Method and system for controlling vehicle to return to P gear after parking and computer readable storage medium

Abstract

The invention discloses a control method and system for returning to a P gear during parking of a vehicle and a computer readable storage medium, and the method comprises the steps: judging whether an accelerator and a brake are stepped down at the same time or not when a driver stops the vehicle and engages the P gear; if not, the power domain controller still controls the gear to be switched to the P gear; if the electronic parking brake is stepped down at the same time, the power domain controller continuously sends a request for pulling up the electronic parking brake, whether an electronic parking brake response is met or not is judged, and calipers are pulled up for parking; if not, the power domain controller controls the gear to be switched to the N gear; and if yes, the power domain controller still controls the gear to be switched to the P gear. According to the method, the situation that the vehicle automatically advances and retreats with the gear after a driver gets off the vehicle under abnormal operation can be avoided, no cost is increased, and optimization can be achieved only through software logic.

Description

Technical Field

[0001] The present invention relates to the field of new energy intelligent driving vehicles, and in particular to a control method, system and computer-readable storage medium for returning a vehicle to P gear when parking. Background Art

[0002] For new energy vehicles that integrate the P gear and parking switch, when the driver mistakenly presses the accelerator and brake pedals at the same time, clicks the P gear to park, and the vehicle cannot be engaged. Generally, the vehicle needs to monitor the parking EPB (electronic parking brake) status when it enters the P gear. Since the accelerator is pressed, the EPB cannot be clamped. The gear stays in the D gear. At this time, if the driver gets off the car and closes the door, it is very easy to cause the vehicle to automatically move forward under the creep torque, resulting in a collision and other safety accidents.

[0003] The solution adopted by the prior art is generally that the EPB directly disables the automatic driving-off function in D gear, that is, when the EPB is pulled up, the EPB is not automatically released when the accelerator is pressed. This solution can circumvent the functional logic of releasing the EPB by pressing the accelerator, and thus avoid the situation where the vehicle cannot pull up the EPB when the accelerator and brake are pressed at the same time. However, due to the lack of basic EPB functions, after the vehicle pulls up the EPB in D gear, because the vehicle does not have the function of automatically releasing the EPB by pressing the accelerator, the driver needs to manually release the EPB, which brings inconvenience to driving operation.

[0004] In summary, for new energy vehicles that use a hand-gear design with an integrated EPB switch, the P gear button replaces the EPB switch of traditional vehicles. When the driver stops the car and shifts it into P gear, there are extreme conditions such as the accelerator pedal being stuck by the foot pad or the driver mistakenly steps on the accelerator and brake at the same time. Under this condition, in the current general logic, if the P gear button is pressed at this time, the vehicle will pull up the EPB and shift into P gear. However, when the EPB is pulled up, it is recognized that the accelerator is pressed, and the driver releases the P gear button. The system will determine the need to execute the accelerator to step on and drive away. In this case, the EPB will be released, and at the same time, because the gear position follows the EPB state, the vehicle returns to D gear. Once the driver gets off the car at this time, the vehicle will automatically move forward and lose control under the drive of the creep torque of the D gear. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a control method, system and computer-readable storage medium for returning a vehicle to the P gear when parking the vehicle in view of the defects in the prior art.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] The present invention provides a control method for returning a vehicle to a P gear after parking, comprising:

[0008] When the driver parks the car and shifts the gear to P, it determines whether the accelerator and brake are pressed at the same time; if not, the power domain controller still controls the gear to be switched to P; if they are pressed at the same time, the power domain controller continuously sends a request to pull up the electronic parking brake, and determines whether the electronic parking brake response is met and pulls up the caliper to park; if not, the power domain controller controls the gear to be switched to N; if so, the power domain controller still controls the gear to be switched to P.

[0009] Furthermore, the method of the present invention includes: when the accelerator and the brake are pressed simultaneously and the P gear is engaged, the accelerator-pressed automatic drive-off function of the electronic parking brake is disabled.

[0010] Furthermore, the method of the present invention includes: when the driver stops the car and shifts it into P gear, the power domain controller recognizes a parking request based on the hard-line P gear switch and sends a request to apply the electronic parking brake to the control unit.

[0011] Furthermore, the control unit of the present invention includes an integrated braking control system IBC and an electronic stability control system ESC.

[0012] Furthermore, the method of the present invention includes: when the accelerator and the brake are pressed at the same time and the P gear is engaged, the integrated braking control system IBC recognizes the request of the power domain controller to pull up the electronic parking brake, controls the vehicle not to execute the automatic driving away function when pressing the accelerator, and does not respond to the request to release the caliper.

[0013] Furthermore, the method of the present invention includes: an electronic parking brake soft switch is set on the vehicle screen, and when the accelerator and brake are pressed at the same time and the P gear is engaged, the electronic parking brake soft switch on the vehicle screen is clicked to control the vehicle to still not execute the automatic driving away function by pressing the accelerator.

[0014] Furthermore, the method of the present invention includes: when the driver stops the car and shifts it into P gear, the power domain controller continuously sends a request to apply the electronic parking brake, and the request stops after detecting that the electronic parking brake state jumps to a response.

[0015] Furthermore, the method of the present invention includes: when an abnormality occurs in the electronic parking brake and the electronic parking brake cannot jump to a response, the power domain controller monitors the tightening of the calipers on either side, and controls the gear to be switched to the P gear; when the caliper status on both sides cannot jump to a response, controls the gear to be switched to the N gear.

[0016] The present invention provides a control system for parking a vehicle and returning it to P gear, comprising:

[0017] a memory for storing executable computer programs;

[0018] The processor is used to implement the above-mentioned control method of parking the vehicle back to P gear when executing the executable computer program stored in the memory.

[0019] The present invention provides a computer-readable storage medium storing a computer program for implementing the above-mentioned control method of parking a vehicle and returning it to the P gear when executed by a processor.

[0020] The beneficial effects produced by the present invention are:

[0021] 1. When the accelerator and brake are pressed at the same time, the method of the present invention no longer executes the automatic departure function according to the P gear pull-up EPB request issued by the PDCU (power domain controller), and the vehicle continues to pull up the EPB and enter the P gear. This ensures that even if abnormal operation occurs, the vehicle will not be out of control when the driver leaves the vehicle, and avoids the sudden situation of the vehicle automatically moving forward or backward with the gear after the driver gets off the vehicle.

[0022] 2. The method of the present invention can solve the potential risk of the vehicle automatically moving forward or backward in gear without increasing hardware and other costs, only through optimization of software logic and algorithms. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0024] Figure 1 is a method flow chart of an embodiment of the present invention;

[0025] Figure 2 is the control logic of the embodiment of the present invention;

[0026] Figure 3 is the abnormal state control logic of the embodiment of the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of a terminal device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] Example 1

[0034] The English abbreviations involved in the embodiments of the present invention include:

[0035] Electronic Parking Brake System -EPB

[0036] Power Domain Controller-PDCU

[0037] Integrated Braking Control System - IBC

[0038] Electronic Stability Control -ESC

[0039] like Figure 1 FIG. 1 is a flow chart of a control method according to an embodiment of the present invention.

[0040] The embodiment of the present invention proposes a logical method for parking a vehicle in P gear, which relates to a new energy vehicle that integrates the P gear and the parking switch. When the driver mistakenly steps on the accelerator and the brake pedal at the same time, clicks the P gear to park, and the vehicle cannot be shifted into gear. Generally, the parking EPB state needs to be monitored when the vehicle enters the P gear. Since the accelerator is stepped on, the EPB cannot be clamped. The gear stays in D gear. At this time, if the driver gets off the vehicle and closes the door, it is very easy to cause the vehicle to automatically move forward under the creep torque, resulting in a safety accident such as a collision.

[0041] The embodiment of the present invention proposes an error-proof control logic scheme, in which the control logic is controlled and executed by an EPB controller (electronic parking brake system EPB). When the driver parks the vehicle, once the accelerator and brake are pressed at the same time to shift the P gear, the EPB's accelerator-pressed automatic drive-off function needs to be disabled to prevent the P gear from being unable to shift into the D / R gear after the EPB is released.

[0042] In a preferred embodiment of the present invention, the control method of the vehicle parking back to P gear of the present invention specifically comprises the following steps:

[0043] When the driver stops the car and shifts it to P gear, it determines whether the accelerator and brake are pressed at the same time; if they are not pressed at the same time, the power domain controller still controls the gear to be switched to P gear; if they are pressed at the same time, the power domain controller continues to send a request to pull up the electronic parking brake, and determines whether the electronic parking brake response is met and pulls up the caliper to park the car;

[0044] If not, the power domain controller controls the gear to be switched to N gear; if satisfied, the power domain controller still controls the gear to be switched to P gear.

[0045] In a preferred embodiment of the present invention, the present invention further includes the following control logic and functions: when the accelerator and brake are pressed at the same time and the P gear is engaged, the accelerator-on-accelerator automatic drive-off function of the electronic parking brake is disabled. When the driver parks the car and engages the P gear, the power domain controller recognizes the parking request based on the hard-wired P gear switch and sends a request to pull up the electronic parking brake to the control unit.

[0046] In a preferred embodiment of the present invention, the control unit includes an integrated brake control system IBC and an electronic stability control system ESC. When the accelerator and brake are pressed at the same time and the P gear is engaged, the integrated brake control system IBC recognizes the request of the power domain controller to pull up the electronic parking brake, controls the vehicle not to perform the automatic driving away function by pressing the accelerator, and does not respond to the request to release the caliper.

[0047] In a preferred embodiment of the present invention, an electronic parking brake soft switch is provided on the vehicle screen. When the accelerator and the brake are pressed at the same time and the P gear is engaged, the electronic parking brake soft switch on the vehicle screen is clicked to control the vehicle to still not execute the automatic driving away function by pressing the accelerator.

[0048] In a preferred embodiment of the present invention, when the driver stops the car and shifts it to P gear, the power domain controller continuously sends a request to pull up the electronic parking brake, and the request stops until it detects that the electronic parking brake state jumps to a response. When the electronic parking brake is abnormal and cannot jump to a response, the power domain controller monitors the tightening of the calipers on either side and controls the gear shift to P gear; when the calipers on both sides cannot jump to a response, the control shifts to N gear.

[0049] In a preferred embodiment of the present invention, the instrument gear position display shows that the P gear letter flashes and is accompanied by a buzzer sound, prompting the driver that the gear is not locked in P, so as to avoid the vehicle moving forward or backward in D / R gear after getting off the vehicle.

[0050] Example 2

[0051] Based on Example 1, the embodiment of the present invention provides a specific application scenario and control logic method. Specifically, it includes:

[0052] like Figure 2 As shown in the figure, when the accelerator and brake are pressed at the same time to shift to P gear, the PDCU (power domain controller) continuously sends EPB pull-up request to EPB, and EPB executes this request to pull up the caliper to park. When PDCU detects that the vehicle is parked and the gear is switched to P gear, it stops sending EPB pull-up request at the same time. Once EPB fails to pull up due to a fault or other reasons, the PDCU switches the gear to N gear to prevent the vehicle in D / R gear from moving forward or backward.

[0053] When a normal driver presses the P gear button, the PDCU recognizes the parking request based on the hard-wired P gear switch and sends the EPB pull-up request to the control unit IBC&ESC. When the abnormal operation is that the accelerator and brake are pressed at the same time to engage the P gear, the IBC recognizes the EPB request signal from the PDCU, no longer performs the accelerator automatic drive-off function, and does not respond to the caliper release request. At this time, the vehicle's EPB is still pulled up, and the gear returns to the P gear.

[0054] In a preferred embodiment of the present invention, when a normal driver presses the P gear button, IBC&ESC redundantly executes the parking request through two signals, hardwired and CAN. One hardwire is directly connected to the IBC controller by the P gear switch; the other hardwire is used by the PDCU to recognize the parking request of the P gear switch and send the pull-up request CAN signal to the control unit IBC&ESC. When an abnormal operation (accelerator and brake are pressed at the same time) is performed to engage the P gear, the PDCU continues to send parking requests through the CAN. During the period when the IBC recognizes the continuous EPB request signal from the PDCU, the automatic driving away function by pressing the accelerator will no longer be executed after the parking is pulled up normally, thereby not releasing the parking caliper. At this time, the vehicle parking EPB is still pulled up, and the gear position returns to the P gear.

[0055] In the preferred embodiment of the present invention, of course, this control logic requires the PDCU controller to perform further work: a: When the driver shifts the gear to P, an EPB pull-up request is sent, and the request is stopped until the EPB state is detected to jump to apply; b: The PDCU needs to consider the gear jump logic when the EPB is in an abnormal state, that is, when the EPB state cannot return to apply, the PDCU monitors that the calipers on either side are clamped, and the gear can still be entered into P gear. When the states on both sides cannot be applied, the gear should be returned to N gear. The above strategies can ensure that in the event of EPB failure, even if the driver gets off the vehicle without shifting to P gear, the vehicle will not creep forward automatically.

[0056] In a preferred embodiment of the present invention, the EPB control strategy applicable to new energy vehicles equipped with an integrated hand-shift P includes a control scheme to prevent misoperation from causing safe driving of the vehicle:

[0057] After the driver stops the vehicle, if the accelerator pedal is pressed by a foot pad or by mistake, and the P gear button is pressed, the vehicle cannot pull up the parking EPB normally. At this time, the vehicle will automatically drive in gear after the driver gets off the vehicle;

[0058] like Figure 3 As shown, the present invention provides a control logic. When the driver presses the P gear button, the PDCU continuously sends a pull-up EPB request to the EPB controller (IBC & ESC). After receiving the pull-up request, the IBC shields the accelerator-pressed automatic drive-off function. This logic can effectively prevent the dangerous working condition where the accelerator is pressed and the P gear cannot be engaged.

[0059] The present invention changes the logic of IBC controlling the EPB caliper, and also requires PDCU to change the logic of entering the P gear. That is, as long as one of the left and right calipers of the EPB completes the pull-up apply, the gear can enter the P gear. When both sides cannot enter the apply, the gear returns to the N gear.

[0060] The control logic described above requires PDCU and IBC&ESC to change the control strategy logic to prevent the risk of vehicle automatic driving caused by misoperation.

[0061] Example 3

[0062] The embodiment of the present invention is based on embodiment 1-2. In this embodiment, another working condition needs to be considered. Some vehicles have an EPB soft switch on the large screen of the vehicle. When the accelerator and the brake are pressed at the same time, clicking the large screen soft switch still cannot execute automatic departure.

[0063] Specifically, after IBC recognizes the soft switch request CAN signal from the large screen, it will not respond to the automatic departure function within 3s (calibrable). This logic can effectively identify and avoid the dangerous working condition where the parking mechanism does not lock and pull up when the accelerator and brake are pressed at the same time, resulting in the gear being unable to enter the P gear.

[0064] Of course, this control logic requires further work from the PDCU controller: a: When the driver shifts to P gear, the PDCU needs to continuously send the CAN signal EPB pull-up request, and the request signal will not be reset until it detects that the EPB status has changed to apply; b: The PDCU needs to consider the gear change logic when the EPB is in an abnormal state, that is, when the EPB status cannot return to apply due to a fault, the PDCU can still enter the P gear after the EPB calipers on either side are clamped. When the calipers on both sides cannot be applied, the gear should return to the N gear. The above strategy can ensure that in the event of EPB failure, even if the driver gets off the vehicle without shifting to P gear, the vehicle will not creep forward automatically.

[0065] Example 4

[0066] like Figure 4 The figure is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention, such as a smart phone, tablet computer, laptop computer, desktop computer, rack server, blade server, tower server or cabinet server (including an independent server, or a server cluster composed of multiple servers) that can execute programs. The computer device 20 of this embodiment includes at least but is not limited to: a memory 21 and a processor 22 that can communicate with each other via a system bus, such as Figure 4 It should be pointed out that Figure 4 Only computer device 20 is shown with components 21 - 22 , but it should be understood that implementing all of the components shown is not a requirement, and more or fewer components may alternatively be implemented.

[0067] In this embodiment, the memory 21 (i.e., readable storage medium) includes flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM). The memory 21 may also be an external storage device of the computer device 20, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 20. Of course, the memory 21 may also include both the internal storage unit of the computer device 20 and its external storage device. In this embodiment, the memory 21 is generally used to store the operating system and various application software installed in the computer device 20, such as the program code of the control device for parking the vehicle back to the P gear in the method embodiment. In addition, the memory 21 may also be used to temporarily store various data that have been output or are to be output.

[0068] The processor 22 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments. The processor 22 is generally used to control the overall operation of the computer device 20. In this embodiment, the processor 22 is used to run the program code stored in the memory 21 or process data, such as running the control device for parking the vehicle back to the P gear, so as to implement the control method for parking the vehicle back to the P gear in the method embodiment.

[0069] Example 5

[0070] The present application also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, and the program realizes corresponding functions when executed by a processor. The computer-readable storage medium of this embodiment is used to store a control device for parking a vehicle in the P gear, and when executed by a processor, realizes the control method for parking a vehicle in the P gear of the method embodiment.

[0071] In summary, the present invention is aimed at new energy vehicles that use a hand-held gear design scheme to integrate an EPB switch, and the P gear button replaces the EPB switch of traditional vehicles. When the driver stops and puts the car in P gear, there are extreme conditions such as the accelerator pedal is stuck by the foot pad or the driver mistakenly presses the accelerator and brake at the same time. Under this condition, in the current general logic, if the P gear button is pressed at this time, the vehicle will execute the EPB and then put it into P gear. However, when the EPB is pulled up, it is recognized that the accelerator is stepped on, and the driver releases the P gear button, and the system will determine the need to execute the accelerator to step on and drive away. In this case, the EPB will be released, and at the same time, because the gear position follows the EPB state, the vehicle returns to the D gear. Once the driver gets off the car at this time, the vehicle will automatically move forward under the drive of the creeping torque of the D gear. The present invention proposes a solution. When the accelerator and brake are stepped on at the same time, according to the P gear pull-up EPB request issued by the PDCU, the automatic departure function is no longer executed, and the vehicle continues to pull up the EPB and enter the P gear. It is ensured that even if abnormal operation occurs, the vehicle will not have the risk of losing control when the person leaves the vehicle.

[0072] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0073] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a vehicle to return to P gear when parking, characterized in that: include: When the driver stops the car and puts it in P gear, determine whether the accelerator and brake are pressed at the same time; If the two buttons are not pressed at the same time, the power domain controller still controls the gear to be switched to P gear; if the buttons are pressed at the same time, the power domain controller continues to send a request to apply the electronic parking brake, and determines whether the electronic parking brake response is met and the caliper is pulled up to park; if not met, the power domain controller controls the gear to be switched to N gear; if met, the power domain controller still controls the gear to be switched to P gear.

2. The method for controlling a vehicle to return to the P gear when parking according to claim 1, characterized in that: The method includes: when the accelerator and the brake are pressed at the same time and the P gear is engaged, disabling the accelerator-pressed automatic drive-off function of the electronic parking brake.

3. The control method for parking a vehicle in P gear according to claim 1, characterized in that: The method includes: when the driver stops the car and shifts it into P gear, the power domain controller recognizes a parking request based on a hard-line P gear switch and sends a request to pull up the electronic parking brake to the control unit.

4. The method for controlling a vehicle to return to the P gear when parking according to claim 3, characterized in that: The control unit includes the integrated brake control system IBC and the electronic stability control system ESC.

5. The control method for parking a vehicle in the P gear according to claim 4, characterized in that: The method includes: when the accelerator and brake are pressed at the same time and the P gear is engaged, the integrated brake control system IBC recognizes the request of the power domain controller to pull up the electronic parking brake, controls the vehicle not to execute the automatic driving away function when pressing the accelerator, and does not respond to the request to release the caliper.

6. The method for controlling a vehicle to return to the P gear when parking according to claim 1, characterized in that: The method includes: an electronic parking brake soft switch is set on the vehicle screen, and when the accelerator and brake are pressed at the same time and the P gear is engaged, the electronic parking brake soft switch on the vehicle screen is clicked to control the vehicle to still not execute the automatic driving away function by pressing the accelerator.

7. The method for controlling a vehicle to return to the P gear when parking according to claim 1, characterized in that: The method includes: when the driver stops the car and shifts it into P gear, the power domain controller continuously sends a request to pull up the electronic parking brake, and the request stops after detecting that the electronic parking brake state jumps to a response.

8. The method for controlling a vehicle to return to the P gear when parking according to claim 7, characterized in that: The method includes: when an electronic parking brake is abnormal and cannot jump to a response, the power domain controller monitors the tightening of the calipers on either side, and controls the gear to be switched to the P gear; when the calipers on both sides cannot jump to a response, the gear is switched to the N gear.

9. A control system for parking a vehicle and returning it to P gear, characterized in that: include: a memory for storing executable computer programs; The processor is used to implement the control method of parking a vehicle and returning it to the P gear as described in any one of claims 1 to 8 when executing the executable computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: A computer program is stored, which is used to implement the control method of parking a vehicle and returning it to the P gear as described in any one of claims 1 to 8 when executed by a processor.

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