Parking control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a parking control method and device, a vehicle and a storage medium, and is applied to the technical field of vehicle control. According to the embodiment of the invention, the problem that a vehicle is difficult to park in a narrow space is solved. The parking control method comprises the following steps: acquiring rotation information of a steering wheel; based on the rotation information of the steering wheel, controlling an outer side rear wheel of the vehicle to work according to a first working parameter and an inner side rear wheel to work according to a second working parameter so as to park the vehicle in or out of the parking space; wherein the first working parameter is different from the second working parameter.

Description

Technical Field

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

[0002] In current automobile parking technologies, especially in the scenario of parallel parking, when faced with the challenges of narrow space and narrow spacing on both sides, most related technologies rely on dual-motor four-wheel drive systems. Although this system improves the flexibility of parking to a certain extent, it still faces problems such as insufficient controllability, large turning radius, and many forward and backward movements in extremely narrow space conditions, which increases the difficulty of parking. Summary of the invention

[0003] The embodiments of the present application provide a parking control method, device, vehicle and storage medium, which can solve the problems of insufficient vehicle controllability, large turning radius, and a large number of forward and backward movements when the vehicle is parked in a narrow space.

[0004] In a first aspect, an embodiment of the present application provides a parking control method, the method comprising:

[0005] Get the steering wheel rotation information;

[0006] Based on the steering wheel rotation information, the outer rear wheel of the vehicle is controlled to operate according to a first operating parameter, and the inner rear wheel is controlled to operate according to a second operating parameter, so as to park the vehicle in or out of a parking space; wherein the first operating parameter is different from the second operating parameter.

[0007] The present application can obtain the rotation information of the steering wheel, and control the outer rear wheel of the vehicle according to the first working parameter and the inner rear wheel according to the second working parameter based on the rotation information of the steering wheel, so as to park the vehicle in or out of the parking space. By differentially controlling the working parameters of the rear wheels, more precise steering control is achieved, so that the vehicle can complete complex steering actions within a narrow control range, thereby improving the flexibility and accuracy of parking.

[0008] In some embodiments, the first operating parameter includes a first torque distributed to the outer rear wheel, and the second operating parameter includes a second torque distributed to the inner rear wheel, and the first torque is different from the second torque.

[0009] In some embodiments, the first torque is less than the second torque.

[0010] In some embodiments, the first operating parameter includes a first deflection angle of the outer rear wheel toward the target steering direction, and the second operating parameter includes a second deflection angle of the inner rear wheel toward the target steering direction. The target steering direction is the vehicle steering direction desired by the driver determined based on the steering wheel rotation information.

[0011] In some embodiments, the first deflection angle is the same as the second deflection angle; or, the first deflection angle is smaller than the second deflection angle.

[0012] In some embodiments, the first operating parameter further includes a rotation direction of the outer rear wheel, and the second operating parameter further includes a rotation direction of the inner rear wheel.

[0013] In some embodiments, the rotation direction of the outer rear wheel is forward rotation or reverse rotation.

[0014] In some embodiments, the rotation direction of the inner rear wheel is forward rotation.

[0015] In some embodiments, based on the steering wheel rotation information, the front wheels of the vehicle are controlled to operate according to a third operating parameter to park the vehicle in or out of a parking space.

[0016] In some embodiments, the third operating parameter includes a third deflection angle of the front wheels toward the target steering direction.

[0017] In some embodiments, the third deflection angle is smaller than the first deflection angle, and the third deflection angle is smaller than the second deflection angle.

[0018] In some embodiments, based on the rotation information of the steering wheel, the outer suspension of the vehicle is controlled to operate according to a fourth operating parameter, and the inner suspension is controlled to operate according to a fifth operating parameter.

[0019] In some embodiments, the fourth operating parameter includes a compression amount of the outboard suspension, and the fifth operating parameter includes a compression amount of the inboard suspension.

[0020] In some embodiments, the compression amount of the outboard suspension is less than the compression amount of the inboard suspension.

[0021] In some embodiments, the compression amount of the outer suspension is related to the lateral force applied to the outer rear wheel, and the compression amount of the inner suspension is related to the lateral force applied to the inner rear wheel.

[0022] In a second aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the processor is connected to the memory, and the memory stores computer instructions. When the computer instructions are executed on the electronic device, the electronic device executes the method provided by the first aspect and its possible implementation methods.

[0023] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed on a computer, the computer executes the method provided by the first aspect and its possible implementation methods.

[0024] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising: a controller, the controller being used to execute the method of any one of claims 1-16; or, the electronic device of claim 16; or, the computer-readable storage medium of claim 17.

[0025] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer executes the method provided by the first aspect and its possible implementation methods.

[0026] The technical effects brought about by any implementation method in the above-mentioned second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following is a brief introduction to the drawings required for describing the embodiments.

[0028] Figure 1 A flowchart of a parking control method provided in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of the force on the rear wheel provided in an embodiment of the present application;

[0030] Figure 3 A flowchart of another parking control method provided in an embodiment of the present application;

[0031] Figure 4 A flowchart of another parking control method provided in an embodiment of the present application;

[0032] Figure 5 A specific flow chart of a parking control method provided in an embodiment of the present application. ;

[0033] Figure 6 A schematic diagram of the relative position of a vehicle and a parking space provided in an embodiment of the present application;

[0034] Figure 7 A schematic diagram of the architecture of a vehicle provided in an embodiment of the present application;

[0035] Figure 8 A schematic diagram of the structure of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0037] The following describes the scenarios of the embodiments of the present application.

[0038] In some scenarios, especially in parallel parking scenarios with small spaces and narrow distances on both sides, the parking process faces problems such as insufficient vehicle maneuverability, large turning radius, and more forward and backward movements, which increases the difficulty of parking.

[0039] In some schemes, the parking planning method is based on four-wheel steering technology. The core idea of ​​this method is that when the distance from the target parking position to the inside of the target parking space is greater than a preset value, the system will provide a parking mode for the user to choose, including a four-wheel steering mode. When the user selects the four-wheel steering mode for parking, the vehicle will adjust its body posture according to the preset algorithm to adapt to the requirements of the parking space. In the four-wheel steering mode, the front and rear wheels of the vehicle can turn in the same direction or in opposite directions to reduce the turning radius, so that the vehicle can complete the parking action in a smaller space. This method improves the flexibility and efficiency of parking to a certain extent. However, in actual applications, the parking space is often smaller than the "preset value", especially in busy commercial areas or narrow residential areas. At this time, relying solely on four-wheel steering technology to reduce the turning radius is not enough to meet the parking needs in extremely narrow spaces. The vehicle needs to adjust the body posture and steering wheel position multiple times to complete parking. This greatly increases the difficulty and time of parking, and also reduces the driver's operating experience and trust in the parking system.

[0040] In view of this, the present application provides a parking control method that can be applied to distributed three-motor vehicles, four-wheel independently driven vehicles and rear-wheel independently driven vehicles. By being able to obtain steering wheel rotation information and controlling the vehicle's outer rear wheels according to a first working parameter and the inner rear wheels according to a second working parameter based on the steering wheel rotation information, the vehicle can be parked in or out of a parking space. By differentially controlling the working parameters of the rear wheels, more sophisticated steering control is achieved, allowing the vehicle to complete complex steering actions within a narrow control range, thereby improving the flexibility and accuracy of parking. For example, side entry and exit in extremely narrow spaces can be achieved.

[0041] The method of the embodiment of the present application is described in detail below.

[0042] See also Figure 1 , Figure 1 1 is a flow chart of a parking control method provided by an embodiment of the present application. Optionally, the method can be applied to a vehicle, for example, the method can be applied to a parking control device in a vehicle.

[0043] The parking control device is a device with data processing, communication and control capabilities, which may be set inside the vehicle or may be a processing module integrated in the vehicle, such as a microcontroller unit MCU and / or an electronic control unit ECU. In some schemes, the parking control device may also be set outside the vehicle, such as a server, cloud, or host, or may be a virtual device, such as a virtual machine, software, program code, or container. Optionally, when the parking control device is installed on the vehicle, the functions implemented by the parking control device can also be regarded as implemented by the vehicle. Specifically, when the parking control device is installed on the vehicle, it can be a functional module. For example, the parking control device can be integrated into the central domain controller of the vehicle. By communicating and coordinating with the vehicle's sensors, actuators and other components, it can monitor the vehicle's status and surrounding environment in real time, calculate the optimal parking path, and control the vehicle's steering, braking and acceleration and other actions to achieve automatic parking functions.

[0044] The vehicle is a vehicle provided in the present application whose rear wheels have independent driving capability. The vehicle may be a distributed three-motor vehicle or a four-wheel independently driven vehicle. The vehicle includes a front wheel, an outer rear wheel and an inner rear wheel.

[0045] like Figure 1 The steering method shown may include multiple steps in step S101-step S102. It should be understood that for the convenience of description, this application is described in the order of step S101-step S102, and is not intended to limit the execution to the above order. The embodiment of the application does not limit the execution order, execution time, execution number, etc. of the above one or more steps. Steps S101-step S102 are as follows:

[0046] S101: Obtaining steering wheel rotation information.

[0047] In some embodiments, the parking control device obtains the steering wheel rotation information. For example, the parking control device obtains the steering wheel rotation information through a sensor inside the steering wheel or a sensor in a component connected to the steering wheel.

[0048] The steering wheel rotation information includes at least one of the following: rotation angle, rotation speed, rotation direction, and rotation duration. The steering wheel rotation angle is used to characterize the degree of adjustment of the vehicle's driving direction by the driver or the parking control system. The steering wheel rotation speed, that is, the angle change per unit time, is used to characterize the driver's or the parking control system's operating intention and urgency. The steering wheel rotation direction is used to determine the vehicle's target driving or adjustment direction, such as turning left or right. The steering wheel duration, that is, the time period from starting to stop turning, is used to characterize the stability and continuity of the steering wheel turning operation.

[0049] In some embodiments, since the steering wheel rotation angle can represent the degree of adjustment of the vehicle's driving direction, the steering wheel rotation direction is used to determine the vehicle's target driving direction or target adjustment direction. Therefore, the directional parking control device can calculate the relative position relationship between the vehicle's current position and the target parking space, as well as the direction and angle that the vehicle's front and rear wheels need to be adjusted, based on the steering wheel rotation angle and rotation direction, and generate corresponding steering instructions to achieve rotation control of the vehicle's front and rear wheels.

[0050] For example, if the vehicle is a distributed three-motor vehicle, the parking control device sends corresponding steering instructions to the three motors to adjust the speed and direction of the wheels driven by each motor, thereby achieving precise control of the vehicle's driving direction.

[0051] For another example, if the vehicle is a four-wheel independently driven vehicle, the parking control device sends corresponding steering instructions to the four motors to respectively adjust the rotation speed and steering of the wheels driven by each motor.

[0052] In this way, by acquiring the steering wheel rotation information and generating steering instructions corresponding to each motor in a distributed three-motor vehicle or a four-wheel independent drive vehicle based on the steering wheel rotation information, the speed and direction of the wheels driven by each motor can be adjusted respectively, thereby achieving precise control of the vehicle's driving direction.

[0053] In some embodiments, the steering wheel's rotation angle can be determined in a variety of ways. Including but not limited to being determined by an angle sensor or an encoder. Exemplarily, an angle sensor, such as a magnetoresistive angle sensor or a photoelectric encoder, is installed between the steering wheel and the steering column. When the reverse disc rotates, the sensor outputs an electrical signal proportional to the rotation angle, which can be read and processed by the parking control device. Optionally, the absolute rotation angle of the steering wheel is measured by a high-precision absolute encoder. Among them, the absolute encoder can maintain the accuracy of the angle information after power failure.

[0054] In some embodiments, the rotation speed of the steering wheel can be determined in a variety of ways. For example, the parking control device periodically reads the data of the angle sensor, calculates the time difference and angle difference between two adjacent readings, and thus determines the rotation speed of the steering wheel. Optionally, the parking control device uses high-frequency sampling and complex algorithms through an advanced driver assistance system (ADAS) to accurately measure the rotation speed of the steering wheel.

[0055] In some embodiments, the direction of rotation of the steering wheel can be determined in a variety of ways. Exemplarily, the parking control device determines the direction of rotation of the steering wheel by judging the positive or negative value of the output signal of the angle sensor or the state of the direction sensor. Specifically, when the steering wheel turns left, the signal output by the angle sensor becomes a negative value; when the steering wheel turns right, the signal output by the angle sensor becomes a positive value. The parking control device determines the direction of rotation of the steering wheel based on the positive or negative value of the signal output by the angle sensor. Optionally, the parking control device determines the direction of rotation of the steering wheel through a direction sensor. Among them, the direction sensor works together with the angle sensor to provide a more accurate direction of rotation of the steering wheel.

[0056] In some embodiments, the duration of the steering wheel rotation can be determined in the following manner. Exemplarily, the parking control device records the moment when the steering wheel starts to rotate (e.g., when the output signal of the angular velocity sensor exceeds a certain threshold) and the moment when the steering wheel stops rotating (e.g., when the output signal returns to zero or close to zero). Further, by calculating the time difference between the above two moments, the duration of the steering wheel rotation can be obtained.

[0057] S102: Based on the steering wheel rotation information, control the outer rear wheel of the vehicle to operate according to the first operating parameter, and control the inner rear wheel to operate according to the second operating parameter.

[0058] The first operating parameter is different from the second operating parameter.

[0059] Since the steering wheel rotation information can directly reflect the steering needs of the vehicle, the parking control device can determine the working parameters corresponding to the outer rear wheel and the inner rear wheel through the steering wheel rotation information, and drive the outer rear wheel and the inner rear wheel of the vehicle to work respectively based on the working parameters corresponding to the outer rear wheel and the inner rear wheel.

[0060] It should be noted that the positions of the inner rear wheel and the outer rear wheel of the vehicle are relative to the driving direction of the vehicle. For example, when the driving state of the vehicle is straight driving, if the steering wheel rotation information indicates that the vehicle is turning left, the left rear wheel of the vehicle is the inner rear wheel, and the right rear wheel of the vehicle is the outer rear wheel. For another example, when the driving state of the vehicle is straight driving, if the steering wheel rotation information indicates that the vehicle is turning right, the left rear wheel of the vehicle is the outer rear wheel, and the right rear wheel of the vehicle is the inner rear wheel.

[0061] The working parameters of the rear wheels include but are not limited to: torque, deflection angle, and rotation direction (or driving direction).

[0062] It is understood that the torque of the rear wheels refers to the driving torque exerted on the wheels. In the parking scenario, the rear-wheel drive motor transmits torque to the rear wheels to drive the wheels to rotate, thereby pushing the vehicle forward or backward.

[0063] The rear wheel deflection angle refers to the angle at which the rear wheel rotates relative to its original position (or the wheel turning angle). In the parking scenario, the rear wheel deflection angle determines the degree of wheel steering.

[0064] The rear wheel rotation direction (or driving direction) refers to the direction in which the rear wheels rotate relative to the vehicle body during driving. In parking scenarios, the rear wheel rotation direction determines the vehicle's driving trajectory and the vehicle's position relative to the parking space.

[0065] The first operating parameter and the second operating parameter are described in detail below.

[0066] (1) Torque

[0067] The first operating parameter includes a first torque allocated to the outer rear wheel, and the second operating parameter includes a second torque allocated to the inner rear wheel, wherein the first torque is different from the second torque.

[0068] As a possible implementation manner, the first torque allocated to the outer vehicle is smaller than the second torque allocated to the inner rear wheel.

[0069] It is understandable that in order to maintain the stability of the vehicle during parking or low-speed turning, and to achieve the effect of reducing the turning radius of the vehicle, the inner wheel needs to provide more traction to overcome the centripetal force generated by turning. Therefore, the parking control device needs to control the drive motor corresponding to the inner rear wheel to distribute a larger second torque to the inner wheel of the vehicle to assist the rotation of the inner wheel. At the same time, since the outer wheel can relatively easily follow the trajectory of the inner wheel to rotate during the turning process, the parking control device controls the drive motor corresponding to the outer rear wheel to distribute a first torque that is smaller than the second torque to the outer wheel of the vehicle. In this way, the parking control device distributes different torques to the inner wheel and the outer wheel, so that the inner wheel and the outer wheel produce a differential effect, thereby improving the steering performance of the vehicle during parking.

[0070] Exemplarily, when the steering wheel rotation information indicates that the vehicle is turning to the left, the left rear wheel of the vehicle is determined to be the inner rear wheel, and the right rear wheel is the outer rear wheel. The parking control device determines the first torque to be allocated to the right rear wheel and the second torque to be allocated to the left rear wheel based on the steering wheel rotation information. The first torque is smaller than the second torque, and the left rear wheel can generate a faster rotation speed through the second torque, thereby generating a larger steering angle, so that the left rear wheel can quickly respond to the steering command; the right wheel generates a smaller rotation speed than the left vehicle through the first torque, so that the vehicle can more smoothly follow the trajectory of the inner wheel.

[0071] For example, when the steering wheel rotation information indicates that the vehicle is turning right, the right rear wheel of the vehicle is determined to be the inner rear wheel, and the left rear wheel is the outer rear wheel. The parking control device determines the first torque to be allocated to the left rear wheel and the second torque to be allocated to the right rear wheel based on the steering wheel rotation information. The first torque is smaller than the second torque, and the right rear wheel can generate a faster rotation speed through the second torque, thereby generating a larger steering angle, so that the right rear wheel can quickly respond to the steering instruction; the left wheel generates a smaller rotation speed than the right wheel through the first torque, so that the vehicle can more smoothly follow the trajectory of the inner wheel.

[0072] (2) Deflection angle

[0073] The first operating parameter of the outer rear wheel also includes a first deflection angle of the outer rear wheel toward the target steering direction, and the second operating parameter of the inner rear wheel also includes a second deflection angle of the inner rear wheel toward the target steering direction. The target steering direction is the vehicle steering direction desired by the driver determined by the parking control device based on the steering wheel rotation information.

[0074] In some embodiments, the deflection angles of the inner rear wheel and the outer rear wheel of the vehicle directly affect the driving trajectory and position of the vehicle. Therefore, the parking control device obtains the steering wheel rotation information, analyzes the driver's steering intention, and determines the steering direction of the vehicle accordingly. Further, the parking control device determines the first deflection angle of the outer rear wheel and the second deflection angle of the inner rear wheel based on the steering direction of the vehicle. In this way, the parking control device can enable the vehicle to adapt to narrow parking spaces more flexibly according to the target steering direction and the deflection angles corresponding to the outer rear wheel and the inner rear wheel. The parking control device can also perform precise control according to the distance and angle between the vehicle and the parking space to prevent the vehicle from colliding during the parking process, further improving the safety of parking.

[0075] In some embodiments, the first deflection angle of the outer rear wheel is the same as the second deflection angle of the inner rear wheel, or the first deflection angle of the outer rear wheel is smaller than the second deflection angle of the inner rear wheel.

[0076] It can be understood that the magnitude relationship between the first deflection angle of the outer rear wheel and the second deflection angle of the inner rear wheel depends on the steering requirement of the vehicle.

[0077] As a possible implementation method, the deflection angles of the inner rear wheel and the outer rear wheel of the vehicle are related to the lateral force perpendicular to the tire direction and the cornering stiffness of the wheel, and the deflection angles of the inner rear wheel and the outer rear wheel of the vehicle are directly proportional to the lateral force perpendicular to the tire direction.

[0078] Specifically, Figure 2The figure shows a schematic diagram of the force on the rear wheels provided by the embodiment of the present application. β1 and β2 respectively represent the deflection angles of the outer rear wheel and the inner rear wheel of the vehicle relative to the longitudinal axis of the vehicle body; FL and FR respectively represent the lateral forces received by the outer rear wheel and the inner rear wheel of the vehicle from the road surface; FL y With FR y Represents the lateral component of the lateral force on the outer rear wheel and the inner rear wheel respectively; FL x With FR x They represent the longitudinal components of the lateral force on the outer rear wheel and the inner rear wheel respectively. The relationship between the lateral force on the rear wheel and the rear wheel deflection angle satisfies a specific functional relationship.

[0079] For example, FL and FR satisfy the following formula (1) and formula (2) respectively:

[0080] FL=C f ·β1 formula (1);

[0081] FR=C f ·β2; Formula (2);

[0082] Among them, C f It represents the lateral stiffness, and its value is determined by the slope of the curve obtained by deriving the functional relationship between the lateral force and the deflection angle when the rear wheel deflection angle is 0.

[0083] Furthermore, the lateral forces received by the outer rear wheel and the inner rear wheel are decomposed to obtain the lateral force and longitudinal force received by the outer rear wheel and the inner rear wheel. y With FR y represent the lateral components of the lateral force on the outer rear wheel and the inner rear wheel, respectively, while FL x With FR x Represent the longitudinal components of the lateral force on the outer rear wheel and the inner rear wheel respectively.

[0084] For example, FL y , FR y , FL x and FR x The following formulas (3), (4), (5) and (6) are satisfied respectively:

[0085] FL y =FL·cosβ1=C f ·β1·cosβ1 formula (3);

[0086] FR y =FR·cosβ2=C f ·β2·cosβ2 formula (4);

[0087] FLx =FL·sinβ1=C f ·β1·sinβ1 formula (5);

[0088] FR x =FR·sinβ2=C f ·β2·sinβ2 formula (6);

[0089] It is understandable that, since there is a positive proportional relationship between the rear wheel deflection angle and the lateral force applied to the vehicle during turning, the parking control device can adjust the rear wheel deflection angle so that the vehicle generates the required lateral force to overcome the centrifugal force generated during turning, thereby improving the stability of the vehicle during parking.

[0090] In some embodiments, when the vehicle performs a small-angle turn (for example, the turning angle is less than a preset angle threshold), since the vehicle steering angle is relatively small, if the difference in the deflection angle between the inner and outer rear wheels is too large, the vehicle may cause unnecessary side slip or loss of control during the steering process. Therefore, when the vehicle performs a small-angle turn, the first deflection angle of the outer rear wheel and the second deflection angle of the inner rear wheel are made the same, so as to maintain the stability of the vehicle during the steering process.

[0091] For example, when the parking control device determines that the driver wants the vehicle to turn right frontward at a low speed and a small angle based on the steering wheel rotation information, the first deflection angle of the outer rear wheel and the second deflection angle of the inner rear wheel are the same, thereby ensuring the stability of the vehicle and preventing the vehicle from making unnecessary deviations or loss of control.

[0092] In some embodiments, when the vehicle makes a large-angle turn (for example, the turning angle is greater than or equal to a preset angle threshold), since the turning radius of the vehicle is fixed and there is a wheelbase difference between the outer rear wheel and the inner rear wheel of the vehicle, the inner rear wheel is closer to the turning center and the outer rear wheel is farther from the turning center. Therefore, in order to keep the vehicle as a whole able to travel along a predetermined arc trajectory, the inner rear wheel needs a larger deflection angle to match the shorter turning radius. Furthermore, in order to ensure the stability and maneuverability of the vehicle during the turning process, the deflection angle of the inner rear wheel and the deflection angle of the outer rear wheel need to have a certain deflection angle difference, that is, the first deflection angle of the outer rear wheel is greater than the second deflection angle of the inner rear wheel. In this way, based on the difference between the deflection angle of the inner rear wheel and the deflection angle of the outer rear wheel, the vehicle can make a more compact and stable large-angle turn in a narrow parking space.

[0093] For example, when the parking control device determines that the driver wants the vehicle to make a large angle turn to the right front based on the steering wheel rotation information, since the inner rear wheel is closer to the turning center, in order to match the shorter turning radius, the second deflection angle of the inner rear wheel needs to be greater than the first deflection angle of the outer rear wheel to ensure that the vehicle can travel along the predetermined arc trajectory. It should be noted that the deflection angle difference between the first deflection angle of the inner rear wheel and the second deflection angle of the outer rear wheel needs to meet a certain preset threshold to avoid the vehicle from skidding or losing control due to the large difference in the deflection angles of the inner rear wheel and the outer rear wheel.

[0094] In some embodiments, the magnitude of the first deflection angle of the inner rear wheel and the second deflection angle of the outer rear wheel can be determined by a variety of methods, including but not limited to: a relationship model between the steering wheel angle and the wheel angle, a vehicle dynamics model, a closed-loop control algorithm, a path planning algorithm, etc.

[0095] In some embodiments, the deflection angle of the inner rear wheel and the outer rear wheel of the vehicle can also be determined in a variety of ways, including but not limited to single or combined methods such as vehicle system selection, button operation, remote control command, and steering wheel control. For example, the user can directly use the vehicle system interface, physical buttons or remote control to specify the required turning direction and deflection angle of the inner rear wheel and the outer rear wheel. For example, by pressing a specific button, the user can select the inner rear wheel to rotate in a specific direction and set the outer rear wheel to deflect a specific angle, such as 30°. Further, after the user completes these selections, the vehicle's steering control system will clearly display these setting information on the vehicle system. Specifically, the display screen of the vehicle system can instantly feedback the detailed information of "the user has selected the inner rear wheel to rotate in a certain direction, and the outer rear wheel is deflected by 30°". In addition, the display screen can also clearly indicate the turning direction of the inner rear wheel, the deflection angle of the outer rear wheel, and the expected direction and position of the vehicle after turning in a more intuitive way, such as displaying a dynamic steering diagram, so as to help users better understand and confirm their operation results.

[0096] (3) Rotation direction

[0097] Since there is a direct and critical connection between the steering wheel rotation information and the rotation direction of the vehicle wheels, and in the parking control scenario, the corresponding rotation directions of the inner rear wheels and the outer rear wheels of the vehicle are the direct embodiment of the vehicle steering, the parking control device can determine the rotation direction of the inner rear wheels and the outer rear wheels of the vehicle according to the steering wheel rotation information to achieve accurate steering and parking of the vehicle.

[0098] In some embodiments, the rotation direction of the outer rear wheel is forward rotation or reverse rotation.

[0099] It is understandable that the outer rear wheel is used to assist the inner rear wheel in completing the turning action. At the same time, the rotation direction of the outer rear wheel is usually opposite to the rotation direction of the inner rear wheel to generate the necessary steering force.

[0100] In some embodiments, the parking control device determines that the vehicle needs to make a low-speed, large-angle turn during parking based on the steering wheel rotation information. At this time, the outer wheel is determined to rotate in the forward direction, that is, in the same direction as the front wheel, to assist the inner rear wheel in completing the turning action and reduce the turning radius.

[0101] Optionally, the parking control device determines, based on the steering wheel rotation information, that the vehicle has a tendency to skid or deviate from a predetermined trajectory during parking. At this time, the parking control device controls the steering direction of the outer rear wheels to rotate in the opposite direction, that is, to rotate in the opposite direction to the front wheels.

[0102] In some embodiments, the rotation direction of the inner rear wheel is forward rotation.

[0103] It is understandable that during the turning process of the vehicle, the inner rear wheel needs to bear greater pressure during the turning process, and the inner rear wheel needs to move with the turning center (front wheel) of the vehicle. Therefore, the rotation direction of the inner rear wheel needs to be positive rotation to ensure stable driving and turning of the vehicle.

[0104] As an example, the parking control device determines that the target steering direction of the vehicle is to turn left based on the steering wheel rotation information. Further, the parking control device controls the steering direction of the inner rear wheel to be a positive rotation (turn to the left) to provide the necessary vehicle steering force. The parking control device determines the rotation direction of the outer rear wheel based on the current driving demand of the vehicle. For example, when the driving demand of the vehicle is to reduce the turning radius of the vehicle, the parking control device determines that the rotation direction of the outer rear wheel is a positive rotation (turn to the left). Optionally, when the driving demand of the vehicle is to maintain the stability of the vehicle, the parking control device determines that the rotation direction of the outer rear wheel is a reverse rotation (turn to the right). In this way, the parking control device ensures the stability of the vehicle during the steering process by controlling the rotation directions of the inner rear wheel and the outer rear wheel respectively.

[0105] In some embodiments, in combination Figure 1 ,like Figure 3 As shown, a parking control method provided in an embodiment of the present application may further include S103.

[0106] S103: Based on the rotation information of the steering wheel, control the front wheels of the vehicle to operate according to a third operating parameter to park the vehicle in or out of a parking space.

[0107] It is understandable that, since the front wheels are mainly responsible for steering the vehicle during parking, and the direction of the front wheels directly affects the vehicle's driving trajectory. The steering wheel's rotation information directly affects the rotation direction and rotation angle of the front wheels. Therefore, the parking control device can determine the third operating parameter corresponding to the front wheels based on the steering wheel's rotation information. Furthermore, the parking control device drives the drive motor corresponding to the front wheels based on the third operating parameter of the front wheels, and controls the front wheels of the vehicle to work according to the third operating parameter, so that the vehicle is parked in or out of the parking space.

[0108] In some embodiments, the third operating parameter includes a third deflection angle of the front wheels toward the target steering direction.

[0109] It is understandable that the parking control device determines the angle at which the front wheels need to be deflected toward the target direction, i.e., the third deflection angle, based on the steering wheel rotation information. The parking control device controls the front wheels to deflect the third deflection angle, thereby ensuring that the vehicle drives to the target position (such as parking in or out of a parking space) according to a predetermined trajectory.

[0110] For example, based on the steering wheel rotation information, the parking control device calculates that the front wheels need to be deflected 30 degrees to the right front (i.e., the third deflection angle is 30 degrees) to enable the vehicle to park out of the parking space. At this time, the parking control device drives the drive motor corresponding to the front wheels to rotate the front wheels to the right front at a deflection angle of 30 degrees, thereby ensuring that the vehicle can be accurately parked out of the parking space.

[0111] In some embodiments, the third deflection angle of the front wheel is less than the first deflection angle of the outer rear wheel, and the third deflection angle of the front wheel is less than the second deflection angle of the inner rear wheel.

[0112] It is understandable that due to the geometric shape of the vehicle and the limitation of the steering mechanism, the outer rear wheel and the inner rear wheel usually need to have a larger deflection angle than the front wheel to ensure that the vehicle can turn smoothly. Therefore, the parking control device determines that the third deflection angle of the front wheel is smaller than the first deflection angle of the outer rear wheel, and the third deflection angle of the front wheel is smaller than the second deflection angle of the inner rear wheel.

[0113] For example, during parking, the parking control device determines that the deflection angle of the outer rear wheel of the vehicle is 40 degrees (i.e., the first deflection angle is 40 degrees) and the deflection angle of the inner rear wheel is 45 degrees (i.e., the second deflection angle is 45 degrees) based on the rotation information of the steering wheel. Since the parking deflection angle of the front wheel directly affects the driving trajectory of the vehicle, the parking control device calculates that the deflection angle of the front wheel is 20 degrees (i.e., the third deflection angle is 20 degrees), which can be coordinated with the deflection angle of the rear wheel of the vehicle to guide the vehicle to the target position (such as parking in or out of a parking space).

[0114] As a possible implementation, the rotation direction of the vehicle's wheels can be determined in a variety of ways, including but not limited to single or combined methods such as vehicle-mounted system selection, button operation, remote control command, and gear setting. Exemplarily, the user can directly use the vehicle-mounted system, button or remote control to select the rotation direction of the vehicle's rear wheels. For example, the user explicitly specifies through the vehicle-mounted system that the inner rear wheel rotates in a clockwise direction and the outer rear wheel rotates in a counterclockwise direction. Optionally, the rotation direction of the rear wheel is determined by the selection of the gear, wherein the driver can set it with the help of D gear (representing the forward gear) or R gear (representing the reverse gear). It should be noted that we can flexibly set the corresponding relationship between the vehicle gear and the rotation direction of the rear wheel. For example, when the driver selects R gear (reverse gear), the inner rear wheel may be set to rotate clockwise, and when selecting D gear (forward gear), the outer rear wheel may be set to rotate counterclockwise. In this way, the rotation direction of the rear wheel can be determined in a variety of ways, which can improve the flexibility of the vehicle's steering operation, thereby improving the accuracy of parking control.

[0115] In some embodiments, in combination Figure 1 ,like Figure 4 As shown, a parking control method provided in an embodiment of the present application may further include S104.

[0116] S104. Based on the rotation information of the steering wheel, control the outer suspension of the vehicle to operate according to the fourth operating parameter, and control the inner suspension to operate according to the fifth operating parameter.

[0117] It is understandable that the suspension of the vehicle serves as a connection device between the vehicle body and the wheels, used to support the weight of the vehicle body and transmit various forces and torques between the wheels and the vehicle body. During the vehicle steering process, the fourth working parameter corresponding to the inner suspension and the fifth working parameter corresponding to the outer suspension will be adjusted accordingly according to the torque, deflection angle and rotation direction of the inner rear wheel and the outer rear wheel. The torque, deflection angle and rotation direction of the inner rear wheel and the outer rear wheel are determined by the rotation information of the steering wheel. Therefore, the parking control device can determine the torque, deflection angle and steering direction of the inner rear wheel and the outer rear wheel based on the rotation information of the steering wheel. Further, the fourth working parameter corresponding to the inner suspension and the fifth working parameter corresponding to the outer suspension are determined.

[0118] In some embodiments, the fourth operating parameter of the outboard suspension includes a compression amount of the outboard suspension, and the fifth operating parameter of the inboard suspension includes a compression amount of the inboard suspension.

[0119] It is understood that the compression of the suspension refers to the distance that the suspension shortens relative to its original position when it is subjected to external force. The compression of the suspension is used to characterize the stiffness of the suspension and the support for the vehicle body.

[0120] In some embodiments, the compression amount of the outboard suspension is less than the compression amount of the inboard suspension.

[0121] It can be understood that the compression of the outer suspension is related to the lateral force on the outer rear wheel, and the compression of the inner suspension is related to the lateral force on the inner rear wheel. The magnitude of the lateral force on the outer rear wheel and the inner rear wheel is related to the torque, deflection angle and deflection direction on the outer rear wheel and the inner rear wheel. Therefore, the parking control device can calculate the torque, deflection angle and deflection direction on the inner rear wheel and the outer rear wheel of the vehicle (i.e., the first working parameter of the outer rear wheel and the second working parameter of the inner rear wheel) based on the rotation information of the steering wheel. Further, the parking control device determines the compression of the outer suspension and the inner suspension of the vehicle (i.e., the fourth working parameter of the outer suspension and the fifth working parameter of the inner suspension) based on the first working parameter of the outer rear wheel and the second working parameter of the inner rear wheel.

[0122] In some embodiments, see Figure 5 and Figure 6 In order to explain the actual application scenario of the parking control method of the present application in detail, the present application provides a specific flow chart of the parking control method. Taking the vehicle parking scenario as an example, the above S101-S104 are specifically explained.

[0123] S501: A parking control device receives a vehicle parking request signal.

[0124] As a possible implementation manner, the parking control device receives a parking request signal from the vehicle.

[0125] For example, Figure 6 As shown in a in FIG. 1 , the vehicle is currently located in a parking space. Since the parking space is relatively small, the vehicle sends a parking request signal to the parking control device to request assisted parking. Correspondingly, the parking control device receives the parking request signal of the vehicle.

[0126] As a possible implementation method, the parking request signal can be triggered in a variety of ways, including but not limited to: the driver triggers it through a button, touch screen or voice command in the car, or the vehicle automatically detects the driver's parking demand, thereby triggering the parking assistance system, etc.

[0127] S502: The parking control device determines the current position information and parking space information of the vehicle based on the vehicle parking signal.

[0128] As a possible implementation, the parking control device detects the current position of the vehicle and the parking space information based on sensors on the vehicle (such as cameras, radars, ultrasonic sensors, etc.), wherein the parking information may include the position, size, direction of the parking space, and the positional relationship of the vehicle relative to the parking space.

[0129] For example, Figure 6 As shown in a in the figure, the parking control device detects through sensors that the current position of the vehicle is in the parking space, and the left side of the vehicle is close to one side of the parking space, as well as the width and length of the parking space.

[0130] S503: The parking control device obtains steering wheel rotation information based on the vehicle's current position information and parking space information.

[0131] As a possible implementation, the parking control device calculates the angle, speed and direction that the steering wheel needs to be turned for the vehicle to enter or exit the parking space based on the current position of the vehicle, the position of the parking space, and the size information of the vehicle.

[0132] For example, Figure 6 As shown in b, the parking control device determines that the steering wheel needs to be turned right by a certain angle based on the current position information of the vehicle and the parking space information so that the vehicle can move to the right front and park.

[0133] S504: The parking control device determines a first torque of the outer rear wheel and a second torque of the inner rear wheel based on the rotation information of the steering wheel.

[0134] As a possible implementation method, the parking control device calculates the torque required for the outer rear wheel and the inner rear wheel (such as the first torque of the outer rear wheel and the second torque of the inner rear wheel) based on the control information of the steering wheel, and drives the outer rear wheel drive motor to output the first torque and drives the inner rear wheel drive motor to output the second torque.

[0135] For example, Figure 6 As shown in b, the parking control device controls the outer drive motor to output a smaller counterclockwise torque and the inner drive motor to output a larger clockwise torque.

[0136] S505: The parking control device determines a first deflection angle of the outer rear wheel and a second deflection angle corresponding to the inner rear wheel based on the rotation information of the steering wheel.

[0137] As a possible implementation, the parking control device calculates the first deflection angle of the outer rear wheel and the second deflection angle of the inner rear wheel based on the steering wheel rotation information (such as the rotation angle, rotation speed, etc.) and the steering ratio between each wheel and the steering wheel rotation information (i.e., the proportional relationship between the steering wheel rotation angle and the wheel deflection angle). The first deflection angle is smaller than the second deflection angle to ensure the stability of the vehicle steering.

[0138] For example, Figure 6 As shown in b, the parking control device controls the outer rear vehicle to deflect to the left by a first deflection angle, and controls the inner wheel to deflect to the left by a second deflection angle, and the first deflection angle is smaller than the second deflection angle.

[0139] S506: The parking control device determines the rotation direction of the outer rear wheel and the rotation direction of the inner rear wheel based on the rotation information of the steering wheel.

[0140] As a possible implementation, the parking control device determines the rotation direction of the outer rear wheel (such as forward rotation or reverse rotation) and the rotation direction of the inner rear wheel (such as forward rotation) based on the rotation information of the steering wheel (such as the rotation direction).

[0141] For example, Figure 6 As shown in b, the parking control device determines that the deflection direction of the outer rear wheel and the inner rear wheel is the same as the rotation direction of the steering wheel, and both are rotating toward the right front (i.e., forward rotation).

[0142] S507: The parking control device determines the compression amount of the outer suspension and the compression amount of the inner suspension based on the rotation information of the steering wheel.

[0143] As a possible implementation, the parking control device calculates the torque, deflection angle, and deflection direction of the inner and outer rear wheels of the vehicle based on the steering wheel rotation information. Further, the parking control device determines the compression of the outer and inner suspensions of the vehicle based on the torque, deflection angle, and deflection direction of the inner and outer rear wheels of the vehicle.

[0144] For example, Figure 6 As shown in b, the torque and deflection angle of the outer rear wheel are smaller than those of the inner rear wheel. Therefore, the parking control device calculates the compression of the outer suspension and the compression of the inner suspension based on the torque and deflection angle of the outer and inner rear wheels and the deflection directions of the outer and inner rear wheels. Among them, the compression of the outer suspension is smaller than that of the inner suspension.

[0145] S508: The parking control device evaluates the current parking space information to determine whether the current position of the vehicle satisfies the conditions for direct parking of the vehicle.

[0146] As a possible implementation, before executing the parking operation, the parking control device evaluates the current parking space information and the vehicle position information to determine whether the current parking space can meet the conditions for direct parking of the vehicle.

[0147] S509: If the conditions for direct parking of the vehicle are not met, the parking control device continues to execute the above S501-S508 until the current position of the vehicle meets the conditions for direct parking of the vehicle.

[0148] As a possible implementation method, if the parking control device determines that the current parking conditions of the vehicle still do not meet the requirements for direct parking of the vehicle, the parking control device will re-detect the current position of the vehicle and the parking space position, and re-acquire the steering wheel rotation information, and readjust the position of the vehicle based on the current position information of the vehicle, the position information of the parking space and the steering wheel rotation information until the conditions for direct parking of the vehicle are met.

[0149] For example, Figure 6 As shown in c, d, and f in FIG. 1 , the parking control device dynamically adjusts the vehicle position.

[0150] S5010: When the current position of the vehicle satisfies the conditions for direct parking of the vehicle, the parking control device executes a parking operation for the vehicle.

[0151] As a possible implementation, if the parking control device determines that the current position of the vehicle meets the conditions for direct parking of the vehicle, the parking control device controls the vehicle to start a parking operation so that the vehicle safely enters or exits the parking space. Optionally, the parking operation includes but is not limited to controlling the steering, acceleration, braking, etc. of the vehicle.

[0152] For example, Figure 6 As shown in f in FIG. 1 , the parking control device determines that the vehicle meets the direct parking condition (i.e., the vehicle has reached the direct parking critical position). At this time, Figure 6 The e-parking control device controls the steering wheel, suspension, steering motor, drive motor, etc. to coordinate and drive the vehicle smoothly out of the parking space.

[0153] The following is an introduction to the system architecture of the embodiment of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solution of this application, and do not constitute a limitation on the technical solution provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0154] See also Figure 7 , Figure 7 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 7As shown, the vehicle 70 includes a parking control device 705 and a plurality of wheels. The plurality of wheels may be distributed on both sides along the traveling direction of the vehicle, i.e., a left wheel and a right wheel. For example, a left front wheel 701, a right front wheel 702, a left rear wheel 703, and a right rear wheel 704.

[0155] The vehicle 70 is a vehicle provided in the present application whose rear wheels have independent driving capability. The vehicle 70 may be a distributed three-motor vehicle, a four-wheel independently driven vehicle, or the like.

[0156] The parking control device 705 is a module with data processing and control capabilities, and is used to process the relevant data of the vehicle 70 and control the vehicle 70 to complete relevant functions. For example, the parking control device 705 can implement the aforementioned Figure 1 The parking control method, for example, the parking control device 705 can control the left front wheel 701 to be stationary, determine the output torque of the left rear wheel 703 according to the status information of the left rear wheel 703, determine the output torque of the right rear wheel 704 according to the status information of the right rear wheel 704 and drive the left rear wheel 703 based on the output torque of the left rear wheel 703, and drive the right rear wheel 704 based on the output torque of the right rear wheel 704, so that the vehicle 70 can turn around the stationary front wheel (i.e., the left front wheel 701).

[0157] As a possible implementation, the parking control device 705 may be a physical device, for example, the parking control device 705 may include one or more of the following modules: a central processing unit (CPU), a microprocessor unit (MPU), an application specific-integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (to assist the central processor in completing corresponding processing and applications), a microcontroller unit (MCU), and / or an electronic control unit (ECU). Of course, the above description is based on the example that the parking control device 705 is an on-board device. In some solutions, the parking control device 705 may be a physical device set outside the vehicle, such as a server, a cloud, or a host. As a possible implementation, the parking control device 705 may be a software module, such as a virtual machine, software, program code, or a container.

[0158] In the above-mentioned manner, it is mentioned that the parking control device 705 can be arranged outside the vehicle. It should be understood that when the parking control device 705 is arranged outside the vehicle 70, the vehicle 70 and the parking control device 705 can be connected in communication, for example, the two are directly connected through a wired communication method, such as a tangible medium such as a metal wire or an optical fiber, or the two are indirectly connected through a wireless communication method, such as ultra-wideband (UWB) technology, long term evolution (LTE) communication technology, fifth generation mobile networks or 5th generation wireless systems, 5th-Generation, referred to as 5G or 5G technology, global system for mobile communications (GSM), general packet radio service (GPRS), or universal mobile telecommunications system (UMTS).

[0159] Optionally, the above is an exemplary vehicle provided for the purpose of facilitating the understanding of the present solution, and is not intended to limit the application scenarios of the present solution. The solution provided by the present application is also applicable to similar devices that use wheeled devices for traveling and have data processing capabilities, such as logistics robots. In addition, Figure 7 The number of wheels of the vehicle 70 shown is also an example. In a specific implementation, the vehicle 70 may include a greater number (eg, six wheels, eight wheels) or a lesser number (eg, three wheels) of wheels.

[0160] Figure 8 The figure shows a schematic diagram of the structure of a computing device provided in an embodiment of the present application. A computing device is a device with processing capabilities, and the device here can be a physical device, such as a server (such as a rack server), a host, etc., or a virtual device, such as a virtual machine, a container, etc.

[0161] like Figure 8 As shown, the computing device 80 includes: a processor 801 and a memory 802 and one or more programs, and may include a communication interface 803. It should be understood that the present application does not limit the number of processors and memories in the computing device 80.

[0162] The processor 801 is a module for performing calculations, and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits for controlling the execution of the above program.

[0163] The memory 802 is used to provide a storage space, and the storage space can optionally store application data, user data, operating system, computer programs, etc. The memory 802 may include a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, and may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0164] The memory 802 may exist independently and be connected to the processor 801 via a bus. The memory 802 may also be integrated with the processor 801.

[0165] The communication interface 803 is used to provide information input or output for the at least one processor. And / or, the communication interface 803 can be used to receive data sent externally and / or send data to the outside. The communication interface 803 can be a wired link interface including an Ethernet cable, etc., or a wireless link (Wi-Fi, Bluetooth, general wireless transmission and other wireless communication technologies, etc.) interface. Optionally, the communication interface 803 can also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0166] In the embodiment of the present application, the one or more programs are stored in the memory 802 in the form of program codes and are configured to be executed by the processor 801. The programs include instructions for implementing the steps in the aforementioned parking control method. Figure 1 That is, the memory 802 stores executable instructions, and the processor 801 executes the executable instructions to implement the aforementioned parking control method, for example Figure 1 That is, the memory 802 stores instructions for executing the parking control method.

[0167] Alternatively, the memory 802 stores executable instructions, and the processor 801 executes the executable instructions to respectively implement the functions of one or more units (or devices) in the aforementioned processing unit and driving unit, thereby implementing the parking control method.

[0168] The present application also provides a computer program product including instructions. The computer program product may be software or a program product including instructions that can be run on a computing device or stored in any available medium. The computer program instructions are used to implement the aforementioned parking control method, for example Figure 1 The parking control method in the embodiment of the present invention.

[0169] The present application also provides a computer-readable storage medium. The computer-readable storage medium includes instructions for implementing the aforementioned parking control method, such as Figure 1 The parking control method in the embodiment of the present invention.

[0170] The computer-readable storage medium may be any available medium that can be stored in the parking control device, or a data storage device such as a data center containing one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive).

[0171] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0172] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0173] Furthermore, unless otherwise specified, the embodiments of the present application use ordinal numbers such as "first" and "second" to distinguish between multiple objects and are not used to limit the order, timing, priority or importance of multiple objects.

[0174] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0175] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A parking control method, characterized in that: include: Get the steering wheel rotation information; Based on the steering wheel rotation information, the outer rear wheels of the vehicle are controlled to operate according to a first operating parameter, and the inner rear wheels are controlled to operate according to a second operating parameter, so as to park the vehicle in or out of a parking space; wherein the first operating parameter is different from the second operating parameter.

2. The method according to claim 1, characterized in that The first operating parameter includes a first torque distributed to the outer rear wheel, and the second operating parameter includes a second torque distributed to the inner rear wheel, wherein the first torque is different from the second torque.

3. The method according to claim 2, characterized in that The first torque is smaller than the second torque.

4. The method according to claim 2, characterized in that: The first operating parameter includes a first deflection angle of the outer rear wheel toward a target steering direction, and the second operating parameter includes a second deflection angle of the inner rear wheel toward the target steering direction. The target steering direction is a vehicle steering direction desired by the driver determined based on the steering wheel rotation information.

5. The method according to claim 4, characterized in that The first deflection angle is the same as the second deflection angle; or, the first deflection angle is smaller than the second deflection angle.

6. The method according to any one of claims 1 to 5, characterized in that: The first operating parameter further includes the rotation direction of the outer rear wheel, and the second operating parameter further includes the rotation direction of the inner rear wheel.

7. The method according to claim 6, characterized in that The rotation direction of the outer rear wheel is forward rotation or reverse rotation.

8. The method according to claim 6, characterized in that The rotation direction of the inner rear wheel is forward rotation.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: Based on the rotation information of the steering wheel, the front wheels of the vehicle are controlled to operate according to a third operating parameter, so as to park the vehicle in or out of a parking space.

10. The method according to claim 9, characterized in that The third operating parameter includes a third deflection angle of the front wheel toward the target steering direction.

11. The method according to claim 10, characterized in that The third deflection angle is smaller than the first deflection angle, and the third deflection angle is smaller than the second deflection angle.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: Based on the rotation information of the steering wheel, the outer suspension of the vehicle is controlled to operate according to a fourth operating parameter, and the inner suspension is controlled to operate according to a fifth operating parameter.

13. The method according to claim 12, characterized in that The fourth operating parameter includes a compression amount of the outer suspension, and the fifth operating parameter includes a compression amount of the inner suspension.

14. The method according to claim 13, characterized in that The compression amount of the outer suspension is smaller than the compression amount of the inner suspension.

15. The method according to claim 14, characterized in that The compression amount of the outer suspension is related to the lateral force applied to the outer rear wheel, and the compression amount of the inner suspension is related to the lateral force applied to the inner rear wheel.

16. An electronic device, characterized in that: include: A processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method according to any one of claims 1 to 15.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 15.

18. A vehicle, characterized in that: include: A controller, the controller being used to execute the method according to any one of claims 1 to 15; or, the electronic device according to claim 16; Or, the computer-readable storage medium of claim 17.

19. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 15.

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