Parking state control method and device of vehicle

Abstract

The application discloses a parking state control method and device of a vehicle, which is applied to an electronic parking system of the vehicle, and the method comprises the following steps: receiving a vehicle takeover request sent by an automatic parking system of the vehicle, determining whether the vehicle meets a direct parking condition according to a current speed of the vehicle and a preset parking speed; in the case that the vehicle does not meet the direct parking condition, acquiring a current vehicle heading, a current gear and a current slope of the vehicle on a slope; determining a target clamping force of the vehicle according to the current vehicle heading, the current gear, the current slope and the weight of the vehicle; controlling a caliper of the vehicle to brake the vehicle at the target clamping force, and controlling an output torque of a vehicle power motor of the vehicle to reduce to zero, so that the vehicle reaches a parking state. The application can make the vehicle on the slope quickly reach the parking state, and avoid safety accidents caused by continuous vehicle sliding.

Description

TECHNICAL FIELD

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

[0002] After the vehicle uses the automatic vehicle hold (AVH) function, the driver steps on the brake pedal to stop the vehicle, and releases the brake pedal. The AVH requests the hydraulic system to maintain pressure to make the vehicle in a stationary state without the driver stepping on the brake pedal all the time. Generally, after the AVH maintains pressure for 10 minutes, the AVH sends 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 is exited. When the vehicle is on a slope, the driver steps on the brake pedal to make the vehicle stationary, the AVH function is triggered, the AVH requests the hydraulic system to build pressure, and if the AVH function detects a rolling vehicle after building pressure, the AVH requests to increase the wheel end pressure once. If the rolling vehicle is detected again, the AVH requests to increase the wheel end pressure once again. After the pressure is increased twice, if the rolling vehicle is still detected, the AVH requests the EPB to intervene to park to ensure that the vehicle will not roll. This is the current conventional strategy in the brake system.

[0003] However, the AVH requests the EPB to take over, which is only to request the EPB to perform static parking. The EPB performs parking with a prerequisite condition, one of which is that the current vehicle speed needs to be very low. If the hydraulic system fails during the 10-minute process of the AVH parking pressure maintenance, resulting in insufficient hydraulic parking force. At this time, if the vehicle is on a slope, the vehicle will roll, and when the AVH requests the EPB to take over parking, the vehicle is already in the rolling process, and the vehicle speed may be relatively high, which exceeds the vehicle speed threshold range required by the EPB static parking. In this working condition, the EPB will not respond to the parking request of the AVH, and the vehicle will continue to roll, which will have a great risk of causing traffic accidents. SUMMARY

[0004] The present application provides a vehicle parking state control method and device. The present application can determine the corresponding target clamping force according to the vehicle head direction, gear position, and slope gradient and other information when the vehicle rolls on a slope, control the vehicle caliper to perform phased braking, and cooperate with the output torque of the vehicle power motor, so that the vehicle quickly reaches the parking state from the rolling state, and safety accidents caused by continuous rolling are avoided.

[0005] In one aspect, the present application provides a vehicle parking state control method, which is applied to an electronic parking system of the vehicle, and the method comprises:

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

[0007] in a case where the vehicle does not meet the direct parking condition, obtaining a current heading direction of the vehicle, a current gear of the vehicle, and a current slope of the vehicle on the slope;

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

[0009] controlling a caliper of the vehicle to brake the vehicle at the target clamping force, and controlling an output torque of a vehicle power motor of the vehicle to reduce to zero, so that the vehicle reaches a parking state.

[0010] In an example embodiment, the determining the target clamping force of the vehicle according to the current heading direction, the current gear, the current slope, and the weight of the vehicle comprises:

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

[0012] determining a target direction as an output direction of the vehicle power motor when the vehicle power motor outputs the driving force according to the current heading direction and the current gear;

[0013] determining an initial clamping force according to the current slope and 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 at the initial clamping force;

[0015] when detecting that the speed of the vehicle is less than or equal to a preset speed, obtaining a slope of the vehicle on the slope as a post-braking slope, and determining the target clamping force according to the post-braking slope and the attribute information of the vehicle.

[0016] In an example embodiment, the determining the target direction as the output direction of the vehicle power motor when the vehicle power motor outputs the driving force according to the current heading direction and the current gear comprises:

[0017] if the current vehicle heading direction and the current gear position satisfy a first preset condition, determining that the target direction is a forward direction of the vehicle; the first preset condition is that the current vehicle heading direction is a first direction and the current gear position is a forward gear position;

[0018] if the current vehicle heading direction and the current gear position satisfy a second preset condition, determining that the target direction is a forward direction of the vehicle; the second preset condition is that the current vehicle heading direction is a second direction and the current gear position is a reverse gear position;

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

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

[0021] wherein the first direction is an uphill direction of the slope, and the second direction is a downhill direction of the slope.

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

[0023] determining a change rate of the output torque of the vehicle power motor according to the post-braking vehicle speed and the post-braking slope; the post-braking vehicle speed is a 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] controlling the calipers to brake the vehicle at the target clamping force and controlling the vehicle power motor to decrease the output torque to zero at the change rate.

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

[0026] obtaining a clamping duration of the calipers; the clamping duration is a duration that the calipers maintain the initial clamping force;

[0027] when it is detected that the clamping duration reaches a preset clamping duration, obtaining the post-braking slope and determining the target clamping force according to the post-braking slope and attribute information of the vehicle.

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

[0029] If the current speed is less than the preset parking speed, it is determined that the vehicle satisfies 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 satisfy the direct parking condition.

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

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

[0033] controlling the calipers to brake the vehicle at the target clamping force so that the vehicle reaches the parking state.

[0034] In an example embodiment, the determining the target clamping force according to the current gear and the current slope comprises:

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

[0036] controlling the calipers to brake the vehicle at the initial clamping force.

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

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

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

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

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

[0042] In another aspect, a parking state control device of a vehicle is provided, which is applied to an electronic parking system of the vehicle. The device can comprise:

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

[0044] The acquisition module is configured to acquire a current heading direction of the vehicle, a current gear of the vehicle, and a current slope of the vehicle on the slope when the vehicle does not meet the direct parking condition.

[0045] The first target clamping force determination module is configured to determine a target clamping force of the vehicle according to the current heading direction, the current gear, the current slope, and a weight of the vehicle.

[0046] The first control module is configured to control a caliper of the vehicle to brake the vehicle at the target clamping force, and control an output torque of a vehicle power motor of the vehicle to reduce to zero, so that the vehicle reaches a parking state.

[0047] In another aspect, an electronic device is provided, including a processor and a memory, the processor being configured to store the memory of the processor executable instructions; wherein the processor is configured to execute the instructions to implement the parking state control method of the vehicle as described above.

[0048] In another aspect, a computer readable storage medium is provided, the computer readable storage medium having at least one instruction or at least one program therein, the at least one instruction or at least one program being loaded and executed by a processor to implement the above-mentioned parking state control method of the vehicle.

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

[0050] The application receives a vehicle takeover request sent by an automatic parking system of a vehicle, determines whether the vehicle meets a direct parking condition according to a current speed of the vehicle and a preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle when the automatic parking system detects that the vehicle is rolling on a slope; the vehicle takeover request carries the current speed of the vehicle; in the case where the vehicle does not meet the direct parking condition, the current heading direction of the vehicle, the current gear of the vehicle, and the current slope of the vehicle on the slope are obtained; the target clamping force of the vehicle is determined according to the current heading direction, the current gear, the current slope, and the weight of the vehicle; the caliper of the vehicle is controlled to brake the vehicle at the target clamping force, and the output torque of the vehicle power motor of the vehicle is controlled to reduce to zero, so that the vehicle reaches a parking state. The application can determine the corresponding target clamping force according to the heading direction, the gear, and the slope of the slope of the vehicle when the vehicle is rolling on the slope, control the caliper of the vehicle to brake in stages while cooperating with the output torque of the vehicle power motor, so that the vehicle quickly reaches the parking state from the rolling state, and safety accidents caused by continuous rolling are avoided.

[0051] It should be understood that the general description above and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions and advantages of the embodiments or prior art in the specification, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0053] Figure 1 is a flowchart of a parking state control method of a vehicle provided by the embodiments of the specification;

[0054] Figure 2 is a flowchart of determining whether a vehicle meets a direct parking condition provided by the embodiments of the specification;

[0055] Figure 3 is a flowchart of determining a target clamping force provided by the embodiments of the specification;

[0056] Figure 4 is a flowchart of determining a target direction provided by the embodiments of the specification;

[0057] Figure 5 is a flowchart of braking a vehicle provided by the embodiments of the specification;

[0058] Figure 6is a flowchart of another vehicle parking state control method provided by the embodiments of the present specification;

[0059] Figure 7 is a schematic diagram of a vehicle parking state control device provided by the embodiments of the present specification;

[0060] Figure 8 is a structural schematic diagram of a server for a vehicle parking state control method provided by the embodiments of the present specification. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present specification will be described clearly and completely below in combination with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0062] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, 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 "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0063] A vehicle parking state control method is introduced below, Figure 1 is a flowchart of a vehicle parking state control method provided by the embodiments of the present specification. The present specification provides method operation steps as described in the embodiments or flowcharts, but more or fewer operation steps can be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one of the many execution orders of the steps, and does not represent the only execution order. In actual system or server product execution, the method order shown in the embodiments or drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically as Figure 1 shown, the method can include:

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

[0065] In the embodiment of the application, the parking control system of the vehicle includes an automatic parking system and an electronic parking system. When the automatic parking system of the vehicle detects that the vehicle is rolling on a slope, the automatic parking system requests the electronic parking system to take over the vehicle. After receiving the takeover request, the electronic parking system first determines whether the vehicle meets a direct parking condition according to a current speed of the vehicle and a preset parking speed. If the vehicle meets the direct parking condition, the vehicle can be directly parked. If the vehicle does not meet the direct parking condition, a subsequent corresponding control strategy is triggered.

[0066] In an example embodiment, as shown in Figure 2 the determining whether the vehicle meets the direct parking condition according to the current speed of the vehicle and the preset parking speed can 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, determining that the vehicle does not meet the direct parking condition.

[0069] In the embodiment of the 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 condition, and the vehicle can be directly parked 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 condition. The preset parking speed can be set to 3 km / h.

[0070] The embodiment of the application determines whether the vehicle meets the direct parking condition by using the preset parking speed, so that it can be quickly determined whether the vehicle can be directly parked. If the vehicle cannot be directly parked, the corresponding parking control strategy can be triggered in time.

[0071] S2: in the case where the vehicle does not meet the direct parking condition, obtaining a current heading direction of the vehicle, a current gear position, and a current slope of the vehicle on the slope.

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

[0073] In an example embodiment, as shown inFigure 3 As shown in the figure, the determining the target clamping force of the vehicle according to the current vehicle heading direction, the current gear, the current slope, and the weight of the vehicle can include:

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

[0075] In the embodiments 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 slope, i.e. the slope, F offset is the compensation amount according to the speed, wherein F offset Different parameters can be used according to different vehicle models, and specific parameters can be obtained by experiments on different vehicles.

[0078] S32: determining the output direction of the driving force of the vehicle power motor as the target direction according to the current vehicle heading direction and the current gear.

[0079] In an exemplary embodiment, as Figure 4 shown, the determining the output direction of the driving force of the vehicle power motor as the target direction according to the current vehicle heading direction and the current gear can include:

[0080] S321: if the current vehicle heading direction and the current gear 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 heading direction is a first direction and the current gear is a forward gear;

[0081] S322: if the current vehicle heading direction and the current gear 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 heading direction is a second direction and the current gear is a reverse gear;

[0082] S323: if the current vehicle heading direction and the current gear meet a third preset condition, determining the target direction as the reverse direction of the vehicle; the third preset condition is that the current vehicle heading direction is the first direction and the current gear is the reverse gear;

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

[0084] The first direction is an uphill direction of the slope, and the second direction is a downhill direction of the slope.

[0085] In the embodiment of the present application, if the current vehicle heading direction of the vehicle on the slope is the uphill direction of the slope, and the current gear position of the vehicle is the forward gear position (D), it can be determined that the target direction is the forward direction of the vehicle; if the current vehicle heading direction of the vehicle on the slope is the downhill direction of the slope, and the current gear position of the vehicle is the reverse gear position (R), it can be determined that the target direction is the forward direction of the vehicle; if the current vehicle heading direction of the vehicle on the slope is the uphill direction of the slope, and the current gear position of the vehicle is the reverse gear position, it can be determined that the target direction is the reverse direction of the vehicle; if the current vehicle heading direction of the vehicle on the slope is the downhill direction of the slope, and the current gear position of the vehicle is the forward gear position, it can be determined that the target direction is the reverse direction of the vehicle.

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

[0087] S33: determining 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 slope, so as to avoid that a larger clamping force output by the caliper causes the vehicle to directly lock the brake disc when the speed of the vehicle is large, thereby causing a safety accident. The slope and the initial clamping force can be obtained through an experiment to obtain a one-dimensional table of the slope and the initial clamping force, and corresponding values can also be obtained through an experiment for different vehicle models, so that the one-dimensional table of the slope and the initial clamping force can be quickly searched and the corresponding initial clamping force can be obtained under the condition that the current slope and the attribute information of the vehicle are known, thereby improving the accuracy.

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

[0090] S34: controlling the vehicle power motor to output the driving force according to the target direction, and controlling the caliper to brake the vehicle at 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 forward (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 and keep it to brake the vehicle initially. Wherein, a two-dimensional table of vehicle speed and slope can be obtained by experiments on various vehicle models, in which 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, the current speed and the 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 reverse (i.e. the forward direction of the vehicle) driving force from zero to Fm2 according to a certain slope (k21), and the caliper is controlled to output the initial clamping force Fe2 obtained and keep it to brake the vehicle initially. Wherein, a two-dimensional table of vehicle speed and slope can be obtained by experiments on various vehicle models, in which 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, the current speed and the 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 slope after braking is obtained, and the target clamping force is determined according to the slope after braking and the attribute information of the vehicle.

[0094] In the embodiment of the present application, when it is detected that the speed of the vehicle during initial braking is less than or equal to a preset speed V0, the slope of the vehicle on the slope after braking is obtained, and the corresponding target clamping force is determined according to the slope after braking and the attribute information of the vehicle. Wherein, the slope and the target clamping force can be obtained by experiments to obtain a one-dimensional table of slope and target clamping force, and the corresponding values can also be obtained by experiments for different vehicle models, so that the one-dimensional table of slope and target clamping force can be quickly searched to obtain the corresponding target clamping force to improve the accuracy when the current slope and the attribute information of the vehicle are known. In addition, the preset speed V0 can be set to 4 km / 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 Fo1 can be determined; if the target direction is the reverse direction of the vehicle, the corresponding target clamping force Fo2 can be determined.

[0096] The embodiment of the present application avoids the direct locking of the brake disc caused by the direct braking of the vehicle when the vehicle speed is high, and enables the vehicle to quickly reach the stationary state from the coasting state by the cooperation of the caliper and the vehicle power motor.

[0097] In an example embodiment, the method can further include:

[0098] acquiring a clamping duration of the caliper; the clamping duration is a duration that the caliper maintains the initial clamping force;

[0099] when it is detected that the clamping duration reaches a preset clamping duration, acquiring a slope after braking, and determining the target clamping force according to the slope after braking and attribute information of the vehicle.

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

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

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

[0103] S4: controlling the caliper of the vehicle to brake the vehicle at the target clamping force, and controlling the output torque of the vehicle power motor of the vehicle to decrease to zero, so as to enable the vehicle to reach the parking state.

[0104] In an example embodiment, as Figure 5 shown, the controlling the caliper of the vehicle to brake the vehicle at the target clamping force, and controlling the output torque of the vehicle power motor of the vehicle to decrease to zero can include:

[0105] S41: determining the 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;

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

[0107] In the embodiment of the present application, after the vehicle is initially braked and the final target clamping force is obtained, the change rate (which can be a certain slope) of the output torque of the vehicle power motor is determined according to the vehicle speed after the initial braking and the slope of the slope after the initial braking, and in the process of the final clamping of the caliper at the target clamping force, the output torque is ensured to gradually decrease to zero at a certain change rate, so that the vehicle is parked safely and stably.

[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 of the slope after the initial braking, the caliper is controlled to output the target clamping force (Fo1), and in the process of the final clamping at Fo1, the output torque is ensured to gradually decrease to zero at a certain slope k12, so that the vehicle is parked safely and stably. Wherein, for various vehicle types, a two-dimensional table of vehicle speed and slope can be obtained, in which 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 of the slope after the initial braking, the caliper is controlled to output the target clamping force (Fo2), and in the process of the final clamping at Fo2, the output torque is ensured to gradually decrease to zero at a certain slope k22, so that the vehicle is parked safely and stably. Wherein, for various vehicle types, a two-dimensional table of vehicle speed and slope can be obtained, in which 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 can gradually reduce the output torque to zero by determining the change rate of the output torque of the vehicle power motor according to the speed of the vehicle and the slope of the slope, so that the final braking process is more stable and safe.

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

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

[0113] controlling the caliper to brake the vehicle at the target clamping force, so that the vehicle reaches the parking state.

[0114] In the embodiment of the present application, if the vehicle is in neutral on the slope, the driving force does not need to be determined, only the corresponding target clamping force needs to be determined according to the current slope, and the caliper of the vehicle is controlled to output the target clamping force to brake the vehicle, so that the vehicle reaches the parking state.

[0115] The embodiment of the present application realizes the control of the electronic parking system on the vehicle in different situations, can timely and accurately make the vehicle in the coasting state quickly reach the stationary parking state, and improves the universality and practicality of the vehicle parking state control method in the present application.

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

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

[0118] The caliper is controlled to brake the vehicle at 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 slope after braking is obtained, 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) on the current slope, a smaller clamping force Fe3, i.e. an initial clamping force, is determined according to the current slope of the current slope where the vehicle is located, the caliper of the vehicle is controlled to output the clamping force Fe3 and keep it, so as to initially brake the vehicle, when it is detected that the speed of the vehicle is less than or equal to a preset speed V0, the slope of the vehicle on the slope at this time is obtained, and the target clamping force Fo3 is determined according to the slope and the specific attribute information of the vehicle. The clamping force can be obtained by looking up a one-dimensional table of clamping force and slope, and the values in the table can be obtained by experiments according to 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 slope and the specific attribute information of the vehicle, so as to brake the vehicle.

[0121] The embodiment of the present application clearly defines the vehicle control strategy of the electronic parking system corresponding to the vehicle in the neutral state on the slope, realizes the control of the vehicle in different situations, and can timely and accurately make the vehicle in the coasting state quickly reach the stationary parking state.

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

[0123] acquire a clamping duration of the caliper; the clamping duration is a duration that the caliper keeps the initial clamping force;

[0124] acquire a slope after braking when it is detected that the clamping duration reaches a preset clamping duration, and determine the target clamping force according to the slope after braking and attribute information of the vehicle.

[0125] In the embodiments of the present application, the clamping duration of the caliper can also be monitored when the vehicle is in neutral, the clamping duration of the caliper is acquired, and when it is detected that the clamping duration of the caliper reaches a preset clamping duration, the slope of the vehicle at this time on the slope is acquired, and then the corresponding target clamping force is determined according to the slope and the specific attribute information of the vehicle.

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

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

[0128] acquire an opening duration of the accelerator pedal when it is detected that the pedal opening degree is greater than a preset opening threshold;

[0129] adjust the output torque of the vehicle to zero to make the vehicle reach the parking state when it is detected that the opening duration reaches a preset duration.

[0130] In the embodiments of the present application, the pedal opening degree of the accelerator pedal of the vehicle is monitored during the entire braking process, the pedal opening degree of the accelerator pedal is acquired, the opening duration of the accelerator pedal is acquired when it is detected that the pedal opening degree is greater than a preset opening threshold, and the torque is immediately set to zero by the EPB when the opening duration reaches a preset duration, so that the vehicle quickly reaches the parking state. The preset opening threshold can be set to 3%, and the preset duration can be set to 200 ms. The preset opening threshold and the preset duration are not limited in the present application, and can be set according to different vehicle information to more timely and accurately control the vehicle.

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

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

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

[0134] if the switch state represents that the electronic parking system switch is in an open state, obtaining an open duration of the electronic parking system switch;

[0135] when it is detected that the open duration reaches a preset open duration, adjusting an output torque of the vehicle to zero to make the vehicle reach the parking state.

[0136] In the embodiment of the present application, in the whole braking process, in addition to monitoring the pedal opening degree and the opening duration, the switch state of the electronic parking system switch of the vehicle is also monitored, the switch state of the electronic parking system switch is obtained, if the switch state represents that the electronic parking system switch of the vehicle is in an open state, i.e. a release state, the open duration of the electronic parking system switch is obtained, when it is detected that the open duration reaches a preset open duration, the EPB immediately sets the torque to zero, so that the vehicle quickly reaches the parking state. The preset open duration can be set to 1s, and the preset open duration is not limited in the present application, and the preset open duration can be set according to different vehicle information, so as to more timely and accurately control the vehicle.

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

[0138] The embodiment of the present application also provides a vehicle parking state control method, as shown in Figure 6 The method can include: after the automatic parking system of the vehicle detects that the vehicle is in a coasting state, requesting the electronic parking system to take over the vehicle, and the electronic parking system judging whether the vehicle can be directly parked according to the current speed of the vehicle, if not, controlling the vehicle according to the current gear, the current vehicle heading, the current vehicle speed and the slope of the slope on which the vehicle is located as follows:

[0139] (1) when the vehicle is on a slope with the vehicle heading upwards and the vehicle is in a forward gear, according to the current slope, the current vehicle speed and the weight of the vehicle, actively requesting the vehicle power motor to output a positive driving force from 0 to Fm1 according to the corresponding slope k11, and at the same time controlling the caliper of the vehicle to output a small clamping force Fe1, and keeping, when the vehicle speed is reduced to less than V0 or the time for the caliper to keep Fe1 exceeds t1, controlling the caliper to output a target clamping force Fo1 according to the slope of the slope on which the vehicle is currently located, and when the caliper executes the final clamping process at the target clamping force, controlling the output torque of the vehicle to gradually decrease to zero according to the corresponding slope k12, to ensure that the vehicle is safely parked.

[0140] (2) When the vehicle is on the slope with the head down, and the vehicle is in the reverse gear, the control strategy is the same as the step in (1) above.

[0141] (3) When the vehicle is on the slope with the head up, and the vehicle is in the reverse gear, according to the current slope, the current vehicle speed, and the weight of the vehicle, the vehicle power motor is actively requested to output a reverse driving force from 0 to Fm2 according to the corresponding slope k21, and at the same time, the caliper of the vehicle is controlled to output a smaller clamping force Fe2, and is maintained, and when the vehicle speed is reduced to less than V0 or the time of the caliper maintaining Fe2 exceeds t2, the target clamping force Fo2 is controlled according to the slope of the current slope where the vehicle is located, and when the caliper performs the final clamping process at the target clamping force, the output torque of the vehicle is gradually reduced to zero according to the corresponding slope k22, to ensure that the vehicle is safely parked.

[0142] (4) When the vehicle is on the slope with the head down, and the vehicle is in the forward gear, the control strategy is the same as the step in (3) above.

[0143] (5) When the vehicle is on the slope in the neutral gear, a smaller clamping force Fe3 is determined according to the slope of the slope where the vehicle is located, the caliper is controlled to output Fe3 and is maintained, and when the vehicle speed is reduced to less than V0 or the time of the caliper maintaining Fe3 exceeds t3, the target clamping force Fo3 is controlled according to the slope of the current slope where the vehicle is located, to make the vehicle safely parked.

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

[0145] The embodiments of the present application also provide a parking state control device of a vehicle, which is applied to an electronic parking system of the vehicle, and as shown in the figure, the device can include: Figure 7

[0146] The receiving module 710 is configured to receive a vehicle takeover request sent by an automatic parking system of the vehicle, and determine whether the vehicle meets a direct parking condition according to a current speed of the vehicle and a preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle when it is detected that the vehicle is rolling on a slope; and the vehicle takeover request carries the current speed of the vehicle.

[0147] ​The acquisition module 720 is configured to acquire a current heading direction of the vehicle, a current gear of the vehicle, and a current slope of the vehicle on the slope when the vehicle does not satisfy the direct parking condition.

[0148] The first target clamping force determination module 730 is configured to determine a target clamping force of the vehicle according to the current heading direction, the current gear, the current slope, and a weight of the vehicle.

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

[0150] In an example embodiment, the receiving module 710 can include:

[0151] The first determination unit is configured to determine that the vehicle satisfies the direct parking condition when the current speed is less than the preset parking speed.

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

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

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

[0155] The target direction determination unit is configured to determine a target direction of the vehicle power motor when the vehicle power motor outputs the driving force according to the current heading direction and the current gear.

[0156] The initial clamping force determination unit is configured to determine an initial clamping force according to the current slope and attribute information of the vehicle.

[0157] The first braking unit is configured to control the vehicle power motor to output the driving force in the target direction, and control the caliper to brake the vehicle at the initial clamping force.

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

[0159] In an example embodiment, the target direction determination unit can include:

[0160] The first determining subunit is configured to determine the target direction as the forward direction of the vehicle if the current vehicle heading direction and the current gear position satisfy a first preset condition; the first preset condition is that the current vehicle heading direction is a first direction and the current gear position is a forward gear position.

[0161] The second determining subunit is configured to determine the target direction as the forward direction of the vehicle if the current vehicle heading direction and the current gear position satisfy a second preset condition; the second preset condition is that the current vehicle heading direction is a second direction and the current gear position is a reverse gear position.

[0162] The third determining subunit is configured to determine the target direction as the reverse direction of the vehicle if the current vehicle heading direction and the current gear position satisfy a third preset condition; the third preset condition is that the current vehicle heading direction is the first direction and the current gear position is the reverse gear position.

[0163] The fourth determining subunit is configured to determine the target direction as the reverse direction of the vehicle if the current vehicle heading direction and the current gear position satisfy a fourth preset condition; the fourth preset condition is that the current vehicle heading direction is the second direction and the current gear position is the forward gear position.

[0164] The first direction is an uphill direction of the slope, and the second direction is a downhill direction of the slope.

[0165] In an example embodiment, the target clamping force determination unit can include:

[0166] The clamping duration acquisition subunit is configured to acquire a clamping duration of the caliper; the clamping duration is a duration during which the caliper maintains the initial clamping force.

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

[0168] In an example embodiment, the first control module 740 can include:

[0169] The change rate determination unit is configured to determine a change rate of an output torque of the motor of the vehicle according to a vehicle speed after braking and the slope after braking; the vehicle speed after braking is a 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 calipers to brake the vehicle at the target clamping force and control the vehicle power motor to reduce the output torque to zero at the change rate.

[0171] In an example embodiment, the apparatus can further include:

[0172] The second target clamping force determination module is configured to determine the target clamping force according to the current gear and the current slope.

[0173] The second control module is configured to control the calipers to brake the vehicle at the target clamping force so that the vehicle reaches the parking state.

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

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

[0176] The second braking unit is configured to control the calipers to brake the vehicle at the initial clamping force.

[0177] The second target clamping force unit is configured to, when detecting that the speed of the vehicle is less than or equal to a preset speed, acquire a slope after braking of the vehicle on the slope and determine the target clamping force according to the slope after braking and the attribute information of the vehicle.

[0178] In an example embodiment, the apparatus can further include:

[0179] The pedal opening degree acquisition module is configured to acquire a pedal opening degree of an accelerator pedal of the vehicle.

[0180] The opening degree duration acquisition module is configured to, when detecting that the pedal opening degree is greater than a preset opening degree threshold, acquire an opening degree duration of the accelerator pedal.

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

[0182] The apparatus and the method in the above apparatus embodiment are based on the same inventive concept.

[0183] The electronic device provided in the embodiments of the present disclosure includes a processor and a memory, and the memory stores at least one instruction or at least one program, which is loaded and executed by the processor to implement the vehicle parking state control method provided in the above method embodiments.

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

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

[0186] Optionally, in the embodiment of the present application, the storage medium can be located in at least one network server of a plurality of network servers of a computer network. Optionally, in the embodiment, the storage medium can include but is not limited to a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk and various storage program codes.

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

[0188] The vehicle parking state control method embodiment provided by the embodiment of the present application can be executed in a mobile terminal, a computer terminal, a server or a similar computing device. Taking the case of running on a server as an example, Figure 8 is a hardware structure block diagram of a server of a vehicle parking state control method provided by the embodiment of the present application. As shown in Figure 8As shown, the server 800 can vary in configuration and performance based on the needs of the user. The server 800 can include one or more Central Processing Units (CPU) 810 (the CPU 810 can include, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a programmable logic device (PLD), a processor, a controller, a microcontroller, a microprocessor, other processing units, or one or more processors of any kind), a memory 830 for storing data, one or more storage media 820 (such as one or more mass storage devices) for storing applications 823 or data 822. The memory 830 and the storage media 820 can be of any type generally known or used in the art including, but not limited to, volatile memory (such as random access memory (RAM)), non-volatile memory (such as read-only memory (ROM), flash memory, or a hard disk), or a combination of volatile and non-volatile memories. The applications 823 and the data 822 stored in the storage media 820 can include one or more modules that each include a series of instructions for operating the server. Further, the CPU 810 can be configured to communicate with the storage media 820 to execute the series of instructions in the storage media 820 on the server 800. The server 800 can also include one or more power supplies 860, one or more wired or wireless network interfaces 850, one or more input / output interfaces 840, and / or one or more operating systems 821, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or the like.

[0189] The input / output interface 840 can be configured to receive or transmit data via a network. Examples of the network can include a wireless network provided by a communication provider of the server 800. In one example, the input / output interface 840 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In one example, the input / output interface 840 can be a radio frequency (RF) module that is configured to communicate with the Internet through a wireless manner.

[0190] Those skilled in the art can understand that Figure 8 The structure shown is merely illustrative and does not limit the structure of the electronic device described above. For example, the server 800 can include more or less components than those shown, or have a different configuration of components than those shown. Figure 8 For example, the server 800 can include more or less components than those shown, or have a different configuration of components than those shown. Figure 8 For example, the server 800 can include more or less components than those shown, or have a different configuration of components than those shown.

[0191] According to the embodiments of the vehicle parking state control method and device provided in the application, the vehicle parking state control method and device provided in the application receives a vehicle takeover request sent by an automatic parking system of a vehicle, determines whether the vehicle meets a direct parking condition according to a current speed of the vehicle and a preset parking speed, the vehicle takeover request is sent by the automatic parking system of the vehicle when the automatic parking system detects that the vehicle is rolling on a slope, the vehicle takeover request carries the current speed of the vehicle, in the case that the vehicle does not meet the direct parking condition, a current heading of the vehicle, a current gear, and a current slope of the vehicle on the slope are obtained, a target clamping force of the vehicle is determined according to the current heading, the current gear, the current slope, and a weight of the vehicle, the caliper of the vehicle is controlled to brake the vehicle at the target clamping force, and an output torque of a vehicle power motor of the vehicle is controlled to reduce to zero, so that the vehicle reaches a parking state. The application can determine the corresponding target clamping force according to the heading, the gear, and the slope of the slope of the vehicle when the vehicle is rolling on the slope, control the caliper of the vehicle to brake in stages, and cooperate with the output torque of the vehicle power motor, so that the vehicle quickly reaches the parking state from the rolling state, and safety accidents caused by continuous rolling are avoided.

[0192] It should be noted that the above-mentioned embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above-mentioned embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited 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, multi-task processing and parallel processing are possible or can be advantageous.

[0193] Each embodiment in the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment focuses on the difference 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 are referred to the part of the method embodiment.

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

Claims

1. A parking state control method of a vehicle, characterized by, The method is applied to an electronic parking system of the vehicle, and the method comprises: receiving a vehicle takeover request sent by an automatic parking system of the vehicle, and determining whether the vehicle meets a direct parking condition according to a current speed of the vehicle and a preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle when the automatic parking system detects that the vehicle is rolling on a slope; the vehicle takeover request carries the current speed of the vehicle; in a case where the vehicle does not meet the direct parking condition, obtaining a current heading direction of the vehicle, a current gear of the vehicle, and a current slope of the vehicle on the slope; determining a target clamping force of the vehicle according to the current heading direction, the current gear, the current slope, and a weight of the vehicle; controlling a caliper of the vehicle to brake the vehicle at the target clamping force, and controlling an output torque of a vehicle power motor of the vehicle to reduce to zero, so that the vehicle reaches a parking state.

2. The method of claim 1, wherein, The determination of the target clamping force of the vehicle according to the current heading direction, the current gear, the current slope, and the weight of the vehicle comprises: determining a driving force of the vehicle according to the weight of the vehicle, the current speed, and the current slope; determining a target direction of an output direction of the vehicle power motor when the vehicle power motor outputs the driving force according to the current heading direction and the current gear; determining an initial clamping force according to the current slope and 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 at the initial clamping force; when it is detected that the speed of the vehicle is less than or equal to a preset speed, obtaining a slope of the vehicle on the slope after braking, and determining the target clamping force according to the slope after braking and the attribute information of the vehicle.

3. The method of claim 2, wherein, The determination of the target direction of the output direction of the vehicle power motor when the vehicle power motor outputs the driving force according to the current heading direction and the current gear comprises: if the current heading direction and the current gear meet a first preset condition, determining that the target direction is a forward direction of the vehicle; the first preset condition is that the current heading direction is a first direction and the current gear is a forward gear; if the current heading direction and the current gear 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 heading direction is a second direction and the current gear is a reverse gear; if the current heading direction and the current gear meet a third preset condition, determining that the target direction is a reverse direction of the vehicle; the third preset condition is that the current heading direction is the first direction and the current gear is the reverse gear; if the current heading direction and the current gear meet a fourth preset condition, determining that the target direction is the reverse direction of the vehicle; the fourth preset condition is that the current heading direction is the second direction and the current gear is the forward gear. The first direction is an uphill direction of the ramp, and the second direction is a downhill direction of the ramp.

4. The method of claim 3, wherein, The control of the caliper to brake the vehicle at the target clamping force and the control of the output torque of the vehicle power motor to reduce to zero include: According to the vehicle speed after braking and the slope after braking, a change rate of the output torque of the vehicle power motor is determined; the vehicle speed after braking is the vehicle speed when it is detected that the speed of the vehicle is less than or equal to the preset speed; The control of the caliper to brake the vehicle at the target clamping force and the control of the output torque of the vehicle power motor to reduce to zero include:

5. The method of claim 2, wherein, The method further includes: Obtaining a clamping duration of the caliper; the clamping duration is a duration that the caliper maintains the initial clamping force; When it is detected that the clamping duration reaches a preset clamping duration, the slope after braking is obtained, and the target clamping force is determined according to the slope after braking and attribute information of the vehicle.

6. The method of claim 1, wherein, The determination of whether the vehicle meets the direct parking condition according to the current speed of the vehicle and a preset parking speed includes: If the current speed is less than the preset parking speed, it is determined 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 of claim 1, wherein, The method further includes: According to the current gear, the current slope, the target clamping force is determined; The control of the caliper to brake the vehicle at the target clamping force to make the vehicle reach the parking state.

8. The method of claim 7, wherein, The determination of the target clamping force according to the current gear and the current slope includes: If the current gear is a neutral gear, an initial clamping force is determined according to the current slope and attribute information of the vehicle; The control of the caliper to brake the vehicle at 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 a slope after braking, and the target clamping force is determined according to the slope after braking and attribute information of the vehicle.

9. The method of claim 8, wherein, The method further includes: Obtaining a pedal opening degree of an accelerator pedal of the vehicle; When it is detected that the pedal opening degree is greater than a preset opening threshold, an opening duration of the accelerator pedal is obtained; When it is detected that the opening duration reaches a preset duration, the output torque of the vehicle is adjusted to zero to make the vehicle reach the parking state.

10. A parking state control device of a vehicle characterized by comprising: An electronic parking system applied to the vehicle includes: A receiving module is configured to receive a vehicle takeover request sent by an automatic parking system of the vehicle, and determine whether the vehicle meets a direct parking condition according to a current speed of the vehicle and a preset parking speed; the vehicle takeover request is sent by the automatic parking system of the vehicle when it is detected that the vehicle is rolling on a ramp; and the vehicle takeover request carries the current speed of the vehicle. An acquisition module is configured to acquire a current heading direction, a current gear, and a current slope of the vehicle on the slope, when the vehicle does not satisfy the direct parking condition; A first target clamping force determination module is configured to determine a target clamping force of the vehicle according to the current heading direction, the current gear, the current slope, and a weight of the vehicle; A first control module is configured to control a caliper of the vehicle to brake the vehicle at the target clamping force, and control an output torque of a vehicle power motor of the vehicle to reduce to zero, so that the vehicle reaches a parking state.

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