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

Abstract

The application 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 following steps: in the case that an automatic parking function is activated, determining whether a clamping condition of an electronic parking brake caliper is met; if yes, controlling the electronic parking brake caliper to clamp; and when the electronic parking brake caliper is controlled to clamp, if a throttle pedal of the vehicle is triggered, prohibiting the vehicle from responding to an opening degree signal of the throttle pedal and controlling the vehicle to not move. After the electronic parking brake caliper of the vehicle is clamped due to the user performing an operation that does not conform to safe driving of the vehicle during the automatic parking function of the vehicle is activated, the application controls the vehicle to not respond to the opening degree signal of the throttle pedal, which can avoid a conflict between braking force applied to the vehicle by the electronic parking brake caliper and driving force output after the vehicle responds to the opening degree signal of the throttle pedal, so that the vehicle does not make abnormal noise, and the service life of the vehicle braking system and the driving safety are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and more particularly, to a vehicle control method, device, vehicle and computer readable storage medium in the technical field of vehicle control. BACKGROUND

[0002] During actual driving of the user, for example, when the user drives the vehicle out of a parking lot, pays for a community, gets on or off a highway, etc., it is inconvenient to scan a code or pass a card while wearing a safety belt. When the user controls the vehicle to stop, the vehicle activates an automatic parking function in a forward gear. When the user unfastens the safety belt, an EPB (Electrical Park Brake) caliper of the vehicle is automatically clamped. After a barrier at an entrance or exit is opened, some users directly step on a throttle pedal to drive the vehicle to leave. Because the EPB caliper has not been released and is still in a clamped state, the EPB caliper in the clamped state exerts a braking force on the vehicle. After the user steps on the throttle pedal, the vehicle outputs a driving force. At this time, the braking force exerted by the EPB caliper on the vehicle conflicts with the driving force output by the vehicle. The vehicle makes an abnormal sound, for example, the user finds that the vehicle does not leave and hears “pops”. The braking system of the vehicle is easily damaged. SUMMARY

[0003] The present application provides a vehicle control method, device, vehicle and computer readable storage medium. When the vehicle activates an automatic parking function, the vehicle is controlled not to respond to an opening degree signal of a throttle pedal during short parking caused by the EPB caliper clamped due to the user performing an operation that does not conform to safe driving of the vehicle. The conflict between the braking force exerted by the EPB caliper on the vehicle and the driving force output by the vehicle in response to the opening degree signal of the throttle pedal is avoided, and the vehicle makes an abnormal sound. The service life of the braking system of the vehicle is improved.

[0004] In a first aspect, a vehicle control method is provided. The vehicle control method includes: in a case where an automatic parking function is activated, determining whether a clamping condition of an electronic parking brake caliper is met; if yes, controlling the electronic parking brake caliper to be clamped; and in a case where the electronic parking brake caliper is controlled to be clamped, if a throttle pedal of the vehicle is triggered, prohibiting the vehicle from responding to an opening degree signal of the throttle pedal.

[0005] The technical scheme of the embodiment of the application can control the vehicle not to respond to the opening degree signal of the accelerator pedal after the electronic parking brake caliper is clamped due to the user performing an operation that does not conform to the safe driving of the vehicle during the short parking of the vehicle activated with the automatic parking function, so that the vehicle can be controlled not to respond to the opening degree signal of the accelerator pedal, and 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 degree signal of the accelerator pedal can be avoided, so that the vehicle does not make abnormal noise, which is not only beneficial to improving the service life of the braking system of the vehicle, but also beneficial to improving the driving safety of the user.

[0006] With reference to the first aspect, in some possible implementation manners, the determining whether the clamping condition of the electronic parking brake caliper is met comprises: in a case where the current gear of the vehicle is a forward gear or a reverse gear, if at least one of the following conditions is met, it is determined that the clamping condition is met: the safety belt of the vehicle is released, the door of the vehicle is opened, and the activation time length of the automatic parking function is greater than or equal to a preset time length; in a case where the current gear of the vehicle is the forward gear or the reverse gear, if the safety belt of the vehicle is not released and the door of the vehicle is closed, it is determined that the clamping condition is not met.

[0007] With reference to the first aspect and the implementation manners above, in some possible implementation manners, in the case where the vehicle is prohibited from responding to the opening degree signal of the accelerator pedal, the vehicle control method further comprises: outputting first prompt information; wherein the first prompt information is used to remind the user to fasten the safety belt and / or close the door, and release the electronic parking brake caliper.

[0008] With reference to the first aspect and the implementation manners above, in some possible implementation manners, in the case where the electronic parking brake caliper is controlled to be clamped, the vehicle control method further comprises: exiting the automatic parking function.

[0009] With reference to the first aspect and the implementation manners above, in some possible implementation manners, the controlling the electronic parking brake caliper to be clamped comprises: determining whether a parking gear switching condition is met; if yes, switching the current gear of the vehicle to a parking gear, and controlling the electronic parking brake caliper to be clamped.

[0010] With reference to the first aspect and the preceding implementation manners, in some possible implementation manners, after the vehicle is prohibited from responding to the opening degree signal of the accelerator pedal, the vehicle control method further includes: if the accelerator pedal is triggered again and a release condition of the electronic parking brake caliper is met, controlling the electronic parking brake caliper to release, and responding to the opening degree signal of the accelerator pedal.

[0011] With reference to the first aspect and the preceding implementation manners, in some possible implementation manners, the vehicle control method further includes: in a case where it is detected that a user has a driving intention, outputting second reminding information for prompting the user to turn on the automatic parking function; and in a case where it is detected that a function switch of the automatic parking function is triggered, determining whether the automatic parking function is activated.

[0012] The second aspect provides a vehicle control apparatus, which includes:

[0013] a condition determination module configured to determine whether a clamping condition of an electronic parking brake caliper is met in a case where an automatic parking function is activated;

[0014] a first control module configured to control the electronic parking brake caliper to clamp in a case where the clamping condition of the electronic parking brake caliper is met;

[0015] a second control module configured to prohibit the vehicle from responding to an opening degree signal of an accelerator pedal in a case where the electronic parking brake caliper is controlled to clamp, if the accelerator pedal of the vehicle is triggered.

[0016] With reference to the second aspect, in some possible implementation manners, the condition determination module is specifically configured to: in a case where a current gear of the vehicle is a forward gear or a reverse gear, if at least one of the following conditions is met, it is determined that the clamping condition is met: a safety belt of the vehicle is released, a door of the vehicle is opened, and an activation time length of the automatic parking function is greater than or equal to a preset time length; and in a case where the current gear of the vehicle is the forward gear or the reverse gear, if the safety belt of the vehicle is not released and the door of the vehicle is closed, it is determined that the clamping condition is not met.

[0017] With reference to the second aspect and the preceding implementation manners, in some possible implementation manners, the vehicle control apparatus further includes:

[0018] a first reminding unit configured to output first prompting information in a case where the vehicle is prohibited from responding to the opening degree signal of the accelerator pedal; wherein the first prompting information is used to remind a user to fasten the safety belt and / or close the door, and release the electronic parking brake caliper.

[0019] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the second control module is further configured to, in the case of controlling the electronic parking brake caliper to be clamped, exit the automatic parking function.

[0020] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the second control module, in the aspect of controlling the electronic parking brake caliper to be clamped, is specifically configured to determine whether a parking gear switching condition is met; if so, switch a current gear of the vehicle to the parking gear and control the electronic parking brake caliper to be clamped.

[0021] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the second control module is further configured to, after the vehicle is prohibited from responding to the accelerator pedal opening degree signal, if it is detected that the accelerator pedal is triggered again and a release condition of the electronic parking brake caliper is met, control the electronic parking brake caliper to be released and respond to the accelerator pedal opening degree signal.

[0022] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the vehicle control apparatus further includes:

[0023] a second reminding unit configured to, in the case of detecting that a user has a driving intention, output second reminding information for prompting the user to turn on the automatic parking function; and in the case of detecting that a function switch of the automatic parking function is triggered, determine whether the automatic parking function is activated.

[0024] A third aspect provides a vehicle including a memory and a processor. The memory is configured to store executable program code, and the processor is configured to invoke 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 manner of the first aspect.

[0025] A fourth aspect provides a computer program product, which includes computer program code. When the computer program code is run on a computer, the computer program code causes the computer to execute the vehicle control method in the first aspect or any possible implementation manner of the first aspect.

[0026] A fifth aspect provides a computer-readable storage medium, which stores computer program code. When the computer program code is run on a computer, the computer program code causes the computer to execute the vehicle control method in the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 A schematic flowchart of a vehicle control method provided by an embodiment of the present application is shown.

[0028] Figure 2 A schematic diagram showing that the vehicle center screen displays the AVH function indicator light and the parking indicator light is shown;

[0029] Figure 3 A schematic diagram showing the user paying the highway toll on the highway is shown;

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

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

[0032] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0033] Hereinafter, the terms "first" and "second" are used only for descriptive purposes and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features.

[0034] During actual driving of the user, for example, when the user drives the vehicle out of the parking lot, pays the community toll, drives on and off the highway, etc., it is inconvenient to scan the code, deliver the card, etc. when the user controls the vehicle to stop, the user steps on the brake pedal deeply, and the vehicle activates the automatic parking function when the vehicle is in the forward gear position. When the user unfastens the safety belt, the EPB caliper of the vehicle will automatically clamp. After the entrance and exit barrier 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 the clamped state. The EPB caliper in the clamped state exerts a braking force on the vehicle. After the user steps on the accelerator pedal, the vehicle outputs a driving force. At this time, the EPB caliper exerts a braking force on the vehicle, which conflicts with the driving force output by the vehicle. The vehicle will make an abnormal sound, for example, the user will find that the vehicle will not drive away and will hear "puff puff" sound, which is easy to cause damage to the braking system of the vehicle.

[0035] Based on the above problems, the application provides a vehicle control method, device, vehicle and computer readable storage medium. After the EPB caliper of the vehicle is clamped due to the user performing an operation that does not conform to safe driving of the vehicle during use of the vehicle by the user, the vehicle is controlled not to respond to the opening degree signal of the accelerator pedal, so as to avoid a conflict between the braking force applied to the vehicle by the EPB caliper and the driving force output by the vehicle after responding to the opening degree signal of the accelerator pedal, and thus the vehicle is prevented from making abnormal noise, and the service life of the vehicle braking system is improved.

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

[0037] Figure 1 A schematic flowchart of a vehicle control method provided by an embodiment of the application is shown as shown in Figure 1 The vehicle control method provided by the application is applied to a vehicle, and the vehicle has an automatic vehicle hold (AVH) function and an EPB caliper braking function. The AVH function is generally suitable for parking of the vehicle during a short stop, for example, is suitable for scenarios such as waiting for a traffic light, being stuck in traffic, paying for an expressway, paying for a parking lot, and the like, and prevents the vehicle from sliding. The AVH function aims to provide convenience and comfort and to reduce the stress of the driver. The EPB caliper braking function is suitable for long-term parking, and in particular, when parking on a slope, it can ensure that the vehicle does not slide.

[0038] The hardware of the vehicle for implementing the AVH function includes an electronic control unit, a sensor assembly, a brake caliper, a brake disc, a brake hydraulic pressure regulator, brake fluid, a brake pipeline, and the like. The sensor assembly includes a wheel speed sensor, an accelerometer, a brake pedal position sensor, and the like, and is used to monitor the state of the vehicle and the actions of the driver. The brake disc is a place where the brake caliper contacts the tire and is used to generate friction to prevent the vehicle from moving. The electronic control unit is used to receive information from the sensor assembly and make decisions based on the information, including whether to activate the AVH function. After the electronic control unit activates the AVH function, the brake hydraulic pressure regulator adjusts the brake fluid in the brake pipeline, so that the brake fluid drives the brake caliper to clamp, thereby achieving short-term parking.

[0039] The hardware of the vehicle to realize the EPB caliper brake function includes an electronic control unit, a sensor assembly, an EPB caliper, a brake disc, an electric motor, etc. The sensor assembly includes a wheel speed sensor, an accelerometer, a brake pedal position sensor, etc. for monitoring the vehicle state and the driver's actions. The brake disc is where the EPB caliper contacts the tire to generate friction to prevent the vehicle from moving. The electronic control unit sends control signals to the electric motor according to the information from the sensor assembly. The electric motor drives the EPB caliper to clamp or release, thereby clamping or releasing the brake disc and achieving parking or unparking. It is worth noting that the electronic parking brake caliper can also achieve short-term parking. For example, when the user is paying at a high speed, the EPB physical switch is switched to the clamping direction, the electronic parking brake caliper clamps to achieve parking, and after the payment is completed, the EPB physical switch is switched to the release direction, the electronic parking brake caliper releases to achieve unparking. 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] As shown in Figure 2 , Figure 2 A schematic diagram of a vehicle center screen displaying AVH function indicator light and parking indicator light is shown. 100 represents the vehicle center screen, 101 represents the AVH function indicator light, and 102 represents the EPB parking indicator light. In the case of starting the AVH function, the user controls the vehicle to be stationary and deeply presses the brake pedal. The AVH function indicator light is displayed in green, and the AVH function is in the active state at this time. If the user releases the seat belt, the AVH function is exited, and the vehicle will not clamp the EPB caliper. After the user re-fastens the seat belt, the AVH function is automatically started, and the AVH function indicator light is displayed in yellow. If the user releases the seat belt, the AVH function is exited, and the vehicle will clamp the EPB caliper. The EPB parking indicator light is lit, and the EPB caliper will not be released and will remain in the clamped state. After the user re-fastens the seat belt, the AVH function is automatically started, and the AVH function indicator light is displayed in yellow.

[0041] There are two ways to release the EPB caliper, namely manual release and automatic driving release. Manual release: in the case of the EPB caliper being in the clamped state, the user steps on the brake pedal, and the EPB physical switch or EPB virtual switch is in the release direction. The EPB caliper is released. Automatic driving release: in the case of the EPB caliper being in the 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 or reverse gear, the user steps on the accelerator pedal and the power torque is large enough, and the EPB caliper is actively released.

[0042] The above vehicle control methods include the following schemes:

[0043] S110: When the automatic parking function is activated, determine whether the clamping conditions of the electronic parking brake caliper are met.

[0044] S120: Control the electronic parking brake caliper to clamp when the clamping conditions of the electronic parking brake caliper are met;

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

[0046] In an exemplary embodiment, if the vehicle activates the automatic parking function, it indicates that the vehicle is in a short-term parking state. When the automatic parking function is activated, the vehicle is in either forward or reverse gear. Figure 3 As shown, Figure 3 The illustration shows a scenario where a user pays tolls at a highway toll station to enter the highway. Figure 3 The vehicle is at the toll window of the mixed lane, in drive, and the automatic parking function is activated, which is a short-term parking state.

[0047] When the automatic parking function is activated, to prevent accidents caused by unsafe driving practices during short-term parking, the system checks whether the clamping conditions of the electronic parking brake caliper (the aforementioned EPB caliper) are met. This determines whether to control the electronic parking brake caliper to clamp, i.e., whether to control the vehicle for long-term parking. If the clamping conditions of the electronic parking brake caliper are met, it means that the user performed an unsafe driving operation during the short-term parking. For example, when passing a card at a toll booth in a mixed lane, if the distance between the vehicle and the toll booth is too great for the staff to reach the card, the user may unbuckle their seatbelt (because the seatbelt restricts the user from leaning out of the window) to pass the card to the staff. Therefore, if the clamping conditions of the electronic parking brake caliper are met, controlling the electronic parking brake caliper to clamp will allow the vehicle to park, preventing it from rolling and ensuring driving safety.

[0048] In one possible implementation, the determination of whether the clamping conditions of the electronic parking brake caliper are met includes the following schemes:

[0049] If the vehicle is currently in drive or reverse, and the duration of the seatbelt being unfastened, the door being opened, or the automatic parking function being activated is greater than or equal to at least one of the preset durations, then the clamping condition is determined to be met.

[0050] If the current gear of the vehicle is in the forward gear or the reverse gear, and the seat belt of the vehicle is not released and the door is closed, it is determined that the clamping condition is not met.

[0051] If the current gear of the vehicle is in the forward gear or the reverse gear, and the seat belt of the vehicle is released and / or the door is opened, it indicates that the user has performed the operation that does not conform to the safe driving during the short parking of the vehicle, and thus it is determined that the clamping condition is met. For example, if the current gear of the vehicle is in the forward gear, the user enters the gate barrier of the community, the gatekeeper requires the user to get off the vehicle to register, and the user releases the seat belt and opens the door of the driver side to get off the vehicle to register after activating the automatic parking function, it is determined that the clamping condition is met. If the current gear of the vehicle is in 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 indicates that the vehicle is parked for a long time through the automatic parking function, and thus the electronic parking brake caliper needs to be clamped to realize the long-time parking in order to ensure the safety of the long-time parking and avoid the damage of the hardware for realizing the automatic parking function. For this case, it is determined that the clamping condition is met. If the current gear of the vehicle is in the forward gear or the reverse gear, and the seat belt of the vehicle is not released and the door is closed, it indicates that the user does not perform the operation that does not conform to the safe driving during the short parking of the vehicle, and thus it is determined that the clamping condition is not met.

[0052] When the electronic parking brake caliper is engaged, if the user does not manually release the caliper, or if the user does not properly drive the vehicle (e.g., not wearing a seatbelt and / or not closing the door) and presses the accelerator pedal to move the vehicle, the vehicle will not respond to the accelerator pedal's opening signal; that is, the vehicle will not output driving force to turn the wheels. This is because when the electronic parking brake caliper is engaged, it applies braking force to the wheels. If the accelerator pedal is pressed, the vehicle will simultaneously apply driving force to the wheels while the electronic parking brake caliper is applying braking force. The braking force is meant to prevent the vehicle from moving, while the driving force is meant to move the vehicle. This conflict between the braking force and the driving force will produce abnormal noises at the wheels. For example, the user may notice the vehicle not moving and hear a "clunking" sound. This can damage the vehicle's braking system, reduce its lifespan, and over time affect safe driving, posing a threat to the user's safety. To avoid the aforementioned problems, this application, when the electronic parking brake caliper is clamped, detects that the user has pressed the accelerator pedal, controls the vehicle not to respond to the accelerator pedal opening signal, thereby controlling the vehicle not to output driving force. That is, no matter how much the user presses the accelerator pedal, the vehicle will not move away. This avoids the conflict between the braking force applied by the electronic parking brake caliper and the driving force output by the vehicle after responding to the accelerator pedal opening signal, which would otherwise cause abnormal noise from the vehicle. This not only helps to improve the service life of the vehicle's braking system but also helps to improve the user's driving safety.

[0053] This application embodiment employs a technical solution that, when the automatic parking function is activated, determines whether the clamping conditions of the electronic parking brake caliper are met. If the clamping conditions are met, the electronic parking brake caliper is controlled to clamp. When the electronic parking brake caliper is clamped, if the accelerator pedal is triggered, the vehicle is prevented from responding to the accelerator pedal opening signal, thereby controlling the vehicle to remain stationary. This solution addresses situations where, during short-term parking with the automatic parking function activated, the electronic parking brake caliper clamps due to unsafe driving practices by the user. By preventing the vehicle from responding to the accelerator pedal opening signal, it avoids conflicts between the braking force applied by the electronic parking brake caliper and the driving force output by the vehicle in response to the accelerator pedal opening signal, thus preventing abnormal noises from the vehicle. This not only extends the lifespan of the vehicle's braking system but also improves driving safety for the user.

[0054] The following are Figure 1 The specific implementation methods of each step in the illustrated embodiment will be explained below:

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

[0056] outputting first prompt information; wherein 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.

[0057] In order to ensure that the user can normally drive away, the vehicle outputs first prompt information after controlling the vehicle not to respond to the opening signal of the accelerator pedal, 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 broadcasted by voice, and the prompt content is "the electronic parking brake caliper of the current car is in the clamping state, please fasten the seat belt and close the door, and then manually switch the EPB physical switch or EPB virtual switch to the release direction to release the electronic parking brake caliper after ensuring that the seat belt is fastened and the door is closed. After the operation is completed, the car can start and leave by stepping on the accelerator". By outputting the first prompt information, the user can be reminded to correctly operate the vehicle to drive away, so as to avoid the user mistakenly thinking that the vehicle has a fault, which affects the driving mood and use experience.

[0058] In a possible implementation, in the case of controlling the electronic parking brake caliper to clamp, the vehicle control method further includes the following scheme:

[0059] exit the automatic parking function.

[0060] In the case of activating the automatic parking function, after controlling the electronic parking brake caliper to clamp, the vehicle can realize long-term parking, that is, it is not necessary to perform short-term parking, and then the vehicle exits the automatic parking function, so as to prolong the service life of the hardware for realizing the automatic parking function.

[0061] In a possible implementation, the control of the electronic parking brake caliper to clamp includes the following scheme:

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

[0063] if yes, switch the current gear of the vehicle to the parking gear, and control the electronic parking brake caliper to clamp.

[0064] In the case of activating the automatic parking function, if the clamping condition of the electronic parking brake caliper is met, it is further determined whether the parking gear switching condition is met, if the parking gear switching condition is met, the current gear is switched to the parking gear, and then the electronic parking brake caliper is controlled to clamp. After the user steps on the accelerator pedal, the vehicle also does not output driving force. The parking gear switching condition includes that the user manually presses the parking gear key, and the requirement of the vehicle output driving force on the opening of the accelerator pedal is that the opening of the accelerator pedal is greater than a preset opening, so 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 controlled not to respond to the opening degree signal of the accelerator pedal, the vehicle control method further includes the following solution:

[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 the vehicle is controlled to respond to the opening degree signal of the accelerator pedal.

[0067] After the vehicle is controlled not to respond to the opening degree signal of the accelerator pedal, the determination of whether the accelerator pedal is stepped on and whether the release condition of the electronic parking brake caliper is met is continued. If it is detected that the accelerator pedal is stepped on again and the release condition of the electronic parking brake caliper is met, it indicates that the user performs the operation related to the first prompt information, the electronic parking brake caliper is controlled to be released, the electronic parking brake caliper is released to release parking, and the vehicle is controlled to respond to the opening degree signal of the accelerator pedal to output driving force, so that the user can normally drive away.

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

[0069] In a case where it is detected that the user has a driving intention, second prompt information for prompting the user to turn on the automatic parking function is output.

[0070] In a case where it is detected that the function switch of the automatic parking function is triggered, it is determined whether the automatic parking function is activated.

[0071] The vehicle related to the embodiments of the present application has an automatic parking function, and the automatic parking function can be manually turned off and turned on by the user. For example, in a self-service car washing machine, the user generally needs to manually turn off the automatic parking function. In order to avoid the user not knowing that the vehicle has the automatic parking function or the user turning off the automatic parking function, when it is detected that the user has a driving intention (the user sits on the driver's seat, buckles up the seat belt, and closes the door), second prompt information is output, for example, the second prompt information is "Please click the function switch of the automatic parking function on the center 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 the automatic parking function is activated. If it is determined that the activation condition of activating the automatic parking function is met, the automatic parking function is activated, so that S110-S130 are performed.

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

[0073] The vehicle control method provided by the embodiments of the present application is applied to a vehicle, and the vehicle control method includes the following solution:

[0074] S201: In a case where it is detected that the user has a driving intention, output second reminding information for prompting the user to turn on the automatic parking function.

[0075] In an exemplary embodiment, if it is detected that the user sits on the driver seat, fastens the seat belt, and closes the door, it is considered that the user has a driving intention, and then in a case where the user has the driving intention, the second reminding information is output to prompt the user to manually turn on the automatic parking function. For example, the second reminding information is "Please click the function switch of the automatic parking function on the center screen to turn on the automatic parking function".

[0076] S202: In a case where it is detected that the function switch of the automatic parking function is triggered, determine whether the automatic parking function is activated.

[0077] If it is detected that the function switch of the automatic parking function is triggered, it indicates that the user manually turns on the automatic parking function, and then in a case where the function switch of the automatic parking function is triggered, it is determined whether the automatic parking function is activated. The determination of whether the automatic parking function is activated is specifically determining whether an activation condition of the automatic parking function is met, and if the activation condition is met, the automatic parking function is activated, and then S203 is executed.

[0078] S204: In a case where 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 indicates that the vehicle is in a short-term parking state at this time, and in a case where the vehicle activates the automatic parking function, the current gear of the vehicle is in the forward gear or the reverse gear. In a case where the automatic parking function is activated, in order to avoid the user performing a related operation that does not conform to 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 electronic parking brake caliper to clamp, that is, to determine whether to control the vehicle to be parked for a long time. Wherein, the determination of whether the clamping condition of the electronic parking brake caliper is met includes: in a case where the current gear of the vehicle is in 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 opened, and 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; in a case where the current gear of the vehicle is in 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 met.

[0080] S205: In a case where the clamping condition of the electronic parking brake caliper is met, control the electronic parking brake caliper to clamp, and exit the automatic parking function.

[0081] If it is determined that the clamping condition of the electronic parking brake caliper is met, it indicates that the user performs the operation that does not conform to the safe driving during the short parking of the vehicle, for example, the user releases the safety belt when passing the card to the toll collector at the toll window of the high-speed mixed lane, the vehicle can realize long parking after the electronic parking brake caliper is controlled to clamp; for another example, when the user enters the gate barrier of the community, the guard requires the user to get off the vehicle to register, the user releases the safety belt after activating the automatic parking function, opens the door of the driver side to get off the vehicle to register. After the electronic parking brake caliper is controlled to clamp, the vehicle can realize long parking, that is, it is not necessary to park for a short time, and the vehicle exits the automatic parking function, thereby prolonging the service life of the hardware for realizing the automatic parking function.

[0082] S206: In the case of controlling the electronic parking brake caliper to clamp, if the accelerator pedal of the vehicle is triggered, the vehicle is prohibited from responding to the opening degree signal of the accelerator pedal to control the vehicle to not output driving force, and the vehicle will not move.

[0083] In the case of controlling the electronic parking brake caliper to clamp, if the user does not manually release the electronic parking brake caliper, or the user does not control the vehicle to drive away by stepping on the accelerator pedal without driving the vehicle correctly, the vehicle will not respond to the opening degree signal of the accelerator pedal, that is, the vehicle will not output driving force to drive the wheels to rotate. Because in the case of clamping the electronic parking brake caliper, the electronic parking brake caliper applies a braking force to the wheels, if the opening degree signal of the accelerator pedal is responded, the vehicle will apply a driving force to the wheels while the electronic parking brake caliper applies a 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, the wheels will emit an abnormal sound, for example, the user will find that the vehicle will not drive away and will hear “clicking” sound, which will damage the braking system of the vehicle, reduce the service life of the braking system of the vehicle, and affect the safe driving of the vehicle for a long time, and threaten the safety of the user. In order to avoid the above problems, the present application controls the vehicle not to respond to the opening degree signal of the accelerator pedal in the case of clamping the electronic parking brake caliper if it is detected that the user steps on the accelerator pedal, so as to control the vehicle not to output driving force, that is, the vehicle will not drive away no matter the user steps on the accelerator pedal, which avoids the conflict between the braking force applied to the vehicle by the clamped electronic parking brake caliper and the driving force output by the vehicle after responding to the opening degree signal of the accelerator pedal, and the vehicle emits an abnormal sound, which is not only beneficial to improve the service life of the braking system of the vehicle, but also beneficial to improve the driving safety of the user.

[0084] S207: Output first prompt information; wherein the first prompt information is used to remind the user to fasten the safety 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 degree signal of the accelerator pedal, in order to ensure that the user can normally drive away, the vehicle is controlled to output first prompt information, the first prompt information is used to remind the user to fasten the seat belt and / or close the door, and the electronic parking brake caliper is released. For example, the first prompt information is broadcast through voice, and the prompt content is "the electronic parking brake caliper of the current car is in the clamped state, please fasten the seat belt and close the door, and after ensuring that the seat belt is fastened and the door is closed, manually switch the EPB physical switch or EPB virtual switch to the release direction to release the electronic parking brake caliper, and after the operation is completed, the car can start and leave after the accelerator is stepped on". By outputting the first prompt information, the user can be reminded to correctly operate the vehicle to drive away, so as to avoid the user mistakenly thinking that the vehicle has failed, which affects the driving mood and use 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 the opening degree signal of the accelerator pedal is responded.

[0087] After the vehicle is controlled not to respond to the opening degree signal of the accelerator pedal, the judgment of whether the accelerator pedal is stepped on and whether the release condition of the electronic parking brake caliper is met is continued. If it is detected that the accelerator pedal is stepped on again and the release condition of the electronic parking brake caliper is met, it indicates that the user has performed the operation reminded by the first prompt information, and then the electronic parking brake caliper is controlled to be released. The release of the electronic parking brake caliper realizes the release of parking, so as to respond to the opening degree signal of the accelerator pedal, control the vehicle to output driving force, and the user can normally drive away.

[0088] The technical scheme of the embodiment of the application can control the vehicle not to respond to the opening degree signal of the accelerator pedal when the electronic parking brake caliper is clamped during the short-time parking of the vehicle after the automatic parking function of the vehicle is activated, so that the electronic parking brake caliper of the vehicle is clamped due to the operation of the user that does not conform to the safe driving of the vehicle, and the conflict between the braking force applied to the vehicle by the electronic parking brake caliper and the driving force output by the vehicle in response to the opening degree signal of the accelerator pedal can be avoided, so that the vehicle does not make abnormal noise. This is not only beneficial to prolong the service life of the braking system of the vehicle, but also beneficial to improve the driving safety of the user. After the electronic parking brake caliper is clamped, the vehicle can be parked for a long time, that is, the automatic parking function of the vehicle is exited when the short-time parking is not needed, so that the service life of the hardware for realizing the automatic parking function can be prolonged. After the vehicle is controlled not to respond to the opening degree signal of the accelerator pedal, the first prompt information is output, so that the user can drive normally. When it is detected that the user has the intention to drive, the second prompt information is output to remind the user to actively turn on the automatic parking function, so that the safety of driving can be ensured.

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

[0090] Figure 4 A structure schematic diagram of a vehicle control device provided by an embodiment of the application is shown in FIG. 1. Figure 4 As shown in FIG. 1, the vehicle control device 400 includes:

[0091] A condition judging module 410 is configured to judge whether the clamping condition of the electronic parking brake caliper is met when the automatic parking function is activated.

[0092] A condition judging module 420 is configured to control the electronic parking brake caliper to be clamped when the clamping condition of the electronic parking brake caliper is met.

[0093] A second control module 430 is configured to prohibit the vehicle from responding to the opening degree signal of the accelerator pedal when the electronic parking brake caliper is clamped.

[0094] In a possible implementation, the condition judging module 410 is specifically configured to: in a case where the current gear of the vehicle is a forward gear or a reverse gear, if at least one of the following conditions is met: the safety belt of the vehicle is released, the vehicle door is opened, and the activation time length of the automatic parking function is greater than or equal to a preset time length, it is determined that the clamping condition is met; and in a case where the current gear of the vehicle is the forward gear or the reverse gear, if the safety belt of the vehicle is not released and the vehicle door is closed, it is determined that the clamping condition is not met.

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

[0096] The first reminding unit is configured to output first prompt information in a case where the vehicle is prohibited from responding to the opening degree signal of the accelerator pedal; the first prompt information is used to remind a user to fasten a safety belt and / or close the vehicle door, and release the electronic parking brake caliper.

[0097] In a possible implementation, the second control module 430 is further configured to: in a case where the electronic parking brake caliper is controlled to be clamped, exit the automatic parking function.

[0098] In a possible implementation, the second control module 430 is specifically configured to: in terms of controlling the electronic parking brake caliper to be clamped, judge whether a parking gear switching condition is met; if yes, switch the current gear of the vehicle to the parking gear, and control the electronic parking brake caliper to be clamped.

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

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

[0101] The second reminding unit is configured to: in a case where it is detected that a user has a driving intention, output second reminding information used to prompt the user to turn on the automatic parking function; and in a case where it is detected that a function switch of the automatic parking function is triggered, judge whether the automatic parking function is activated.

[0102] The vehicle control apparatus provided by the embodiment of the present application can avoid a conflict between the braking force applied to the vehicle by the electronic parking brake caliper and the driving force output by the vehicle in response to the opening degree signal of the accelerator pedal, so as to avoid the vehicle from making abnormal sound, which is not only beneficial to prolong the service life of the vehicle braking system, but also beneficial to improve the driving safety of the user.

[0103] It should be noted that the vehicle control device provided by the above embodiment is only used to illustrate the division of the above functional modules when the vehicle control method is performed, and in actual application, the above function distribution can be completed by different functional modules according to the needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device and the vehicle control method embodiment provided by the above embodiment belong to the same concept, so for the details not disclosed in the device embodiment of the present application, please refer to the above-mentioned vehicle control method embodiments of the present application, which will not be repeated here.

[0104] The serial number of the above embodiment of the present application is only for description, not representing the advantages and disadvantages of the embodiment.

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

[0106] The embodiment can divide the functional modules of the vehicle according to the above method examples, for example, each functional module can be corresponding, or two or more functions can be integrated in one processing module, and the above integrated module can be realized in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical function division, and another division method can be used in actual implementation.

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

[0108] The vehicle provided by the embodiment is used to execute the above vehicle control method, so the same effect as the above implementation method can be achieved.

[0109] In the case of using integrated units, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute related program codes and data.

[0110] ​The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules, and circuits described in combination with the disclosure. The processor can also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the like. The storage module can be a memory.

[0111] The embodiment also provides a computer-readable storage medium, which stores computer program codes, and when the computer program codes are run on a computer, the computer executes the above-mentioned related method steps to implement the vehicle control method in the above-mentioned embodiment.

[0112] The embodiment also provides a computer program product, which, when run on a computer, causes the computer to execute the above-mentioned related steps to implement the vehicle control method in the above-mentioned embodiment.

[0113] In addition, the vehicle provided by the embodiment of the application can be a chip, an assembly or a module, and the vehicle can include a connected processor and a memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor can invoke and execute the instructions to enable the chip to execute the vehicle control method in the above-mentioned embodiment.

[0114] The vehicle, the computer-readable storage medium, the computer program product or the chip provided by the embodiment can be used to execute the corresponding vehicle control method provided above, and thus the beneficial effects achieved thereby can refer to the beneficial effects of the corresponding vehicle control method provided above, which will not be described herein again.

[0115] Through the above description of the embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the above-mentioned division of the functional modules is taken as an example for illustration, and in actual application, the above-mentioned functions can be completed by different functional modules according to needs, that is, the internal structure of the device is 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, and the division of the modules or units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0117] The above merely provides the application's specific implementation, but the application's protection scope is not limited thereto, any person skilled in the art can easily think of changes or replacements within the application's disclosed technology range, which should be covered within the application's protection scope. Therefore, the application's protection scope should be subject to the protection scope of the claims.

Claims

1. A vehicle control method characterized by, The vehicle control method comprises: In the case that the automatic parking function is activated, it is judged whether the clamping condition of the electronic parking brake caliper is met; If yes, it is judged whether the switching condition of the parking gear is met, the switching condition comprising that the user manually presses the button of the parking gear and the requirement of the vehicle output driving force to the opening degree of the accelerator pedal is that the opening degree of the accelerator pedal is greater than a preset opening degree; If yes, the current gear of the vehicle is switched to the parking gear, and the electronic parking brake caliper is controlled to clamp; In the case that the electronic parking brake caliper is controlled to clamp, if the accelerator pedal is triggered, the vehicle is prohibited from responding to the opening degree signal of the accelerator pedal.

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

3. The vehicle control method according to claim 2, characterized by, In the case that the vehicle is prohibited from responding to the opening degree signal of the accelerator pedal, the vehicle control method further comprises: Outputting first prompt information; wherein the first prompt information is used to remind the user to fasten the safety belt and / or close the door, and release the electronic parking brake caliper.

4. The vehicle control method according to claim 1, characterized by In the case that the electronic parking brake caliper is controlled to clamp, the vehicle control method further comprises: Exiting the automatic parking function.

5. The vehicle control method according to any one of claims 1 to 4, characterized by, After the vehicle is prohibited from responding to the opening degree signal of the accelerator pedal, the vehicle control method further comprises: 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 the vehicle responds to the opening degree signal of the accelerator pedal.

6. The vehicle control method according to any one of claims 1 to 4, characterized by The vehicle control method further comprises: In the case that it is detected that the user has the intention to drive, outputting second prompt information for prompting the user to turn on the automatic parking function; In the case that it is detected that the function switch of the automatic parking function is triggered, it is judged whether the automatic parking function is activated.

7. A vehicle control device characterized by comprising: The vehicle control device comprises: A condition judgment module, configured to judge whether the clamping condition of the electronic parking brake caliper is met in the case that the automatic parking function is activated; A first control module, configured to judge whether the switching condition of the parking gear is met in the case that the clamping condition of the electronic parking brake caliper is met, the switching condition comprising that the user manually presses the button of the parking gear and the requirement of the vehicle output driving force to the opening degree of the accelerator pedal is that the opening degree of the accelerator pedal is greater than a preset opening degree; if yes, the current gear of the vehicle is switched to the parking gear, and the electronic parking brake caliper is controlled to clamp; A second control module, configured to prohibit the vehicle from responding to the opening degree signal of the accelerator pedal in the case that the electronic parking brake caliper is controlled to clamp, if the accelerator pedal is triggered.

8. A vehicle characterized by comprising: The vehicle comprises: A memory, configured to store executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method according to any one of claims 1 to 6.

9. 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 6 is implemented.

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