Parking state control method and device of vehicle

Abstract

The invention discloses a parking state control method and device of a vehicle and is applied to an electronic parking system of the vehicle, and the method comprises the steps that a vehicle take-over request sent by an automatic parking system of the vehicle is received, and whether the vehicle meets a direct parking condition or not is determined according to the current speed of the vehicle and the preset parking speed; under the condition that the vehicle does not meet the direct parking condition, the current vehicle head direction and the current gear of the vehicle and the current gradient of the vehicle on the ramp are obtained; the target clamping force of the vehicle is determined according to the current vehicle head direction, the current gear, the current gradient and the weight of the vehicle; and calipers of the vehicle are controlled to brake the vehicle with the target clamping force, and the output torque of a vehicle power motor of the vehicle is controlled to be reduced to zero, so that the vehicle reaches a parking state. According to the method, the vehicle sliding on the ramp can quickly reach the parking state, and safety accidents caused by continuous vehicle sliding are avoided.

Description

Technical Field

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

[0002] After the vehicle uses the Automatic Vehicle Hold (AVH) function, the driver steps on the brake pedal to stop the vehicle. When the brake pedal is released, the AVH will request the hydraulic system to maintain pressure to keep the vehicle stationary without the driver having to keep pressing the brake pedal. Generally, after AVH maintains pressure for 10 minutes, it will send a parking request to the Electrical Park Brake (EPB). The EPB controls the rear caliper to perform the parking operation, and then the AVH function exits. When the vehicle is on a slope and the brake pedal is pressed to stop the vehicle, the AVH function is triggered and the AVH requests the hydraulic system to build pressure. After the pressure is built, if the AVH function detects that the vehicle is slipping, the AVH will request to increase the wheel end pressure once. If it is detected that the vehicle continues to slip, the AVH will request to increase the wheel end pressure once again. If the vehicle is still detected to slip after two pressure increases, the AVH will request the EPB to intervene to park the vehicle to ensure that the vehicle does not slip. This is the conventional strategy in the current braking system.

[0003] However, when AVH requests EPB to take over, it only requests EPB to perform static parking, and EPB has prerequisites for executing parking, one of which is that the current vehicle speed must be very low. If the hydraulic system fails during the 10-minute parking pressure maintenance period of AVH, resulting in insufficient hydraulic parking force. At this time, if the vehicle is on a slope, the vehicle will slip. When AVH requests EPB to take over parking, the vehicle is already in the process of slipping, and the speed is likely to be relatively high, exceeding the speed threshold range required for EPB static parking. Under this condition, EPB will not respond to AVH's parking request, and the vehicle will continue to slip, which will have a great risk of causing a traffic accident. Summary of the invention

[0004] The present application provides a method and device for controlling the parking state of a vehicle. The present application can determine the corresponding target clamping force according to information such as the vehicle's front direction, gear position, and slope of the ramp when the vehicle is sliding on a slope, and control the vehicle's calipers to perform staged braking while cooperating with the output torque of the vehicle's power motor, so that the vehicle can quickly reach a parking state from a sliding state, thereby avoiding safety accidents caused by continuous sliding.

[0005] In one aspect, the present application provides a method for controlling a parking state of a vehicle, the method being applied to an electronic parking system of the vehicle, the method comprising:

[0006] receiving a vehicle takeover request sent by the automatic parking system of the vehicle, and determining whether the vehicle meets the direct parking condition according to the current speed of the vehicle and the preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle to the electronic parking system when the automatic parking system of the vehicle detects that the vehicle is slipping on a slope; the vehicle takeover request carries the current speed of the vehicle;

[0007] When the vehicle does not meet the direct parking condition, obtaining the current head direction of the vehicle, the current gear position, and the current slope of the vehicle on the ramp;

[0008] Determining a target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle;

[0009] The caliper of the vehicle is controlled to brake the vehicle with the target clamping force, and the output torque of the vehicle power motor of the vehicle is controlled to be reduced to zero, so that the vehicle reaches a parking state.

[0010] In an exemplary embodiment, determining the target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle includes:

[0011] Determining the driving force of the vehicle according to the weight of the vehicle, the current speed, and the current slope;

[0012] According to the current vehicle head direction and the current gear position, determining the output direction of the vehicle power motor when outputting the driving force as the target direction;

[0013] determining an initial clamping force according to the current slope and the attribute information of the vehicle;

[0014] Controlling the vehicle power motor to output the driving force in the target direction, and controlling the caliper to brake the vehicle with the initial clamping force;

[0015] When it is detected that the speed of the vehicle is less than or equal to a preset speed, the slope of the vehicle on the ramp is obtained as the slope after braking, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

[0016] In an exemplary embodiment, determining the output direction of the vehicle power motor when outputting the driving force as the target direction according to the current vehicle head direction and the current gear position includes:

[0017] If the current vehicle head direction and the current gear position meet a first preset condition, determining the target direction as the forward direction of the vehicle; the first preset condition is that the current vehicle head direction is the first direction and the current gear position is the forward gear;

[0018] If the current vehicle head direction and the current gear position meet a second preset condition, determining the target direction as the forward direction of the vehicle; the second preset condition is that the current vehicle head direction is the second direction and the current gear position is the reverse gear;

[0019] If the current vehicle head direction and the current gear position satisfy a third preset condition, determining the target direction to be the reverse direction of the vehicle; the third preset condition is that the current vehicle head direction is the first direction and the current gear position is the reverse gear;

[0020] If the current vehicle head direction and the current gear position satisfy a fourth preset condition, determining the target direction to be the reverse direction of the vehicle; the fourth preset condition is that the current vehicle head direction is the second direction and the current gear position is the forward gear;

[0021] The first direction is the uphill direction of the ramp, and the second direction is the downhill direction of the ramp.

[0022] In an exemplary embodiment, controlling the caliper of the vehicle to brake the vehicle with the target clamping force and controlling the output torque of the vehicle power motor of the vehicle to decrease to zero includes:

[0023] Determining the rate of change of the output torque of the vehicle power motor according to the vehicle speed after braking and the slope after braking; the vehicle speed after braking is the vehicle speed of the vehicle when it is detected that the speed of the vehicle is less than or equal to the preset speed;

[0024] The caliper is controlled to brake the vehicle with the target clamping force, and the vehicle power motor is controlled to reduce the output torque to zero at the changing rate.

[0025] In an exemplary embodiment, the method further comprises:

[0026] Obtaining the clamping time of the caliper; the clamping time is the time during which the caliper maintains the initial clamping force;

[0027] When it is detected that the clamping time reaches a preset clamping time, the slope after braking is acquired, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

[0028] In an exemplary embodiment, determining whether the vehicle satisfies a direct parking condition according to a current speed of the vehicle and a preset parking speed includes:

[0029] If the current speed is less than the preset parking speed, determining that the vehicle meets the direct parking condition;

[0030] If the current speed is greater than or equal to the preset parking speed, it is determined that the vehicle does not meet the direct parking condition.

[0031] In an exemplary embodiment, the method further comprises:

[0032] Determining the target clamping force according to the current gear position and the current slope;

[0033] The caliper is controlled to brake the vehicle with the target clamping force so that the vehicle reaches the parking state.

[0034] In an exemplary embodiment, determining the target clamping force according to the current gear position and the current slope includes:

[0035] If the current gear is neutral, determining an initial clamping force according to the current slope and the attribute information of the vehicle;

[0036] controlling the caliper to brake the vehicle with the initial clamping force;

[0037] When it is detected that the speed of the vehicle is less than or equal to a preset speed, the slope of the vehicle on the ramp is obtained as the slope after braking, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

[0038] In an exemplary embodiment, the method further comprises:

[0039] Obtaining a pedal opening of an accelerator pedal of the vehicle;

[0040] When it is detected that the pedal opening is greater than a preset opening threshold, obtaining the duration of the opening of the accelerator pedal;

[0041] When it is detected that the duration of the opening reaches a preset duration, the output torque of the vehicle is adjusted to zero, so that the vehicle reaches the parking state.

[0042] On the other hand, a parking state control device for a vehicle is provided, which is applied to an electronic parking system of the vehicle, and the device may include:

[0043] a receiving module, configured to receive a vehicle takeover request sent by the automatic parking system of the vehicle, and determine whether the vehicle meets the direct parking condition according to the current speed of the vehicle and the preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle to the electronic parking system when the automatic parking system of the vehicle detects that the vehicle is slipping on a slope; the vehicle takeover request carries the current speed of the vehicle;

[0044] an acquisition module, configured to acquire, when the vehicle does not meet the direct parking condition, the current head direction of the vehicle, the current gear position, and the current slope of the vehicle on the ramp;

[0045] A first target clamping force determination module, configured to determine a target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle;

[0046] The first control module is used to control the caliper of the vehicle to brake the vehicle with the target clamping force, and control the output torque of the vehicle power motor of the vehicle to be reduced to zero, so that the vehicle reaches a parking state.

[0047] On the other hand, an electronic device is provided, comprising a processor and a memory, wherein the processor is used to store the memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the parking state control method of the vehicle as described above.

[0048] On the other hand, a computer-readable storage medium is provided, wherein the computer-readable storage medium contains at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned vehicle parking state control method.

[0049] The vehicle parking state control method and device provided by the present application have the following technical effects:

[0050] The present application receives a vehicle takeover request sent by the vehicle's automatic parking system, and determines whether the vehicle meets the direct parking condition according to the vehicle's current speed and the preset parking speed; the vehicle takeover request is sent by the vehicle's automatic parking system to the electronic parking system when the vehicle detects that the vehicle is slipping on a slope; the vehicle takeover request carries the vehicle's current speed; when the vehicle does not meet the direct parking condition, the vehicle's current head direction, current gear position, and current slope of the vehicle on the slope are obtained; the vehicle's target clamping force is determined according to the current head direction, current gear position, current slope, and vehicle weight; the vehicle's caliper is controlled to brake the vehicle with the target clamping force, and the output torque of the vehicle's power motor is controlled to be reduced to zero, so that the vehicle reaches the parking state. The present application can determine the corresponding target clamping force according to the vehicle's head direction, gear position, and slope of the slope when the vehicle slips on the slope, and control the vehicle's caliper to perform staged braking while cooperating with the output torque of the vehicle's power motor, so that the vehicle quickly reaches the parking state from the slipping state, avoiding safety accidents caused by continuous slipping.

[0051] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions and advantages of the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 It is a flow chart of a method for controlling a parking state of a vehicle provided in an embodiment of this specification;

[0054] Figure 2 is a flowchart of determining whether a vehicle meets direct parking conditions provided by an embodiment of this specification;

[0055] Figure 3 is a schematic diagram of a process for determining a target clamping force provided in an embodiment of this specification;

[0056] Figure 4 It is a schematic diagram of a process for determining a target direction provided by an embodiment of this specification;

[0057] Figure 5 It is a schematic diagram of a process of braking a vehicle provided in an embodiment of this specification;

[0058] Figure 6is a flow chart of another method for controlling a parking state of a vehicle provided in an embodiment of this specification;

[0059] Figure 7 is a schematic diagram of a parking state control device for a vehicle provided in an embodiment of this specification;

[0060] Figure 8 It is a structural diagram of a server for a parking state control method of a vehicle provided in an embodiment of this specification. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0063] The following describes a method for controlling the parking state of a vehicle of the present application. Figure 1 It is a flow chart of a method for controlling the parking state of a vehicle provided in an embodiment of this specification. This specification provides method operation steps as described in the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the accompanying drawings. Specifically, Figure 1 As shown, the method may include:

[0064] S1: Receive a vehicle takeover request sent by the automatic parking system of the vehicle, and determine whether the vehicle meets the direct parking condition according to the current speed of the vehicle and the preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle to the electronic parking system when it detects that the vehicle is slipping on a slope; the vehicle takeover request carries the current speed of the vehicle.

[0065] In an embodiment of the present application, the vehicle's parking control system includes an automatic parking system and an electronic parking system. When the vehicle's automatic parking system detects that the vehicle is slipping on a slope, it will request the electronic parking system to take over the vehicle. After receiving the takeover request, the electronic parking system first determines whether the vehicle meets the conditions for direct parking based on the vehicle's current speed and a preset parking speed. If the conditions for direct parking are met, parking can be performed directly; if the conditions for direct parking are not met, the subsequent corresponding control strategy is triggered.

[0066] In an exemplary embodiment, if Figure 2 As shown, determining whether the vehicle satisfies the direct parking condition according to the current speed of the vehicle and the preset parking speed may include:

[0067] S11: if the current speed is less than the preset parking speed, determining that the vehicle meets the direct parking condition;

[0068] S12: If the current speed is greater than or equal to the preset parking speed, it is determined that the vehicle does not meet the direct parking condition.

[0069] In an embodiment of the present application, if the current speed of the vehicle is less than the preset parking speed, it can be determined that the vehicle meets the direct parking conditions, and parking can be performed directly at this time; if the current speed of the vehicle is greater than or equal to the preset parking speed, it can be determined that the vehicle does not meet the direct parking conditions; wherein the preset parking speed can be set to 3km / h.

[0070] The embodiment of the present application determines whether the vehicle meets the direct parking condition by presetting the parking speed, so as to quickly determine whether the vehicle can be parked directly. If the vehicle cannot be parked directly, the corresponding parking control strategy can be triggered in time.

[0071] S2: When the vehicle does not meet the direct parking condition, obtain the current front direction of the vehicle, the current gear position, and the current slope of the vehicle on the ramp.

[0072] S3: Determine a target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle.

[0073] In an exemplary embodiment, if Figure 3 As shown, determining the target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle may include:

[0074] S31: Determine the driving force of the vehicle according to the weight of the vehicle, the current speed, and the current slope.

[0075] In the embodiment of the present application, the driving force of the vehicle can be obtained by the following formula:

[0076] F=Mgsinα+F offset

[0077] In the formula, F is the driving force of the vehicle, M is the weight of the vehicle, g is the acceleration of gravity, α is the angle of the ramp, that is, the slope, and F offset is the compensation amount according to speed, where F offset Different parameters can be used according to different vehicle models, and specific parameters can be obtained by conducting experiments on different vehicles.

[0078] S32: According to the current vehicle head direction and the current gear position, determining the output direction of the vehicle power motor when outputting the driving force as the target direction.

[0079] In an exemplary embodiment, if Figure 4 As shown, the determining, according to the current vehicle head direction and the current gear position, that the output direction of the vehicle power motor when outputting the driving force is the target direction may include:

[0080] S321: If the current vehicle head direction and the current gear position satisfy a first preset condition, determining that the target direction is the forward direction of the vehicle; the first preset condition is that the current vehicle head direction is the first direction and the current gear position is the forward gear;

[0081] S322: If the current vehicle head direction and the current gear position meet a second preset condition, determining that the target direction is the forward direction of the vehicle; the second preset condition is that the current vehicle head direction is the second direction and the current gear position is the reverse gear;

[0082] S323: If the current vehicle head direction and the current gear position satisfy a third preset condition, determining that the target direction is the reverse direction of the vehicle; the third preset condition is that the current vehicle head direction is the first direction and the current gear position is the reverse gear;

[0083] S324: If the current vehicle head direction and the current gear position satisfy a fourth preset condition, determining that the target direction is the reverse direction of the vehicle; the fourth preset condition is that the current vehicle head direction is the second direction and the current gear position is the forward gear;

[0084] The first direction is the uphill direction of the ramp, and the second direction is the downhill direction of the ramp.

[0085] In an embodiment of the present application, if the current front direction of the vehicle on the ramp is an uphill direction toward the ramp, and the current gear position of the vehicle is the forward gear (D gear), then the target direction can be determined as the forward direction of the vehicle; if the current front direction of the vehicle on the ramp is a downhill direction toward the ramp, and the current gear position of the vehicle is the reverse gear (R gear), then the target direction can be determined as the forward direction of the vehicle; if the current front direction of the vehicle on the ramp is an uphill direction toward the ramp, and the current gear position of the vehicle is the reverse gear, then the target direction can be determined as the reverse direction of the vehicle; if the current front direction of the vehicle on the ramp is a downhill direction toward the ramp, and the current gear position of the vehicle is the forward gear, then the target direction can be determined as the reverse direction of the vehicle.

[0086] The embodiment of the present application can determine the corresponding output direction of the vehicle when outputting driving force under the current situation according to the different front directions of the vehicle and different gear positions on the slope, and can achieve control of the vehicle more quickly and accurately, improving the applicability in different situations.

[0087] S33: Determine an initial clamping force according to the current slope and the attribute information of the vehicle.

[0088] In the embodiment of the present application, a smaller initial clamping force can be determined according to the current slope of the vehicle on the ramp to prevent the caliper from outputting a larger clamping force when the vehicle speed is high, causing the vehicle to directly lock the brake disc, thereby causing a safety accident. Among them, the slope and the initial clamping force can be obtained by conducting experiments to obtain a one-dimensional table of the slope and the initial clamping force, and corresponding values ​​can also be obtained for different vehicle models through experiments. Therefore, when the current slope and the attribute information of the vehicle are known, the one-dimensional table of the slope and the initial clamping force can be quickly searched to obtain the corresponding initial clamping force, thereby improving accuracy.

[0089] In the embodiment of the present application, if the target direction is the forward direction of the vehicle, the corresponding initial clamping force can be determined to be Fe1; if the target direction is the reverse direction of the vehicle, the corresponding initial clamping force can be determined to be Fe2.

[0090] S34: Controlling the vehicle power motor to output the driving force in the target direction, and controlling the caliper to brake the vehicle with the initial clamping force.

[0091] In the embodiment of the present application, if the target direction is the forward direction of the vehicle, the vehicle power motor is controlled to output a positive (i.e., the forward direction of the vehicle) driving force from zero to Fm1 according to a certain slope (k11), and the caliper is controlled to output the initial clamping force Fe1 obtained above and maintain it to perform the initial braking of the vehicle. Among them, by conducting experiments on various vehicle models, a two-dimensional table of vehicle speed and slope can be obtained. In this two-dimensional table, the horizontal axis is the vehicle speed, the vertical axis is the slope, and the table value corresponding to the horizontal axis and the vertical axis is the slope k11, and Fm1 is the driving force corresponding to the vehicle determined according to the weight, current speed, and current slope of the vehicle.

[0092] In the embodiment of the present application, if the target direction is the reverse direction of the vehicle, the vehicle power motor is controlled to output a driving force from zero to Fm2 in the reverse direction (i.e., the forward direction of the vehicle) according to a certain slope (k21), and the caliper is controlled to output the initial clamping force Fe2 obtained above and maintain it to perform the initial braking on the vehicle. Among them, by conducting experiments on various vehicle models, a two-dimensional table of vehicle speed and slope can be obtained. In this two-dimensional table, the horizontal axis is the vehicle speed, the vertical axis is the slope, and the table value corresponding to the horizontal axis and the vertical axis is the slope k21, and Fm2 is the driving force corresponding to the vehicle determined according to the weight, current speed, and current slope of the vehicle.

[0093] S35: When it is detected that the speed of the vehicle is less than or equal to a preset speed, the slope of the vehicle on the ramp is obtained as the slope after braking, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

[0094] In an embodiment of the present application, when it is detected that the vehicle's speed during the initial braking process is less than or equal to the preset speed V0, the slope of the vehicle on the ramp is obtained as the slope after braking, and the corresponding target clamping force is determined based on the slope after braking and the attribute information of the vehicle. Among them, the slope and the target clamping force can be obtained by performing experiments to obtain a one-dimensional table of the slope and the target clamping force, and the corresponding values ​​for different vehicle models can also be obtained through experiments. Therefore, when the current slope and the attribute information of the vehicle are known, the one-dimensional table of the slope and the target clamping force can be quickly searched to obtain the corresponding target clamping force to improve accuracy. In addition, the preset speed V0 can be set to 4km / h, and the corresponding preset speed can be set according to the actual vehicle model, which is not limited in the present application.

[0095] In the embodiment of the present application, if the target direction is the forward direction of the vehicle, the corresponding target clamping force can be determined to be Fo1; if the target direction is the reverse direction of the vehicle, the corresponding target clamping force can be determined to be Fo2.

[0096] The embodiment of the present application performs staged braking on the vehicle to avoid direct locking of the brake disc due to direct braking at high speeds, and the caliper and the vehicle's power motor cooperate in braking to enable the vehicle to quickly stop from a rolling state.

[0097] In an exemplary embodiment, the method may further include:

[0098] Obtaining the clamping time of the caliper; the clamping time is the time during which the caliper maintains the initial clamping force;

[0099] When it is detected that the clamping time reaches a preset clamping time, the slope after braking is acquired, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

[0100] In an embodiment of the present application, in addition to monitoring the speed of the vehicle, the clamping time of the caliper can also be monitored to obtain the clamping time t of the caliper. When it is detected that the clamping time t of the caliper reaches the preset clamping time, the slope of the vehicle on the ramp at this time is obtained, and then the corresponding target clamping force is determined based on the slope and the specific attribute information of the vehicle.

[0101] In the embodiment of the present application, as long as the vehicle speed is less than or equal to the preset speed or less than or equal to the preset speed or the clamping time of the caliper reaches any one of the preset clamping time, the corresponding target clamping force can be determined according to the slope of the vehicle on the ramp at this time.

[0102] The embodiment of the present application provides another method for obtaining the slope and target clamping force after braking, which can effectively improve the adaptability of the control method under different situations. In addition, the corresponding target clamping force can be quickly and directly determined by the slope, effectively improving the control accuracy and control efficiency.

[0103] S4: Controlling the caliper of the vehicle to brake the vehicle with the target clamping force, and controlling the output torque of the vehicle power motor of the vehicle to be reduced to zero, so that the vehicle reaches a parking state.

[0104] In an exemplary embodiment, if Figure 5 As shown, controlling the caliper of the vehicle to brake the vehicle with the target clamping force and controlling the output torque of the vehicle power motor of the vehicle to be reduced to zero may include:

[0105] S41: determining a rate of change of the output torque of the vehicle power motor according to the vehicle speed after braking and the slope after braking; the vehicle speed after braking is the vehicle speed of the vehicle when it is detected that the speed of the vehicle is less than or equal to the preset speed;

[0106] S42: Control the caliper to brake the vehicle with the target clamping force, and control the vehicle power motor to reduce the output torque to zero at the changing rate.

[0107] In an embodiment of the present application, after the vehicle is initially braked and the final target clamping force is obtained, the rate of change of the output torque of the vehicle's power motor can be determined (which can be a certain slope) based on the vehicle speed after the initial braking and the slope of the ramp after the initial braking. During the final clamping of the caliper with the target clamping force, it is ensured that the output torque can gradually decrease to zero at a certain rate of change, so that the vehicle can be parked safely and smoothly.

[0108] In the embodiment of the present application, if the target direction is the forward direction of the vehicle, the change slope (k12) of the output torque of the vehicle power motor is determined according to the vehicle speed after the initial braking and the slope on the ramp after the initial braking, and the caliper is controlled to output the target clamping force (Fo1), and in the process of performing the final clamping with Fo1, it is ensured that the output torque gradually decreases to zero according to a certain slope k12, so that the vehicle can be parked safely and smoothly. Among them, by conducting experiments on various vehicle models, a two-dimensional table of vehicle speed and slope can be obtained. In this two-dimensional table, the horizontal axis is the vehicle speed, the vertical axis is the slope, and the table value corresponding to the horizontal axis and the vertical axis is the slope k12.

[0109] In the embodiment of the present application, if the target direction is the reverse direction of the vehicle, the change slope (k22) of the output torque of the vehicle power motor is determined according to the vehicle speed after the initial braking and the slope on the ramp after the initial braking, and the caliper is controlled to output the target clamping force (Fo2), and in the process of performing the final clamping with Fo2, it is ensured that the output torque gradually decreases to zero according to a certain slope k22, so that the vehicle can be parked safely and smoothly. Among them, by conducting experiments on various vehicle models, a two-dimensional table of vehicle speed and slope can be obtained. In this two-dimensional table, the horizontal axis is the vehicle speed, the vertical axis is the slope, and the table value corresponding to the horizontal axis and the vertical axis is the slope k22.

[0110] The embodiment of the present application determines the rate of change of the output torque of the vehicle's power motor according to the speed of the vehicle and the slope of the slope on which it is located, so that the output torque can be gradually reduced to zero, making the final braking process smoother and safer.

[0111] In an exemplary embodiment, the method may further include:

[0112] Determining the target clamping force according to the current gear position and the current slope;

[0113] The caliper is controlled to brake the vehicle with the target clamping force so that the vehicle reaches the parking state.

[0114] In an embodiment of the present application, if the vehicle is in neutral on a slope, there is no need to determine the driving force. It is only necessary to determine the corresponding target clamping force based on the current slope, and control the vehicle's calipers to output the target clamping force to brake the vehicle, thereby bringing the vehicle into a parking state.

[0115] The embodiments of the present application realize the control of the electronic parking system over the vehicle under different situations, and can promptly and accurately make the vehicle in the slipping state quickly reach a stationary parking state, thereby improving the universality and practicality of the vehicle parking state control method in the present application.

[0116] In an exemplary embodiment, determining the target clamping force according to the current gear position and the current slope may include:

[0117] If the current gear is neutral, determining an initial clamping force according to the current slope and the attribute information of the vehicle;

[0118] controlling the caliper to brake the vehicle with the initial clamping force;

[0119] When it is detected that the speed of the vehicle is less than or equal to a preset speed, the slope of the vehicle on the ramp is obtained as the slope after braking, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

[0120] In the embodiment of the present application, if the vehicle is in neutral (N gear) on the current ramp, a smaller clamping force Fe3, i.e., the initial clamping force, is determined according to the current slope of the ramp on which the vehicle is currently located, and the caliper of the vehicle is controlled to output the clamping force Fe3 and maintain it to brake the vehicle for the first time. When it is detected that the speed of the vehicle is less than or equal to the preset speed V0, the slope of the vehicle on the ramp at this time is obtained, and then the target clamping force Fo3 is determined according to the slope and the specific attribute information of the vehicle. Among them, the clamping force can be obtained by looking up a one-dimensional table of clamping force and slope. The values ​​in the table can be obtained by experiments based on different vehicle models. Each slope can correspond to a clamping force. Therefore, the corresponding clamping force can be quickly and accurately determined according to the current slope of the vehicle on the ramp and the specific attribute information of the vehicle, so as to brake the vehicle.

[0121] The embodiment of the present application clarifies the vehicle control strategy corresponding to the electronic parking system when the vehicle is in neutral on a slope, realizes the control of the vehicle under different situations, and can quickly and accurately bring the vehicle in a sliding state to a stationary parking state.

[0122] In an exemplary embodiment, the above method may further include:

[0123] Obtaining the clamping time of the caliper; the clamping time is the time during which the caliper maintains the initial clamping force;

[0124] When it is detected that the clamping time reaches a preset clamping time, the slope after braking is acquired, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

[0125] In an embodiment of the present application, when the vehicle is in neutral, the clamping time of the caliper can also be monitored to obtain the clamping time of the caliper. When it is detected that the clamping time of the caliper reaches the preset clamping time, the slope of the vehicle on the ramp at this time is obtained, and then the corresponding target clamping force is determined based on the slope and the specific attribute information of the vehicle.

[0126] In an exemplary embodiment, the method may further include:

[0127] Obtaining a pedal opening of an accelerator pedal of the vehicle;

[0128] When it is detected that the pedal opening is greater than a preset opening threshold, obtaining the duration of the opening of the accelerator pedal;

[0129] When it is detected that the duration of the opening reaches a preset duration, the output torque of the vehicle is adjusted to zero, so that the vehicle reaches the parking state.

[0130] In the embodiment of the present application, during the entire braking process, the pedal opening of the vehicle's accelerator pedal is monitored to obtain the pedal opening of the accelerator pedal. When it is detected that the pedal opening is greater than the preset opening threshold, the duration of the accelerator pedal opening is obtained. When the duration of the opening is the preset duration, the EPB immediately sets the torque to zero, so that the vehicle quickly reaches the parking state. Among them, the preset opening threshold can be set to 3%, and the preset duration can be set to 200ms. The preset opening threshold and the preset duration are not limited in this application. The preset opening threshold and the preset duration can be specifically set according to different vehicle model information to achieve more timely and accurate control of the vehicle.

[0131] The embodiment of the present application can accurately grasp the state of the accelerator pedal by monitoring the pedal opening of the accelerator pedal and the duration of the opening, so as to control the vehicle more timely and accurately according to the state of the accelerator pedal, so that the vehicle can quickly reach the parking state and prevent the occurrence of safety accidents.

[0132] In an exemplary embodiment, the method may further include:

[0133] Acquiring a switch state of an electronic parking system switch of the vehicle;

[0134] If the switch state indicates that the electronic parking system switch is in an on state, obtaining the on time of the electronic parking system switch;

[0135] When it is detected that the opening time reaches a preset opening time, the output torque of the vehicle is adjusted to zero, so that the vehicle reaches the parking state.

[0136] In the embodiment of the present application, during the entire braking process, in addition to monitoring the pedal opening and the duration of the opening, the switch state of the vehicle's electronic parking system switch can also be monitored to obtain the switch state of the electronic parking system switch. If the switch state indicates that the vehicle's electronic parking system switch is in an on state, that is, a released state, the on duration of the electronic parking system switch is obtained. When it is detected that the on duration reaches the preset on duration, the EPB immediately sets the torque to zero, so that the vehicle quickly reaches the parking state. Among them, the preset on duration can be set to 1s. The preset on duration is not set in this application and is not limited. The preset on duration can be specifically set according to different vehicle model information to achieve more timely and accurate control of the vehicle.

[0137] In the embodiment of the present application, during the entire braking process, as long as it is detected that the pedal opening is greater than the preset opening threshold for a duration greater than the preset duration or the electronic parking system switch is detected to be in the on state for a preset on time, the EPB needs to immediately set the torque to zero so that the vehicle can quickly reach the parking state to avoid safety accidents.

[0138] The embodiment of this specification also provides a method for controlling the parking state of a vehicle, such as Figure 6 As shown, the method may include: when the automatic parking system of the vehicle detects that the vehicle is in a slipping state, requesting the electronic parking system to take over the vehicle, the electronic parking system determines whether it can park directly according to the current speed of the vehicle, and if not, controls the vehicle as follows according to the current gear position, current vehicle head direction, current vehicle speed and the slope of the ramp on which the vehicle is located:

[0139] (1) When the vehicle is on a slope with its front end facing up and in the forward gear, the vehicle is actively requested to output a positive driving force from 0 to Fm1 according to the current slope, current speed and weight of the vehicle, and at the same time, the vehicle's caliper is controlled to output a smaller clamping force Fe1 and maintain it. When the vehicle speed drops to less than V0 or the caliper maintains Fe1 for more than t1, the caliper is controlled to output the target clamping force Fo1 according to the slope of the slope on which the vehicle is currently located, and when the caliper performs the final clamping with the target clamping force, the vehicle's output torque is controlled to gradually decrease to zero according to the corresponding slope k12 to ensure safe parking of the vehicle.

[0140] (2) When the vehicle is facing downward on a slope and is in reverse gear, the control strategy is the same as the steps in (1) above.

[0141] (3) When the vehicle is on a slope with its front end facing up and in reverse gear, the vehicle is actively requested to output a reverse driving force from 0 to Fm2 according to the current slope, current vehicle speed and vehicle weight, and at the same time control the vehicle's caliper to output a smaller clamping force Fe2 and maintain it. When the vehicle speed drops to less than V0 or the caliper maintains Fe2 for more than t2, the caliper is controlled to output a target clamping force Fo2 according to the current slope of the slope on which the vehicle is located, and when the caliper performs the final clamping with the target clamping force, the vehicle's output torque is controlled to gradually decrease to zero according to the corresponding slope k22 to ensure safe parking of the vehicle.

[0142] (4) When the vehicle is on a slope with its front end facing downward and is in the forward gear, the control strategy is the same as the steps in (3) above.

[0143] (5) When the vehicle is in neutral on a ramp, a smaller clamping force Fe3 is determined according to the slope of the ramp on which the vehicle is located, and the caliper is controlled to output Fe3 and maintain it. When the vehicle speed drops to less than V0 or the caliper maintains Fe3 for more than t3, the caliper is controlled to output the target clamping force Fo3 according to the slope of the ramp on which the vehicle is currently located, so that the vehicle can be parked safely.

[0144] In the embodiment of the present application, in all the processes (1) to (5) above, if it is detected that the accelerator pedal opening of the vehicle is greater than the preset opening threshold and the opening duration reaches the preset duration; or; when it is detected that the electronic parking system switch is in the on state and the on time reaches the preset on time, the EPB is released immediately and the output torque is immediately set to zero, so that the vehicle reaches the parking state.

[0145] The embodiments of this specification also provide a parking state control device for a vehicle, which is applied to an electronic parking system of the vehicle, such as Figure 7 As shown, the device may include:

[0146] The receiving module 710 is used to receive a vehicle takeover request sent by the automatic parking system of the vehicle, and determine whether the vehicle meets the direct parking condition according to the current speed of the vehicle and the preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle to the electronic parking system when the automatic parking system of the vehicle detects that the vehicle is slipping on a slope; the vehicle takeover request carries the current speed of the vehicle;

[0147] An acquisition module 720 is used to acquire the current head direction of the vehicle, the current gear position, and the current slope of the vehicle on the ramp when the vehicle does not meet the direct parking condition;

[0148] A first target clamping force determination module 730, configured to determine a target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle;

[0149] The first control module 740 is used to control the caliper of the vehicle to brake the vehicle with the target clamping force, and control the output torque of the vehicle power motor of the vehicle to be reduced to zero, so that the vehicle reaches a parking state.

[0150] In an exemplary embodiment, the receiving module 710 may include:

[0151] a first determining unit, configured to determine that the vehicle satisfies the direct parking condition if the current speed is less than the preset parking speed;

[0152] The second determining unit is configured to determine that the vehicle does not meet the direct parking condition if the current speed is greater than or equal to the preset parking speed.

[0153] In an exemplary embodiment, the first target clamping force determination module 730 may include:

[0154] a driving force determination unit, configured to determine the driving force of the vehicle according to the weight of the vehicle, the current speed, and the current slope;

[0155] a target direction determination unit, configured to determine, according to the current vehicle head direction and the current gear position, an output direction of the vehicle power motor when outputting the driving force as a target direction;

[0156] an initial clamping force determining unit, configured to determine an initial clamping force according to the current slope and the attribute information of the vehicle;

[0157] a first brake unit, configured to control the vehicle power motor to output the driving force in the target direction, and to control the caliper to brake the vehicle with the initial clamping force;

[0158] The target clamping force determination unit, when detecting that the speed of the vehicle is less than or equal to a preset speed, obtains the slope of the vehicle on the ramp as the slope after braking, and determines the target clamping force according to the slope after braking and the attribute information of the vehicle.

[0159] In an exemplary embodiment, the target direction determination unit may include:

[0160] a first determination subunit, configured to determine that the target direction is the forward direction of the vehicle if the current vehicle head direction and the current gear position satisfy a first preset condition; the first preset condition is that the current vehicle head direction is the first direction and the current gear position is the forward gear;

[0161] a second determination subunit, configured to determine that the target direction is the forward direction of the vehicle if the current vehicle head direction and the current gear position satisfy a second preset condition; the second preset condition is that the current vehicle head direction is the second direction and the current gear position is the reverse gear;

[0162] a third determination subunit, configured to determine that the target direction is a reverse direction of the vehicle if the current vehicle head direction and the current gear position satisfy a third preset condition; the third preset condition is that the current vehicle head direction is the first direction and the current gear position is the reverse gear;

[0163] a fourth determination subunit, configured to determine that the target direction is the reverse direction of the vehicle if the current vehicle head direction and the current gear position satisfy a fourth preset condition; the fourth preset condition is that the current vehicle head direction is the second direction and the current gear position is the forward gear;

[0164] The first direction is the uphill direction of the ramp, and the second direction is the downhill direction of the ramp.

[0165] In an exemplary embodiment, the target clamping force determination unit may include:

[0166] A clamping time acquisition subunit, used to acquire the clamping time of the caliper; the clamping time is the time during which the caliper maintains the initial clamping force;

[0167] The target clamping force determination subunit is used to obtain the slope after braking when it is detected that the clamping time reaches a preset clamping time, and determine the target clamping force according to the slope after braking and the attribute information of the vehicle.

[0168] In an exemplary embodiment, the first control module 740 may include:

[0169] a change rate determination unit, for determining a change rate of the output torque of the vehicle power motor according to the vehicle speed after braking and the slope after braking; the vehicle speed after braking is the vehicle speed of the vehicle when it is detected that the speed of the vehicle is less than or equal to the preset speed;

[0170] The first control unit is configured to control the caliper to brake the vehicle with the target clamping force, and control the vehicle power motor to reduce the output torque to zero at the changing rate.

[0171] In an exemplary embodiment, the apparatus may further include:

[0172] A second target clamping force determination module, configured to determine the target clamping force according to the current gear position and the current slope;

[0173] The second control module is used to control the caliper to brake the vehicle with the target clamping force so that the vehicle reaches the parking state.

[0174] In an exemplary embodiment, the second target clamping force determination module may include:

[0175] a clamping force determination unit, configured to determine an initial clamping force according to the current slope and attribute information of the vehicle if the current gear is neutral;

[0176] a second brake unit, configured to control the caliper to brake the vehicle with the initial clamping force;

[0177] The second target clamping force unit is used to obtain the slope of the vehicle on the ramp as the slope after braking when it is detected that the speed of the vehicle is less than or equal to the preset speed, and determine the target clamping force according to the slope after braking and the attribute information of the vehicle.

[0178] In an exemplary embodiment, the apparatus may further include:

[0179] A pedal opening acquisition module, used to acquire the pedal opening of an accelerator pedal of the vehicle;

[0180] An opening duration acquisition module, used for acquiring the opening duration of the accelerator pedal when it is detected that the pedal opening is greater than a preset opening threshold;

[0181] The adjustment module is used to adjust the output torque of the vehicle to zero when it is detected that the duration of the opening reaches a preset duration, so that the vehicle reaches the parking state.

[0182] The device and method embodiments in the device embodiments described above are based on the same inventive concept.

[0183] An embodiment of the present specification provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement a vehicle parking state control method as provided in the above method embodiment.

[0184] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a terminal to store at least one instruction or at least one program related to the parking state control method of the vehicle in the method embodiment. The at least one instruction or at least one program is loaded and executed by the processor to implement the parking state control method of the vehicle provided in the above method embodiment.

[0185] The embodiment of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes to implement the parking state control method of the vehicle provided in the above method embodiment.

[0186] Optionally, in the embodiments of this specification, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0187] The memory described in the embodiments of this specification can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, application programs required for functions, etc.; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide the processor with access to the memory.

[0188] The vehicle parking state control method embodiment provided in the embodiments of this specification can be executed in a mobile terminal, a computer terminal, a server or a similar computing device. Taking running on a server as an example, Figure 8 1 is a hardware structure block diagram of a server of a vehicle parking state control method provided in an embodiment of this specification. Figure 8As shown, the server 800 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 810 (the central processing unit 810 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 830 for storing data, and one or more storage media 820 (such as one or more mass storage devices) for storing application programs 823 or data 822. Among them, the memory 830 and the storage medium 820 can be short-term storage or permanent storage. The program stored in the storage medium 820 may include one or more modules, each of which may include a series of instruction operations on the server. Furthermore, the central processing unit 810 can be configured to communicate with the storage medium 820 and execute a series of instruction operations in the storage medium 820 on the server 800. The server 800 may also include one or more power supplies 860, one or more wired or wireless network interfaces 850, one or more input and output interfaces 840, and / or one or more operating systems 821, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0189] The input / output interface 840 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the server 800. In one example, the input / output interface 840 includes a network adapter (Network Interface Controller, NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 840 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0190] It can be understood by those skilled in the art that Figure 8 The structure shown is for illustration only and does not limit the structure of the above electronic device. Figure 8 More or fewer components as shown, or with Figure 8 Different configurations shown.

[0191] It can be seen from the embodiments of the vehicle parking state control method and device provided by the present application that the present application receives a vehicle takeover request sent by the vehicle's automatic parking system, and determines whether the vehicle meets the direct parking condition based on the vehicle's current speed and the preset parking speed; the vehicle takeover request is sent by the vehicle's automatic parking system to the electronic parking system when it detects that the vehicle is slipping on a slope; the vehicle takeover request carries the vehicle's current speed; when the vehicle does not meet the direct parking condition, the vehicle's current front direction, current gear position, and current slope of the vehicle on the ramp are obtained; the vehicle's target clamping force is determined based on the current front direction, current gear position, current slope, and vehicle weight; the vehicle's calipers are controlled to brake the vehicle with the target clamping force, and the output torque of the vehicle's power motor is controlled to be reduced to zero, so that the vehicle reaches a parking state. The present application can determine the corresponding target clamping force according to information such as the direction of the vehicle's front, the gear position, and the slope of the ramp when the vehicle is sliding on a slope, and control the vehicle's calipers to perform staged braking while coordinating with the output torque of the vehicle's power motor to enable the vehicle to quickly reach a parking state from a sliding state, thereby avoiding safety accidents caused by continuous sliding.

[0192] It should be noted that the above sequence of the embodiments of this specification is for description only and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0193] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0194] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by a program to instruct the relevant hardware to complete the steps. The program can be stored in a computer storage medium, and the storage medium mentioned above can be a read-only memory, a disk or an optical disk, etc. The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a parking state of a vehicle, characterized in that: The method is applied to an electronic parking system of the vehicle, and the method comprises: receiving a vehicle takeover request sent by the automatic parking system of the vehicle, and determining whether the vehicle meets the direct parking condition according to the current speed of the vehicle and the preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle to the electronic parking system when the automatic parking system of the vehicle detects that the vehicle is slipping on a slope; the vehicle takeover request carries the current speed of the vehicle; When the vehicle does not meet the direct parking condition, obtaining the current head direction of the vehicle, the current gear position, and the current slope of the vehicle on the ramp; Determining a target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle; The caliper of the vehicle is controlled to brake the vehicle with the target clamping force, and the output torque of the vehicle power motor of the vehicle is controlled to be reduced to zero, so that the vehicle reaches a parking state.

2. The method according to claim 1, characterized in that The step of determining the target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle includes: Determining the driving force of the vehicle according to the weight of the vehicle, the current speed, and the current slope; According to the current vehicle head direction and the current gear position, determining the output direction of the vehicle power motor when outputting the driving force as the target direction; determining an initial clamping force according to the current slope and the attribute information of the vehicle; Controlling the vehicle power motor to output the driving force in the target direction, and controlling the caliper to brake the vehicle with the initial clamping force; When it is detected that the speed of the vehicle is less than or equal to a preset speed, the slope of the vehicle on the ramp is obtained as the slope after braking, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

3. The method according to claim 2, characterized in that The step of determining, according to the current vehicle head direction and the current gear position, the output direction of the vehicle power motor when outputting the driving force as the target direction comprises: If the current vehicle head direction and the current gear position meet a first preset condition, determining the target direction as the forward direction of the vehicle; the first preset condition is that the current vehicle head direction is the first direction and the current gear position is the forward gear; If the current vehicle head direction and the current gear position meet a second preset condition, determining the target direction as the forward direction of the vehicle; the second preset condition is that the current vehicle head direction is the second direction and the current gear position is the reverse gear; If the current vehicle head direction and the current gear position satisfy a third preset condition, determining the target direction to be the reverse direction of the vehicle; the third preset condition is that the current vehicle head direction is the first direction and the current gear position is the reverse gear; If the current vehicle head direction and the current gear position satisfy a fourth preset condition, determining the target direction to be the reverse direction of the vehicle; the fourth preset condition is that the current vehicle head direction is the second direction and the current gear position is the forward gear; The first direction is the uphill direction of the ramp, and the second direction is the downhill direction of the ramp.

4. The method according to claim 3, characterized in that The controlling the caliper of the vehicle to brake the vehicle with the target clamping force and controlling the output torque of the vehicle power motor of the vehicle to be reduced to zero comprises: Determining the rate of change of the output torque of the vehicle power motor according to the vehicle speed after braking and the slope after braking; the vehicle speed after braking is the vehicle speed of the vehicle when it is detected that the speed of the vehicle is less than or equal to the preset speed; The caliper is controlled to brake the vehicle with the target clamping force, and the vehicle power motor is controlled to reduce the output torque to zero at the changing rate.

5. The method according to claim 2, characterized in that: The method further comprises: Obtaining the clamping time of the caliper; the clamping time is the time during which the caliper maintains the initial clamping force; When it is detected that the clamping time reaches a preset clamping time, the slope after braking is acquired, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

6. The method according to claim 1, characterized in that The determining, based on the current speed of the vehicle and the preset parking speed, whether the vehicle satisfies the direct parking condition comprises: If the current speed is less than the preset parking speed, determining that the vehicle meets the direct parking condition; If the current speed is greater than or equal to the preset parking speed, it is determined that the vehicle does not meet the direct parking condition.

7. The method according to claim 1, characterized in that The method further comprises: Determining the target clamping force according to the current gear position and the current slope; The caliper is controlled to brake the vehicle with the target clamping force so that the vehicle reaches the parking state.

8. The method according to claim 7, characterized in that The step of determining the target clamping force according to the current gear position and the current slope includes: If the current gear is neutral, determining an initial clamping force according to the current slope and the attribute information of the vehicle; controlling the caliper to brake the vehicle with the initial clamping force; When it is detected that the speed of the vehicle is less than or equal to a preset speed, the slope of the vehicle on the ramp is obtained as the slope after braking, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

9. The method according to claim 8, characterized in that The method further comprises: Obtaining a pedal opening of an accelerator pedal of the vehicle; When it is detected that the pedal opening is greater than a preset opening threshold, obtaining the duration of the opening of the accelerator pedal; When it is detected that the duration of the opening reaches a preset duration, the output torque of the vehicle is adjusted to zero, so that the vehicle reaches the parking state.

10. A parking state control device for a vehicle, characterized in that: The electronic parking system applied to the vehicle comprises: a receiving module, configured to receive a vehicle takeover request sent by the automatic parking system of the vehicle, and determine whether the vehicle meets the direct parking condition according to the current speed of the vehicle and the preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle to the electronic parking system when the automatic parking system of the vehicle detects that the vehicle is slipping on a slope; the vehicle takeover request carries the current speed of the vehicle; an acquisition module, configured to acquire, when the vehicle does not meet the direct parking condition, the current head direction of the vehicle, the current gear position, and the current slope of the vehicle on the ramp; A first target clamping force determination module, configured to determine a target clamping force of the vehicle according to the current vehicle head direction, the current gear position, the current slope, and the weight of the vehicle; The first control module is used to control the caliper of the vehicle to brake the vehicle with the target clamping force, and control the output torque of the vehicle power motor of the vehicle to be reduced to zero, so that the vehicle reaches a parking state.

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