the current period of the vehicle according to a distance between the starting coordinates and end point coordinates in the current single-step planning path and the starting vehicle speed.

[0155] The monitoring unit 43 is configured to monitor an actual vehicle speed corresponding to the current period of the vehicle.

[0156] The torque determination unit 44 is configured to determine a target torque corresponding to the current period of the vehicle according to the actual vehicle speed and the target vehicle speed, and send the target torque to a corresponding downstream actuator for execution.

[0157] The cycle unit 45 is configured to update a next time period as a current time period with an ending time point of the current time period as a starting time point of the next time period, and return to execute the step of obtaining a starting coordinate and a starting speed of the vehicle at a starting time point of the current time period in a case that the vehicle is in the current single-step planning path until the vehicle reaches the ending coordinate of the current single-step planning path.

[0158] Further, the cycle unit 45 is configured to:

[0159] After the vehicle reaches the ending coordinate of the current single-step planning path, a next single-step planning path of the vehicle in the automatic parking process is obtained, the next single-step planning path is updated as the current single-step planning path, and the step of obtaining the starting coordinate and the starting speed of the vehicle at the starting time point of the current time period in a case that the vehicle is in the current single-step planning path is executed until the vehicle reaches the target parking space.

[0160] Further, the vehicle speed determination unit 42 is configured to:

[0161] Determine a to-be-verified vehicle speed of the vehicle in the current time period according to a Euclidean distance between the starting coordinate and the ending coordinate, the starting speed, a preset gain coefficient, and a preset offset value.

[0162] Determine whether the to-be-verified vehicle speed is less than or equal to a preset maximum speed limit of the vehicle.

[0163] In a case that the to-be-verified vehicle speed is less than or equal to the preset maximum speed limit, the to-be-verified vehicle speed is determined as the target vehicle speed of the vehicle in the current time period.

[0164] In a case that the to-be-verified vehicle speed is greater than the preset maximum speed limit, the preset maximum speed limit is determined as the target vehicle speed of the vehicle in the current time period.

[0165] Further, the vehicle speed determination unit 42 is configured to execute:

[0166]

[0167] Wherein, exp1 is the to-be-verified vehicle speed, x N , y N is the ending coordinate, x i , y i is the starting coordinate, gain and k are gain coefficients, curspeed is the starting speed, and offset is an offset value.

[0168] Further, the vehicle speed determination unit 42 is configured to:

[0169] Before determining whether the to-be-verified vehicle speed is less than or equal to the preset maximum speed limit of the vehicle, the weather condition corresponding to the current time period is obtained, the first distance between the vehicle and the starting coordinate in the current single-step planning path is obtained, the second distance between the obstacle in the current driving direction of the vehicle and the vehicle is obtained, and the third distance between the vehicle and the ending coordinate is obtained.

[0170] According to the weather condition, the first distance, the second distance, and the third distance, the preset maximum speed limit of the vehicle corresponding to the current time period is determined.

[0171] Further, the torque determination unit 44 is configured to:

[0172] According to the speed deviation between the actual vehicle speed and the target vehicle speed, the to-be-verified torque of the vehicle corresponding to the current time period is determined.

[0173] In a case where the target vehicle speed is greater than a preset threshold speed and the speed deviation is greater than a preset threshold deviation, a first state duration in which the target vehicle speed is greater than the preset threshold speed and the speed deviation is greater than the preset threshold deviation is monitored.

[0174] In a case where the first state duration is greater than a preset threshold duration, a sum of the to-be-verified torque and a preset calibrated torque is determined as the target torque of the vehicle corresponding to the current time period.

[0175] In a case where the target vehicle speed is less than or equal to a preset threshold speed, or the first state duration is less than or equal to the preset threshold duration, the to-be-verified torque is determined as the target torque of the vehicle corresponding to the current time period.

[0176] Further, the torque determination unit 44 is configured to:

[0177] According to the actual vehicle speed and the target vehicle speed, the target torque of the vehicle corresponding to the current time period is determined.

[0178] The target torque is subjected to a smoothing filtering process.

[0179] The target torque subjected to the smoothing filtering process is sent to a corresponding downstream actuator for execution.

[0180] Further, the brake mode determination unit is configured to:

[0181] obtain a second distance between the vehicle and a nearest obstacle in a current driving direction of the vehicle and an obstacle type of the nearest obstacle in a case that the vehicle is in the current single-step planning path in the automatic parking process;

[0182] determine a target deceleration braking mode of the vehicle according to the second distance and the obstacle type, and send the target deceleration braking mode to a corresponding downstream actuator for execution.

[0183] Further, the braking mode determination unit is configured to:

[0184] after sending the target torque or the target deceleration braking mode to the corresponding downstream actuator for execution, receive a notification instruction of a legality check failure feedback by the downstream actuator for the target torque or the target deceleration braking mode;

[0185] in response to the notification instruction, determine an emergency braking mode of the vehicle as the deceleration braking mode, and send the emergency braking mode to the corresponding downstream actuator for execution.

[0186] Further, the data screening unit is configured to:

[0187] screen abnormal data in the automatic parking process of the vehicle and upload the abnormal data to the cloud in a case that the vehicle is in the current single-step planning path in the automatic parking process.

[0188] Further, the obstacle feedback unit is configured to:

[0189] monitor an actual coordinate and an actual torque of the vehicle in a case that the vehicle is in the current single-step planning path in the automatic parking process;

[0190] in a case that the actual coordinate is unchanged and the actual torque is increased, if a second state that the actual coordinate is unchanged and the actual torque is increased lasts for more than a preset duration, determine that a tire of the vehicle collides with an obstacle;

[0191] feed back sensing information of the tire colliding with the obstacle to a perception module, so that the perception module feeds back environment information of the vehicle to a path planning module according to the sensing information, and the path planning module generates a next single-step planning path according to the environment information.

[0192] Based on the same inventive concept, the embodiments of the present application provide an electronic device as shown in Figure 5 The electronic device comprises:

[0193] a processor 51;

[0194] a memory for storing instructions executable by the processor 51;

[0195] The processor 51 is configured to perform to implement the vehicle control method provided in the foregoing.

[0196] Based on the same inventive concept, the embodiment of the present application provides a non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor 51 of an electronic device, the electronic device can perform a vehicle control method.

[0197] Based on the same inventive concept, the embodiment of the present application provides a computer program product, comprising computer instructions executed by a processor 51 to implement a vehicle control method provided in the foregoing.

[0198] Since the electronic device introduced in the embodiment is the electronic device used to implement the information processing method in the embodiment of the present application, the specific implementation of the electronic device in the embodiment and its various forms can be understood by those skilled in the art based on the information processing method introduced in the embodiment of the present application, so the electronic device how to implement the method in the embodiment of the present application will not be introduced in detail. As long as the electronic device used to implement the information processing method in the embodiment of the present application is implemented by those skilled in the art, it belongs to the scope of the present application.

[0199] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0200] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The device that implements the function specified in one block or multiple blocks.

[0201] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0202] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that are executed on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0203] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those of skill in the art once they have the benefit of the present disclosure. Therefore, the appended claims are intended to encompass within their scope all possible variations and modifications of the preferred embodiments. 1

[0204] It is apparent that a person skilled in the art can make various changes and modifications to the application without departing from the spirit and scope thereof. Thus, if these modifications and changes fall within the scope of the claims and their equivalents, it is intended to include them in the application.

Claims

1. A vehicle control method characterized by, The method comprises: in the case that the vehicle is in an automatic parking process, a current single-step planning path is divided into multiple time periods according to a preset time length, and a starting coordinate and a starting speed of the vehicle at a starting time of a current time period are obtained; the single-step planning path refers to a moving path of the vehicle in any single forward movement process or any single backward movement process in the automatic parking process; a target speed of the vehicle in the current time period is determined according to a distance between the starting coordinate and an ending coordinate in the current single-step planning path and the starting speed; an actual speed of the vehicle in the current time period is monitored; a target torque of the vehicle in the current time period is determined according to the actual speed and the target speed, and the target torque is sent to a corresponding downstream actuator for execution; an ending time of the current time period is taken as a starting time of a next time period, the next time period is updated as the current time period, and the step of obtaining the starting coordinate and the starting speed of the vehicle at the starting time of the current time period in the case that the vehicle is in the automatic parking process is executed until the vehicle reaches the ending coordinate of the current single-step planning path.

2. The method of claim 1, wherein, After the vehicle reaches the ending coordinate of the current single-step planning path, the method further comprises: a next single-step planning path of the vehicle in the automatic parking process is obtained, the next single-step planning path is updated as the current single-step planning path, and the step of obtaining the starting coordinate and the starting speed of the vehicle at the starting time of the current time period in the case that the vehicle is in the automatic parking process is executed until the vehicle reaches a target parking space.

3. The method of claim 1, wherein, The target speed of the vehicle in the current time period is determined according to the distance between the starting coordinate and the ending coordinate in the current single-step planning path and the starting speed, comprising: a to-be-verified speed of the vehicle in the current time period is determined according to a Euclidean distance between the starting coordinate and the ending coordinate, the starting speed, a preset gain coefficient and a preset compensation value; it is judged whether the to-be-verified speed is less than or equal to a preset maximum speed limit of the vehicle; in the case that the to-be-verified speed is less than or equal to the preset maximum speed limit, the to-be-verified speed is determined as the target speed of the vehicle in the current time period; in the case that the to-be-verified speed is greater than the preset maximum speed limit, the preset maximum speed limit is determined as the target speed of the vehicle in the current time period.

4. The method of claim 3, wherein, The to-be-verified speed of the vehicle in the current time period is determined according to the Euclidean distance between the starting coordinate and the ending coordinate, the starting speed, a preset gain coefficient and a preset compensation value, comprising: ； wherein is the verified vehicle speed, , is the end point coordinate, , is the start coordinate, and are gain factors, is the start vehicle speed, is a compensation value.

5. The method of claim 3, wherein, before it is judged whether the to-be-verified speed is less than or equal to the preset maximum speed limit of the vehicle, the method further comprises: acquire a weather condition corresponding to the current time period, acquire a first distance between the vehicle and a start coordinate in the current single-step planning path, acquire a second distance between an obstacle in a current driving direction of the vehicle and the vehicle, and acquire a third distance between the vehicle and an end coordinate; determine the preset maximum speed limit of the vehicle corresponding to the current time period according to the weather condition, the first distance, the second distance, and the third distance.

6. The method of claim 1, wherein, determining the target torque of the vehicle corresponding to the current time period according to the actual vehicle speed and the target vehicle speed, includes: determining a to-be-verified torque of the vehicle corresponding to the current time period according to a speed deviation between the actual vehicle speed and the target vehicle speed; in a case where the target vehicle speed is greater than a preset threshold speed and the speed deviation is greater than a preset threshold deviation, monitoring a first state duration in which the target vehicle speed is greater than the preset threshold speed and the speed deviation is greater than the preset threshold deviation; in a case where the first state duration is greater than a preset threshold duration, determining a sum of the to-be-verified torque and a preset calibrated torque as the target torque of the vehicle corresponding to the current time period; in a case where the target vehicle speed is less than or equal to the preset threshold speed, or the first state duration is less than or equal to the preset threshold duration, determining the to-be-verified torque as the target torque of the vehicle corresponding to the current time period.

7. The method of claim 1, wherein, determining the target torque of the vehicle corresponding to the current time period according to the actual vehicle speed and the target vehicle speed, and sending the target torque to a corresponding downstream actuator for execution, includes: determining the target torque of the vehicle corresponding to the current time period according to the actual vehicle speed and the target vehicle speed; performing smoothing filtering processing on the target torque; sending the target torque after the smoothing filtering processing to a corresponding downstream actuator for execution.

8. The method of claim 1, wherein, in a case where the vehicle is in the current single-step planning path in an automatic parking process, the method further includes: acquiring a second distance between a nearest obstacle in a current driving direction of the vehicle and the vehicle, and an obstacle type of the nearest obstacle; determining a target deceleration braking mode of the vehicle according to the second distance and the obstacle type, and sending the target deceleration braking mode to a corresponding downstream actuator for execution.

9. The method of any one of claims 1, 7, 8, wherein, after sending the target torque or the target deceleration braking mode to a corresponding downstream actuator for execution, the method further includes: receiving a notification instruction of a legality verification failure feedback by the downstream actuator for the target torque or the target deceleration braking mode; in response to the notification instruction, determining an emergency braking mode as a deceleration braking mode of the vehicle, and sending the emergency braking mode to a corresponding downstream actuator for execution.

10. The method of claim 1, wherein, in a case where the vehicle is in the current single-step planning path in an automatic parking process, the method further includes: screening abnormal data of the vehicle in the automatic parking process, and uploading the abnormal data to a cloud.

11. The method of claim 1, wherein, In the case that the vehicle is in the current single-step planning path in the automatic parking process, the method further comprises: monitoring the actual coordinates and the actual torque of the vehicle; in the case that the actual coordinates are unchanged and the actual torque is increased, if the second state that the actual coordinates are unchanged and the actual torque is increased lasts for more than a preset duration, it is determined that the tire of the vehicle is in contact with an obstacle; feeding back the sensing information that the tire is in contact with the obstacle to a perception module, so that the perception module feeds back the environmental information of the vehicle to a path planning module according to the sensing information, and the path planning module generates a next single-step planning path according to the environmental information.

12. A vehicle control device characterized by comprising: The device comprises: an acquisition unit configured to, in the case that the vehicle is in a current single-step planning path in an automatic parking process, divide the current single-step planning path into a plurality of time periods according to a preset time length, and acquire a starting coordinate and a starting speed of the vehicle at a starting time of a current time period; the single-step planning path refers to a moving path of the vehicle in any single forward process or any single backward process in the automatic parking process; a speed determination unit configured to determine a target speed of the vehicle in the current time period according to a distance between the starting coordinate and an ending coordinate in the current single-step planning path and the starting speed; a monitoring unit configured to monitor an actual speed of the vehicle in the current time period; a torque determination unit configured to determine a target torque of the vehicle in the current time period according to the actual speed and the target speed, and send the target torque to a corresponding downstream actuator for execution; a cycle unit configured to take an ending time of the current time period as a starting time of a next time period, update the next time period as the current time period, and return to execute the step of acquiring the starting coordinate and the starting speed of the vehicle at the starting time of the current time period in the case that the vehicle is in the current single-step planning path in the automatic parking process, until the vehicle reaches the ending coordinate of the current single-step planning path.

13. An electronic device, comprising: comprise: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute to implement a vehicle control method as claimed in any one of claims 1 to 11.

14. A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of an electronic device, enabling the electronic device to perform a vehicle control method as claimed in any one of claims 1 to 11.

15. A computer program product, characterised in that, comprise computer instructions executed by a processor to implement a vehicle control method as claimed in any one of claims 1 to 11.

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