Vehicle control method and device, vehicle and computer readable storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control. The method comprises the steps that under the condition that an automatic parking function is activated, whether the clamping condition of electronic parking brake calipers is met or not is judged, if yes, the electronic parking brake calipers are controlled to conduct clamping, and if not, the electronic parking brake calipers are controlled to conduct clamping; and when the electronic parking brake calipers are controlled to clamp, if an accelerator pedal of the vehicle is triggered, the vehicle is forbidden to respond to an opening signal of the accelerator pedal, and the vehicle is controlled not to move. When the automatic parking function of the vehicle is activated, after the electronic parking brake calipers of the vehicle are clamped due to the fact that a user executes the operation which does not conform to safe driving of the vehicle, the vehicle is controlled not to respond to the opening signal of the accelerator pedal; the abnormal sound of the vehicle caused by the conflict between the braking force applied to the vehicle by the electronic parking brake calipers and the driving force output after the vehicle responds to the opening signal of the accelerator pedal can be avoided, the service life of a vehicle braking system is prolonged, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, device, vehicle and computer-readable storage medium in the field of vehicle control technology. Background Art

[0002] During actual driving, for example, when the user drives the vehicle out of the parking lot, pays the community fee, or gets on and off the highway, it is inconvenient to scan the code or pass the card when wearing the seat belt. After the user stops the vehicle, he / she steps on the brake pedal deeply. When the vehicle is in the forward gear, the automatic parking function will be activated. When the user unfastens the seat belt, the EPB (Electrical Park Brake) caliper of the vehicle will automatically clamp. After the gate at the entrance and exit is opened, some users will directly step on the accelerator pedal to drive the vehicle away, because the EPB caliper has not been released at this time and is still in a clamped state. The EPB caliper applies braking force to the vehicle in a clamped state. After the user steps on the accelerator pedal, the vehicle outputs driving force. At this time, the braking force applied by the EPB caliper to the vehicle conflicts with the driving force output by the vehicle, and the vehicle will make abnormal noises. For example, the user will find that the vehicle will not drive away and will hear a "bang bang" sound, which is easy to cause damage to the vehicle's braking system. Summary of the invention

[0003] The present application provides a vehicle control method, device, vehicle and computer-readable storage medium. When the automatic parking function of the vehicle is activated to enable the vehicle to achieve short-term parking, after the EPB caliper of the vehicle is clamped due to the user's operation that is not in line with the safe driving of the vehicle, the present application controls the vehicle not to respond to the opening signal of the accelerator pedal, thereby avoiding the conflict between the braking force applied by the EPB caliper to the vehicle and the driving force output after the vehicle responds to the opening signal of the accelerator pedal, which causes the vehicle to emit abnormal noise, and is beneficial to improving the service life of the vehicle's braking system.

[0004] In a first aspect, a vehicle control method is provided, which includes: when an automatic parking function is activated, determining whether a clamping condition of an electronic parking brake caliper is met; if so, controlling the electronic parking brake caliper to clamp; while controlling the electronic parking brake caliper to clamp, if an accelerator pedal of a vehicle is triggered, prohibiting the vehicle from responding to an opening signal of the accelerator pedal.

[0005] The embodiment of the present application adopts a technical solution of judging whether the clamping condition of the electronic parking brake caliper is met when the automatic parking function is activated, controlling the electronic parking brake caliper to clamp when the clamping condition of the electronic parking brake caliper is met, and prohibiting the vehicle from responding to the opening signal of the accelerator pedal if the accelerator pedal of the vehicle is triggered when the electronic parking brake caliper is clamped, thereby controlling the vehicle not to move. The embodiment of the present application can activate the automatic parking function in the vehicle to enable the vehicle to park for a short time. After the electronic parking brake caliper of the vehicle is clamped due to the user performing an operation that is not in line with the safe driving of the vehicle, the vehicle is controlled not to respond to the opening signal of the accelerator pedal. The conflict between the braking force applied by the electronic parking brake caliper on the vehicle and the driving force output by the vehicle after responding to the opening signal of the accelerator pedal can be avoided, which causes the vehicle to make abnormal noises. This is not only beneficial to improving the service life of the vehicle's braking system, but also beneficial to improving the driving safety of the user.

[0006] In combination with the first aspect, in some possible implementations, the judging whether the clamping condition of the electronic parking brake caliper is met includes: when the current gear position of the vehicle is the forward gear or the reverse gear, if the vehicle's seat belt is released, the door is open, and at least one of the activation time of the automatic parking function is greater than or equal to a preset time, it is determined that the clamping condition is met; when the current gear position of the vehicle is the forward gear or the reverse gear, if the vehicle's seat belt is not released and the door is closed, it is determined that the clamping condition is not met.

[0007] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the vehicle is prohibited from responding to the opening signal of the accelerator pedal, the vehicle control method also includes: outputting a first prompt message; wherein the first prompt message is used to remind the user to fasten the seat belt and / or close the door, and release the electronic parking brake caliper.

[0008] In combination with the first aspect and the above-mentioned implementation manners, in some possible implementation manners, when controlling the electronic parking brake caliper to be clamped, the vehicle control method further includes: exiting the automatic parking function.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the clamping of the electronic parking brake caliper includes: determining whether the switching conditions of the parking gear are met; if so, switching the current gear of the vehicle to the parking gear, and controlling the clamping of the electronic parking brake caliper.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after the vehicle is prohibited from responding to the opening signal of the accelerator pedal, the vehicle control method also includes: if the accelerator pedal is triggered again and the release condition of the electronic parking brake caliper is met, controlling the electronic parking brake caliper to release and responding to the opening signal of the accelerator pedal.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle control method also includes: when it is detected that the user has the intention to drive, outputting a second reminder message for prompting the user to turn on the automatic parking function; when it is detected that the function switch of the automatic parking function is triggered, determining whether to activate the automatic parking function.

[0012] In a second aspect, a vehicle control device is provided, the vehicle control device comprising:

[0013] A condition judgment module, used to judge whether the clamping condition of the electronic parking brake caliper is met when the automatic parking function is activated;

[0014] A first control module, configured to control the electronic parking brake caliper to clamp when a clamping condition of the electronic parking brake caliper is met;

[0015] The second control module is used to prohibit the vehicle from responding to the opening signal of the accelerator pedal if the accelerator pedal of the vehicle is triggered when controlling the electronic parking brake caliper to be clamped.

[0016] In combination with the second aspect, in certain possible implementations, the condition judgment module is specifically used to determine that the clamping condition is met when the current gear position of the vehicle is a forward gear or a reverse gear, if at least one of the following conditions is met: the seat belt of the vehicle is released, the door is open, and the activation time of the automatic parking function is greater than or equal to a preset time; and to determine that the clamping condition is not met when the current gear position of the vehicle is a forward gear or a reverse gear, if the seat belt of the vehicle is not released and the door is closed.

[0017] In combination with the second aspect and the above implementations, in some possible implementations, the vehicle control device further includes:

[0018] The first reminder unit is used to output a first reminder message when the vehicle is prohibited from responding to the opening signal of the accelerator pedal; wherein the first reminder message is used to remind the user to fasten the seat belt and / or close the door and release the electronic parking brake caliper.

[0019] In combination with the second aspect and the above implementations, in some possible implementations, the second control module is further configured to exit the automatic parking function while controlling the electronic parking brake caliper to be clamped.

[0020] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the second control module, in controlling the clamping of the electronic parking brake caliper, is specifically used to determine whether the switching conditions of the parking gear are met; if so, the current gear position of the vehicle is switched to the parking gear, and the electronic parking brake caliper is controlled to clamp.

[0021] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the second control module is also used to control the release of the electronic parking brake caliper and respond to the opening signal of the accelerator pedal if it is detected that the accelerator pedal is triggered again and the release condition of the electronic parking brake caliper is met after the vehicle is prohibited from responding to the opening signal of the accelerator pedal.

[0022] In combination with the second aspect and the above implementations, in some possible implementations, the vehicle control device further includes:

[0023] The second reminder unit is used to output a second reminder message for prompting the user to turn on the automatic parking function when it is detected that the user has the intention to drive; and to determine whether to activate the automatic parking function when it is detected that the function switch of the automatic parking function is triggered.

[0024] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the first aspect or any possible implementation of the first aspect.

[0025] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0026] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic flow chart of a vehicle control method provided in an embodiment of the present application is shown;

[0028] Figure 2 A schematic diagram showing the AVH function indicator light and the parking indicator light displayed on the vehicle's central control screen;

[0029] Figure 3 A schematic diagram showing a scenario in which a user pays a toll at a highway toll station and enters the highway;

[0030] Figure 4 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application is shown;

[0031] Figure 5 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0032] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0033] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0034] During actual driving, for example, when the user drives the vehicle out of the parking lot, pays the community fee, or gets on and off the highway, it is inconvenient to scan the code or pass the card when wearing the seat belt. After the user stops the vehicle, he / she steps deeply on the brake pedal. When the vehicle is in the forward gear, the automatic parking function will be activated. When the user unfastens the seat belt, the EPB caliper of the vehicle will automatically clamp. After the gate at the entrance and exit is opened, some users will directly step on the accelerator pedal to drive the vehicle away, because the EPB caliper has not been released at this time and is still in a clamped state. The EPB caliper applies braking force to the vehicle in a clamped state. After the user steps on the accelerator pedal, the vehicle outputs driving force. At this time, the braking force applied by the EPB caliper to the vehicle conflicts with the driving force output by the vehicle, and the vehicle will make abnormal noises. For example, the user will find that the vehicle will not drive away and will hear a "clicking" sound, which is easy to cause damage to the vehicle's braking system.

[0035] Based on the above problems, the present application provides a vehicle control method, device, vehicle and computer-readable storage medium. During the user's use of the vehicle, if the vehicle's EPB caliper is clamped due to the user's operation that is not in line with the safe driving of the vehicle, the present application controls the vehicle not to respond to the opening signal of the accelerator pedal. This can avoid the conflict between the braking force applied by the EPB caliper on the vehicle and the driving force output after the vehicle responds to the opening signal of the accelerator pedal, which causes the vehicle to make abnormal noises, and is beneficial to improving the service life of the vehicle's braking system.

[0036] The following is an embodiment of a vehicle control method provided in an embodiment of the present application.

[0037] Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present application is shown, such as Figure 1 As shown, the vehicle control method provided in the embodiment of the present application is applied to a vehicle, and the vehicle has an automatic vehicle hold function (AVH) and an EPB caliper brake function. The AVH function is generally applicable to parking of the vehicle during a short stop, such as waiting for a traffic light, traffic jam, paying for going up and down the highway, and paying for leaving the parking lot, to prevent the vehicle from sliding. The AVH function is intended to provide convenience and comfort and reduce the pressure on the driver. The EPB caliper brake function is applicable to long-term parking, especially when parking on a slope, it can ensure that the vehicle does not slide.

[0038] The hardware for realizing the AVH function of the vehicle includes: electronic control unit, sensor assembly, brake caliper, brake disc, brake fluid pressure regulator, brake fluid, brake line, etc. The sensor assembly includes wheel speed sensor, accelerometer, brake pedal position sensor, etc., which are used to monitor the vehicle status and the driver's action. The brake disc is the place where the brake caliper contacts the tire, which is used to generate friction and prevent the vehicle from moving. The electronic control unit is used to receive information from the sensor assembly and make decisions based on this information, including whether to activate the AVH function. After the electronic control unit activates the AVH function, the brake fluid pressure regulator adjusts the brake fluid in the brake line so that the brake fluid drives the brake caliper to clamp, thereby achieving short-term parking.

[0039] The hardware for the vehicle to realize the EPB caliper braking function includes: electronic control unit, sensor assembly, EPB caliper, brake disc, electric motor, etc. The sensor assembly includes wheel speed sensor, accelerometer, brake pedal position sensor, etc., which are used to monitor the vehicle status and the driver's action. The brake disc is where the EPB caliper contacts the tire, which is used to generate friction and prevent the vehicle from moving. The electronic control unit sends a control signal to the electric motor based on the information of the sensor assembly, and the electric motor drives the EPB caliper to clamp or release, thereby clamping or releasing the brake disc, and then parking or releasing the vehicle. It is worth noting that the electronic parking brake caliper can also realize short-term parking. For example, when the user goes down the highway to pay the toll, the EPB physical switch is switched to the clamping direction, and the electronic parking brake caliper is clamped to realize parking. After the payment is completed, the EPB physical switch is switched to the release direction, and the electronic parking brake caliper is released to realize the release of parking. This process can be understood as short-term parking, so the length of time for parking achieved by the electronic parking brake caliper depends on the user.

[0040] like Figure 2 As shown, Figure 2 The schematic diagram of the vehicle's central control screen displaying the AVH function indicator and the parking indicator is shown, 100 represents the vehicle's central control screen, 101 represents the AVH function indicator, and 102 represents the EPB parking indicator. When the AVH function is turned on, the user controls the vehicle to be stationary and then steps deeply on the brake pedal, the AVH function indicator is displayed in green, and the AVH function is activated at this time. When the AVH function is turned on but not activated, the AVH function indicator is displayed in yellow. At this time, if the user unfastens the seat belt, the AVH function exits, and the vehicle will not clamp the EPB caliper. After the user fastens the seat belt again, the AVH function automatically turns on, and the AVH function indicator is displayed in yellow. When the AVH function is turned on and activated, the AVH function indicator is displayed in green. At this time, if the user unfastens the seat belt, the AVH function exits, the vehicle will clamp the EPB caliper, and the EPB parking indicator is on. After the user fastens the seat belt again, the EPB caliper will not be released and will remain in a clamped state. The AVH function automatically turns on, and the AVH function indicator is displayed in yellow.

[0041] There are two ways to release the EPB caliper, manual release and automatic drive-off release. Manual release: when the EPB caliper is in a clamped state, the user steps on the brake pedal and operates the EPB physical switch or the EPB virtual switch in the release direction, and the EPB caliper is released; Automatic drive-off release: when the EPB caliper is in a clamped state, the user fastens the seat belt on the main driver's seat, the vehicle engine is in the "ignition" state and the gear is in the forward gear or reverse gear, the user steps on the accelerator pedal and the power torque is large enough, and the EPB caliper is released actively.

[0042] The above vehicle control method includes the following schemes:

[0043] S110: When the automatic parking function is activated, determining whether a clamping condition of the electronic parking brake caliper is met;

[0044] S120: When a clamping condition of the electronic parking brake caliper is met, controlling the electronic parking brake caliper to clamp;

[0045] S130: When the electronic parking brake caliper is controlled to be clamped, if the accelerator pedal of the vehicle is triggered, prohibiting the vehicle from responding to the accelerator pedal opening signal.

[0046] In an exemplary embodiment, if the vehicle activates the automatic parking function, it means that the vehicle is in a short-term parking state at this time. When the vehicle activates the automatic parking function, the vehicle is in the forward gear or the reverse gear. Figure 3 As shown, Figure 3 The schematic diagram shows a scenario where a user pays a toll at a highway toll station and enters the highway. Figure 3 The vehicle is at the toll window of the mixed lane, the vehicle is in the forward gear and the automatic parking function is activated, and it is in a short-term parking state.

[0047] When the automatic parking function is activated, in order to prevent the user from performing operations that are not in line with safe driving during the short-term parking of the vehicle, which may lead to safety accidents, it is determined whether the clamping conditions of the electronic parking brake caliper (the above-mentioned EPB caliper) are met to decide whether to control the clamping of the electronic parking brake caliper, that is, to determine whether to control the long-term parking of the vehicle. If it is determined that the clamping conditions of the electronic parking brake caliper are met, it means that the user has performed operations that are not in line with safe driving during the short-term parking of the vehicle. For example, when the user passes the card at the toll window of the mixed lane, the distance between the vehicle and the toll window is too far, resulting in the toll collector being unable to get the card. The user unfastens the seat belt (because the seat belt restrains the user from leaning out of the window), thereby passing the card to the toll collector. Therefore, when the clamping conditions of the electronic parking brake caliper are met, the electronic parking brake caliper is controlled to clamp, and the vehicle can be parked, thereby avoiding the vehicle from slipping and ensuring driving safety.

[0048] In a possible implementation, the above-mentioned determination of whether the clamping condition of the electronic parking brake caliper is met includes the following schemes:

[0049] When the current gear of the vehicle is a forward gear or a reverse gear, if at least one of the following conditions is satisfied: the vehicle's seat belt is released, the vehicle door is opened, and the activation time of the automatic parking function is greater than or equal to a preset time, determining that the clamping condition is satisfied;

[0050] In a case where the current gear position of the vehicle is the forward gear or the reverse gear, if the seat belt of the vehicle is not released and the door is closed, it is determined that the clamping condition is not satisfied.

[0051] Among them, if the current gear of the vehicle is the forward gear or the reverse gear, and the seat belt of the vehicle is released and / or the door is opened, it means that the user has performed relevant operations that are not in line with safe driving during the short-term parking of the vehicle, so it is determined that the clamping condition is met. For example, the current gear of the vehicle is the forward gear. When the user enters the gate of the community, the guard requires the user to get off the vehicle for routine registration. After activating the automatic parking function, the user releases the seat belt, opens the door on the main driver's side and gets off the vehicle to register. In this case, the clamping condition is determined to be met. If the current gear of the vehicle is the forward gear or the reverse gear, and the activation time of the automatic parking function is greater than or equal to the preset time, it means that the vehicle is parked for too long through the automatic parking function. In order to ensure the safety of long-term parking and avoid hardware damage to the automatic parking function, it is necessary to achieve long-term parking by clamping the electronic parking brake caliper. In this case, the clamping condition is determined to be met. If the vehicle's current gear is forward gear or reverse gear, the vehicle's seat belts are not released and the doors are closed, it means that the user did not perform any operations that are not consistent with safe driving during the short parking period of the vehicle, and therefore it is determined that the clamping condition is not met.

[0052] When the electronic parking brake caliper is clamped, if the user does not manually release the electronic parking brake caliper, or the user does not drive the vehicle correctly (for example, the seat belt is not fastened and / or the door is not closed) and steps on the accelerator pedal to control the vehicle to drive away, the vehicle will not respond to the opening signal of the accelerator pedal, that is, the vehicle will not output driving force to drive the wheels to rotate. Because when the electronic parking brake caliper is clamped, the electronic parking brake caliper applies braking force to the wheels. If the opening signal of the accelerator pedal is responded to, the vehicle will apply driving force to the wheels while the electronic parking brake caliper applies braking force to the wheels. The braking force is to prevent the vehicle from moving, and the driving force is to drive the vehicle to move. The braking force and the driving force conflict, that is, an abnormal sound will be emitted at the wheel. For example, the user will find that the vehicle will not drive away and will hear a "bang bang" sound. This will cause damage to the vehicle's braking system and reduce the service life of the vehicle's braking system. Over time, it will affect the safe driving of the vehicle and pose a threat to the safety of the user. In order to avoid the occurrence of the above-mentioned problems, the present application controls the vehicle not to respond to the opening signal of the accelerator pedal if it is detected that the user has stepped on the accelerator pedal when the electronic parking brake caliper is clamped, thereby controlling the vehicle not to output driving force. That is, no matter how much the user steps on the accelerator pedal, the vehicle will not move away. This avoids the conflict between the braking force applied to the vehicle by the electronic parking brake caliper and the driving force output by the vehicle after responding to the opening signal of the accelerator pedal, which would cause the vehicle to make abnormal noises. This is not only beneficial to improving the service life of the vehicle's braking system, but also beneficial to improving the driving safety of the user.

[0053] The embodiment of the present application adopts a technical solution of judging whether the clamping condition of the electronic parking brake caliper is met when the automatic parking function is activated, controlling the electronic parking brake caliper to clamp when the clamping condition of the electronic parking brake caliper is met, and prohibiting the vehicle from responding to the opening signal of the accelerator pedal if the accelerator pedal of the vehicle is triggered when the electronic parking brake caliper is clamped, thereby controlling the vehicle not to move. The embodiment of the present application can activate the automatic parking function in the vehicle to enable the vehicle to park for a short time. After the electronic parking brake caliper of the vehicle is clamped due to the user performing an operation that is not in line with the safe driving of the vehicle, the vehicle is controlled not to respond to the opening signal of the accelerator pedal. The conflict between the braking force applied by the electronic parking brake caliper on the vehicle and the driving force output by the vehicle after responding to the opening signal of the accelerator pedal can be avoided, which causes the vehicle to make abnormal noises. This is not only beneficial to improving the service life of the vehicle's braking system, but also beneficial to improving the driving safety of the user.

[0054] The following Figure 1 The specific implementation methods of each step in the illustrated embodiment are described as follows:

[0055] In a possible implementation, when the vehicle is prohibited from responding to the accelerator pedal opening signal, the vehicle control method further includes the following scheme:

[0056] Output a first prompt message; wherein the first prompt message is used to remind the user to fasten the seat belt and / or close the door, and release the electronic parking brake caliper.

[0057] After the vehicle is controlled not to respond to the opening signal of the accelerator pedal, in order to ensure that the user can drive away normally, the vehicle is controlled to output the first prompt information, and the first prompt information is used to remind the user to fasten the seat belt and / or close the door, and release the electronic parking brake caliper. For example, the first prompt information is broadcast by voice, and the prompt content is "The electronic parking brake caliper of your car is currently in a clamped state. Please fasten your seat belt and close the door. After ensuring that the seat belt is fastened and the door is closed, manually switch the EPB physical switch or the EPB virtual switch to the release direction to release the electronic parking brake caliper. After the operation is completed, step on the accelerator and your car can start to drive away." By outputting the first prompt information, the user can be reminded to operate the vehicle correctly to drive away, avoiding the user from mistakenly thinking that the vehicle has a fault, which affects the driving mood and car experience.

[0058] In a possible implementation, when controlling the electronic parking brake caliper to be clamped, the vehicle control method further includes the following solutions:

[0059] Exit the automatic parking function.

[0060] When the automatic parking function is activated, after the electronic parking brake caliper is controlled to clamp, the vehicle can be parked for a long time, that is, short-term parking is no longer needed, then the vehicle is controlled to exit the automatic parking function, thereby extending the hardware life of the automatic parking function.

[0061] In a possible implementation, the above-mentioned control of the clamping of the electronic parking brake caliper includes the following scheme:

[0062] Determining whether a parking gear switching condition is met;

[0063] If so, the current gear of the vehicle is switched to the parking gear, and the electronic parking brake caliper is controlled to clamp.

[0064] When the automatic parking function is activated, if the clamping conditions of the electronic parking brake caliper are met, it is further determined whether the switching conditions of the parking gear are met. If the switching conditions of the parking gear are met, the current gear is switched to the parking gear, and then the electronic parking brake caliper is controlled to clamp. After the user subsequently steps on the accelerator pedal, the vehicle will not output driving force. Among them, the switching conditions of the parking gear include the user manually pressing the parking gear button, and the vehicle output driving force for the accelerator pedal opening requirement is that the accelerator pedal opening is greater than the preset opening, so as to ensure that the driving force output by the vehicle is large enough to drive the vehicle to move.

[0065] In a possible implementation, after the vehicle is prohibited from responding to the accelerator pedal opening signal, the vehicle control method further includes the following scheme:

[0066] If the accelerator pedal is triggered again and the release condition of the electronic parking brake caliper is met, the electronic parking brake caliper is controlled to be released and responds to the opening signal of the accelerator pedal.

[0067] After controlling the vehicle not to respond to the accelerator pedal opening signal, continue to judge whether the accelerator pedal is pressed and whether the release conditions of the electronic parking brake caliper are met. If it is detected that the accelerator pedal is pressed again and the release conditions of the electronic parking brake caliper are met, it means that the user has performed the relevant operation reminded by the first prompt information, then the electronic parking brake caliper is controlled to be released, and the electronic parking brake caliper is released to release the parking, thereby responding to the accelerator pedal opening signal, controlling the vehicle to output driving force, and the user can drive away normally.

[0068] In a possible implementation, the vehicle control method further includes the following solution:

[0069] When it is detected that the user intends to drive, outputting a second reminder message for prompting the user to turn on the automatic parking function;

[0070] When it is detected that the function switch of the automatic parking function is triggered, it is determined whether to activate the automatic parking function.

[0071] The vehicle involved in the embodiment of the present application has an automatic parking function, and the automatic parking function can be turned off and on manually by the user. For example, in a self-service car washing machine, the user is generally required to manually turn off the automatic parking function. In order to prevent the user from not knowing that the vehicle has an automatic parking function or the user has turned off the automatic parking function, when it is detected that the user has the intention to drive (the user sits in the main driving seat, fastens the seat belt and closes the door), a second reminder message is output, for example, the second reminder message is "Owner, please click the function switch of the parking function on the central control screen to turn on the automatic parking function". If it is detected that the function switch of the automatic parking function is triggered, it is determined whether to activate the automatic parking function. If it is determined that the activation conditions for activating the automatic parking function are met, the automatic parking function is activated, thereby executing S110-S130.

[0072] The following is another embodiment of a vehicle control method provided in an embodiment of the present application.

[0073] A vehicle control method provided in an embodiment of the present application is applied to a vehicle, and the vehicle control method includes the following schemes:

[0074] S201: When it is detected that the user intends to drive, output a second reminder message for prompting the user to activate the automatic parking function.

[0075] In an exemplary embodiment, if it is detected that the user is sitting in the main driving seat, fastening the seat belt and closing the door, it is considered that the user has the intention to drive, and then if the user has the intention to drive, the second reminder message is output to prompt the user to manually turn on the automatic parking function. For example, the second reminder message is "Owner, please click the function switch of the parking function on the central control screen to turn on the automatic parking function."

[0076] S202: When it is detected that the function switch of the automatic parking function is triggered, determine whether to activate the automatic parking function.

[0077] If it is detected that the function switch of the automatic parking function is triggered, it means that the user has manually turned on the automatic parking function. Then, when the function switch of the automatic parking function is triggered, it is determined whether the automatic parking function is activated. Determining whether to activate the automatic parking function specifically refers to determining whether an activation condition for activating the automatic parking function is met. If the activation condition is met, the automatic parking function is activated, and then S203 is executed.

[0078] S204: When the automatic parking function is activated, determine whether a clamping condition of the electronic parking brake caliper is met.

[0079] If the vehicle activates the automatic parking function, it means that the vehicle is in a short-term parking state. When the vehicle activates the automatic parking function, the current gear of the vehicle is in the forward gear or the reverse gear. When the automatic parking function is activated, in order to avoid the user performing related operations that are not in line with safe driving during the short-term parking of the vehicle, resulting in a safety accident, it is determined whether the clamping condition of the electronic parking brake caliper is met to decide whether to control the clamping of the electronic parking brake caliper, that is, to determine whether to control the vehicle to park for a long time. Among them, judging whether the clamping condition of the electronic parking brake caliper is met includes: when the current gear of the vehicle is the forward gear or the reverse gear, if at least one of the vehicle's seat belt is released, the door is opened, and the activation time of the automatic parking function is greater than or equal to the preset time, it is determined that the clamping condition is met; when the current gear of the vehicle is the forward gear or the reverse gear, if the vehicle's seat belt is not released and the door is closed, it is determined that the clamping condition is not met.

[0080] S205: When the clamping condition of the electronic parking brake caliper is met, the electronic parking brake caliper is controlled to be clamped, and the automatic parking function is exited.

[0081] If the clamping conditions of the electronic parking brake caliper are determined to be met, it means that the user has performed operations that are not in line with safe driving during the short-term parking of the vehicle. For example, when the user passes the card to the toll collector at the toll window of the high-speed mixed lane, the seat belt is unfastened. In this case, the electronic parking brake caliper is controlled to clamp, and the vehicle can be parked for a long time. For another example, when the user enters the gate of the community, the guard requires the user to get off the vehicle for routine registration. After activating the automatic parking function, the user unfastens the seat belt, opens the door on the main driver's side, and gets off the vehicle to register. After the electronic parking brake caliper is controlled to clamp, the vehicle can be parked for a long time, that is, short-term parking is no longer required. In this case, the vehicle is controlled to exit the automatic parking function, thereby extending the hardware life of the automatic parking function.

[0082] S206: When the electronic parking brake caliper is controlled to be clamped, if the accelerator pedal of the vehicle is triggered, the vehicle is prohibited from responding to the opening signal of the accelerator pedal, so as to control the vehicle not to output driving force and the vehicle will not move.

[0083] When the electronic parking brake caliper is clamped, if the user does not manually release the electronic parking brake caliper, or the user steps on the accelerator pedal to control the vehicle to drive away without driving the vehicle correctly, the vehicle will not respond to the opening signal of the accelerator pedal, that is, the vehicle will not output driving force to drive the wheels to rotate. Because when the electronic parking brake caliper is clamped, the electronic parking brake caliper applies braking force to the wheels. If it responds to the opening signal of the accelerator pedal, the vehicle will apply driving force to the wheels while the electronic parking brake caliper applies braking force to the wheels. The braking force is to prevent the vehicle from moving, and the driving force is to drive the vehicle to move. The braking force and the driving force conflict, that is, abnormal noise will be emitted at the wheel. For example, the user will find that the vehicle will not drive away and will hear a "bang bang" sound. This will cause damage to the vehicle's braking system and reduce the service life of the vehicle's braking system. Over time, it will affect the safe driving of the vehicle and pose a threat to the safety of the user. In order to avoid the occurrence of the above-mentioned problems, the present application controls the vehicle not to respond to the opening signal of the accelerator pedal if it is detected that the user has stepped on the accelerator pedal when the electronic parking brake caliper is clamped, thereby controlling the vehicle not to output driving force. That is, no matter how much the user steps on the accelerator pedal, the vehicle will not move away. This avoids the conflict between the braking force applied to the vehicle by the electronic parking brake caliper and the driving force output by the vehicle after responding to the opening signal of the accelerator pedal, which would cause the vehicle to make abnormal noises. This is not only beneficial to improving the service life of the vehicle's braking system, but also beneficial to improving the driving safety of the user.

[0084] S207: Output a first prompt message; wherein the first prompt message is used to remind the user to fasten the seat belt and / or close the door, and release the electronic parking brake caliper.

[0085] After the vehicle is controlled not to respond to the opening signal of the accelerator pedal, in order to ensure that the user can drive away normally, the vehicle is controlled to output the first prompt information, and the first prompt information is used to remind the user to fasten the seat belt and / or close the door, and release the electronic parking brake caliper. For example, the first prompt information is broadcast by voice, and the prompt content is "The electronic parking brake caliper of your car is currently in a clamped state. Please fasten your seat belt and close the door. After ensuring that the seat belt is fastened and the door is closed, manually switch the EPB physical switch or the EPB virtual switch to the release direction to release the electronic parking brake caliper. After the operation is completed, step on the accelerator and your car can start to drive away." By outputting the first prompt information, the user can be reminded to operate the vehicle correctly to drive away, avoiding the user from mistakenly thinking that the vehicle has a fault, which affects the driving mood and car experience.

[0086] S208: If the accelerator pedal is triggered again and the release condition of the electronic parking brake caliper is met, the electronic parking brake caliper is controlled to be released and responds to the opening signal of the accelerator pedal.

[0087] After controlling the vehicle not to respond to the accelerator pedal opening signal, continue to judge whether the accelerator pedal is pressed and whether the release conditions of the electronic parking brake caliper are met. If it is detected that the accelerator pedal is pressed again and the release conditions of the electronic parking brake caliper are met, it means that the user has performed the relevant operation reminded by the first prompt information, then the electronic parking brake caliper is controlled to be released, and the electronic parking brake caliper is released to release the parking, thereby responding to the accelerator pedal opening signal, controlling the vehicle to output driving force, and the user can drive away normally.

[0088] The embodiment of the present application adopts a technical solution that determines whether the clamping condition of the electronic parking brake caliper is met when the automatic parking function is activated, controls the electronic parking brake caliper to clamp when the clamping condition of the electronic parking brake caliper is met, and prohibits the vehicle from responding to the opening signal of the accelerator pedal when the accelerator pedal of the vehicle is triggered, thereby controlling the vehicle not to move. When the automatic parking function is activated in the vehicle, the vehicle can realize short-term parking. After the electronic parking brake caliper of the vehicle is clamped due to the user's operation that does not meet the safety driving of the vehicle, the vehicle is controlled not to respond to the opening signal of the accelerator pedal, which can avoid the conflict between the braking force applied by the electronic parking brake caliper to the vehicle and the driving force output after the vehicle responds to the opening signal of the accelerator pedal, causing the vehicle to emit abnormal noise, which is not only conducive to improving the service life of the vehicle's braking system, but also conducive to improving the driving safety of the user. After the electronic parking brake caliper is controlled to clamp, the vehicle can realize long-term parking, that is, short-term parking is no longer required, and the vehicle is controlled to exit the automatic parking function, thereby extending the hardware life of the automatic parking function. After controlling the vehicle not to respond to the accelerator pedal opening signal, controlling the vehicle to output the first prompt information can ensure that the user drives away normally. When detecting that the user has the intention to drive, outputting the second reminder information reminds the user to actively turn on the automatic parking function, thereby ensuring driving safety.

[0089] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0090] Figure 4 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown. Figure 4 As shown, the vehicle control device 400 includes:

[0091] A condition determination module 410 is used to determine whether a clamping condition of the electronic parking brake caliper is met when the automatic parking function is activated;

[0092] A condition judgment module 420, configured to control the electronic parking brake caliper to clamp when the clamping condition of the electronic parking brake caliper is met;

[0093] The second control module 430 is configured to prohibit the vehicle from responding to the opening signal of the accelerator pedal if the accelerator pedal of the vehicle is triggered while controlling the electronic parking brake caliper to be clamped.

[0094] In one possible implementation, the condition judgment module 410 is specifically used to determine that the clamping condition is met when the current gear position of the vehicle is the forward gear or the reverse gear, if at least one of the following conditions is met: the seat belt of the vehicle is released, the door is open, and the activation time of the automatic parking function is greater than or equal to a preset time; and to determine that the clamping condition is not met when the current gear position of the vehicle is the forward gear or the reverse gear, if the seat belt of the vehicle is not released and the door is closed.

[0095] In a possible implementation, the vehicle control device 400 further includes:

[0096] The first reminder unit is used to output a first reminder message when the vehicle is prohibited from responding to the opening signal of the accelerator pedal; wherein the first reminder message is used to remind the user to fasten the seat belt and / or close the door and release the electronic parking brake caliper.

[0097] In a possible implementation, the second control module 430 is further configured to exit the automatic parking function when controlling the electronic parking brake caliper to be clamped.

[0098] In one possible implementation, the second control module 430, in controlling the clamping of the electronic parking brake caliper, is specifically used to determine whether the switching condition of the parking gear is met; if so, the current gear of the vehicle is switched to the parking gear, and the electronic parking brake caliper is controlled to clamp.

[0099] In one possible implementation, the second control module 430 is further used to control the release of the electronic parking brake caliper and respond to the opening signal of the accelerator pedal if it is detected that the accelerator pedal is triggered again and the release condition of the electronic parking brake caliper is met after the vehicle is prohibited from responding to the opening signal of the accelerator pedal.

[0100] In a possible implementation, the vehicle control device 400 further includes:

[0101] The second reminder unit is used to output a second reminder message for prompting the user to turn on the automatic parking function when it is detected that the user has the intention to drive; and to determine whether to activate the automatic parking function when it is detected that the function switch of the automatic parking function is triggered.

[0102] A vehicle control device provided in an embodiment of the present application can avoid the conflict between the braking force applied by the electronic parking brake caliper to the vehicle and the driving force output by the vehicle in response to the opening signal of the accelerator pedal, which causes the vehicle to make abnormal noises. This is not only beneficial to improving the service life of the vehicle's braking system, but also beneficial to improving the driving safety of users.

[0103] It should be noted that the vehicle control device provided in the above embodiment only uses the division of the above functional modules as an example when executing the vehicle control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment belongs to the same concept as the vehicle control method embodiment. Therefore, for details not disclosed in the device embodiment of the present application, please refer to the above-mentioned vehicle control method embodiment of the present application, which will not be repeated here.

[0104] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0105] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown. Figure 5 As shown, the vehicle 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a vehicle control method.

[0106] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0107] In the case of dividing each functional module according to each function, the vehicle may include: a condition judgment module, a first control module, a second control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0108] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0109] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes and data.

[0110] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0111] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method in the above-mentioned embodiment.

[0112] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0113] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above embodiments.

[0114] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0115] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0116] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0117] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The vehicle control method comprises: When the automatic parking function is activated, determining whether the clamping conditions of the electronic parking brake caliper are met; If so, controlling the electronic parking brake caliper to clamp; When the electronic parking brake caliper is controlled to be clamped, if the accelerator pedal of the vehicle is triggered, the vehicle is prohibited from responding to the opening signal of the accelerator pedal.

2. The vehicle control method according to claim 1, characterized in that: The determining whether the clamping condition of the electronic parking brake caliper is met includes: When the current gear of the vehicle is a forward gear or a reverse gear, if at least one of the following conditions is satisfied: a seat belt of the vehicle is released, a door is opened, and the activation time of the automatic parking function is greater than or equal to a preset time, determining that the clamping condition is satisfied; In a case where the current gear position of the vehicle is a forward gear or a reverse gear, if the seat belt of the vehicle is not released and the door is closed, it is determined that the clamping condition is not satisfied.

3. The vehicle control method according to claim 2, characterized in that: In the case where the vehicle is prohibited from responding to the opening signal of the accelerator pedal, the vehicle control method further includes: Output a first prompt message; wherein the first prompt message is used to remind the user to fasten the seat belt and / or close the vehicle door, and release the electronic parking brake caliper.

4. The vehicle control method according to claim 1, characterized in that: In the case of controlling the electronic parking brake caliper to be clamped, the vehicle control method further includes: Exit the automatic parking function.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The controlling the clamping of the electronic parking brake caliper comprises: Determining whether a parking gear switching condition is met; If so, the current gear position of the vehicle is switched to the parking gear, and the electronic parking brake caliper is controlled to clamp.

6. The vehicle control method according to any one of claims 1 to 4, characterized in that: After prohibiting the vehicle from responding to the accelerator pedal opening signal, the vehicle control method further includes: If the accelerator pedal is triggered again and the release condition of the electronic parking brake caliper is met, the electronic parking brake caliper is controlled to be released and responds to the opening signal of the accelerator pedal.

7. The vehicle control method according to any one of claims 1 to 4, characterized in that: The vehicle control method further includes: When it is detected that the user intends to drive, outputting a second reminder message for prompting the user to activate the automatic parking function; When it is detected that the function switch of the automatic parking function is triggered, it is determined whether to activate the automatic parking function.

8. A vehicle control device, characterized in that: The vehicle control device comprises: A condition judgment module, used to judge whether the clamping condition of the electronic parking brake caliper is met when the automatic parking function is activated; A first control module, configured to control the electronic parking brake caliper to clamp when a clamping condition of the electronic parking brake caliper is met; The second control module is used to prohibit the vehicle from responding to the opening signal of the accelerator pedal if the accelerator pedal of the vehicle is triggered when controlling the electronic parking brake caliper to be clamped.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 7 is implemented.

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