Method for reducing jitter when starting auto-hold parking function of vehicle

Abstract

The embodiment of the invention provides a method for reducing jittering during starting of an automatic parking keeping function of a vehicle, and the method comprises the steps: obtaining the mass of the vehicle and the road information of a road where the vehicle is located at present, and calculating an initial driving torque which should be output when the vehicle enters a driving state from a parking state based on the mass of the vehicle and the road information; driver interaction information, vehicle dynamic information and a vehicle braking force calculation mode of an AVH state machine in an AVH release state are obtained, and initial braking force needing to be released and a pressure release strategy needing to be adopted in the AVH release state of the vehicle are calculated; when the current state of the AVH state machine is an AVH release state, the braking force is released according to the calculated initial braking force by adopting a pressure release strategy, and the initial driving torque of the vehicle is output according to the calculated initial driving torque. And the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method for reducing vibration when an automatic parking hold function of a vehicle is activated. Background Art

[0002] As people's environmental awareness increases and they pursue a high-quality driving experience, new energy vehicles have gradually become one of the mainstream means of transportation due to their green environmental protection and excellent driving performance. The Auto Hold function is an intelligent function commonly found in brake systems. Its purpose is to continuously apply parking brake force through electronic control after the vehicle stops, and trigger the electronic parking brake (EPB) or maintain pressure compensation in specific situations (such as a large slope or the driver's request to release the brake) to ensure that the vehicle does not move unexpectedly and avoid the driver frequently stepping on the brake or pulling the handbrake. When the driver releases the parking state by using the accelerator pedal, the system will gradually release the brake pressure, using torque control or gradient control to achieve a smooth start and avoid vehicle sliding or stalling due to the sudden release of brake pressure.

[0003] Although the Auto Hold function provides convenience and safety for the driver, it faces the problem of starting jitter in its actual application. That is, when the parking brake is released, the connection between the braking force and the driving torque is not smooth (mutated), resulting in vehicle jitter when starting, affecting ride comfort and driving experience. This situation is particularly obvious when starting on a slope or when the braking torque is relatively large.

[0004] Therefore, how to avoid shaking when the vehicle automatically maintains the braking state after stopping and then starts again, thereby improving user experience and driving comfort, is a technical problem that needs to be solved. Summary of the invention

[0005] The embodiment of the present application provides a method for reducing vibration when the vehicle's automatic parking hold function is activated, which can avoid vibration when the vehicle automatically maintains a braking state after stopping and then starts again, thereby improving driving comfort and user experience.

[0006] The embodiment of the present application provides a method for reducing vibration when the automatic parking hold function of a vehicle is activated, the method comprising: Acquiring the mass of the vehicle and road information of the road the vehicle is currently on, and calculating, based on the mass of the vehicle and the road information, an initial driving torque that should be output when the vehicle enters a driving state from a parking state; Acquire driver interaction information, vehicle dynamic information, and a braking force calculation method of the vehicle when the AVH state machine is in an AVH release state, wherein the vehicle dynamic information includes vehicle force information and the initial driving torque; Calculate the initial braking force that should be released by the vehicle in the AVH release state and the pressure release strategy that should be adopted based on the driver interaction information, the vehicle dynamic information and the braking force calculation method; Detect whether the current state of the AVH state machine is the AVH release state. If so, release the braking force according to the calculated initial braking force and the pressure release strategy, and output the initial driving torque of the vehicle according to the calculated initial driving torque to allow the vehicle to start smoothly.

[0007] In the method for reducing vibration when the automatic parking function of a vehicle is activated according to an embodiment of the present application, the road information is slope information, and the initial driving torque that should be output when the vehicle enters a driving state from a parking state is calculated based on the mass of the vehicle and the road information, includes: Calculating a gravity component of the vehicle in the direction of the road based on the mass of the vehicle and the road information; An initial driving torque that should be output when the vehicle enters a driving state from a parking state is calculated based on the calculated gravity component force.

[0008] In the method for reducing vibration when the automatic parking hold function of a vehicle is activated according to an embodiment of the present application, the initial braking force to be released by the vehicle in the AVH release state and the pressure release strategy to be adopted are calculated based on the driver interaction information, the vehicle dynamic information and the braking force calculation method, including: Calculating an initial braking force that should be released by the vehicle in the AVH release state based on the driver interaction information, the vehicle dynamic information and the braking force calculation method; A pressure release strategy that the vehicle should adopt in the AVH release state is calculated based on the driver interaction information and the vehicle dynamic information.

[0009] In the method for reducing vibration when the automatic parking hold function of a vehicle is activated according to an embodiment of the present application, the detecting whether the current state of the AVH state machine is the AVH release state includes: Whether the current state of the AVH state machine is the AVH release state is detected by detecting whether the driver steps on the accelerator pedal or detecting whether the parking holding time period exceeds a preset time period threshold.

[0010] In the method for reducing vibration when the automatic parking hold function of a vehicle is activated according to an embodiment of the present application, before detecting whether the current state of the AVH state machine is the AVH release state, the method further includes: The diagnostic mode information of the vehicle is obtained, and a general inhibition condition of the AVH function is calculated based on the diagnostic mode information, the driver interaction information and the vehicle dynamic information as a basis for activating the AVH function.

[0011] In the method for reducing vibration when the vehicle's automatic parking function is activated described in an embodiment of the present application, in the pressure release strategy, when the driving torque output by the vehicle reaches a certain preset proportion of the initial braking force, the braking force of the vehicle is completely released.

[0012] In the method for reducing vibration when the vehicle automatic parking hold function is activated described in an embodiment of the present application, the driver interaction information includes driver information, accelerator pedal information, vehicle motion information, brake pedal information and vehicle gear information.

[0013] An embodiment of the present application also provides a device for reducing vibration when a vehicle's automatic parking hold function is activated, the device comprising a processor and a memory, the memory storing a computer program, the processor calling the computer program stored in the memory to execute the method for reducing vibration when a vehicle's automatic parking hold function is activated as described in any of the above embodiments.

[0014] An embodiment of the present application also provides a vehicle with an automatic parking function, wherein the vehicle includes the device for reducing vibration when the automatic parking function of the vehicle is activated as described in the above embodiment.

[0015] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed on a computer, the computer executes the method for reducing vibration when the automatic parking function of the vehicle is activated as described in any of the above embodiments.

[0016] The method for reducing vibration when the automatic parking function of the vehicle is activated provided in the embodiment of the present application is to obtain the mass of the vehicle and the road information of the road where the vehicle is currently located, and calculate the initial driving torque that should be output when the vehicle enters the driving state from the parking state based on the mass of the vehicle and the road information, and then obtain the driver interaction information, the vehicle dynamic information and the braking force calculation method of the vehicle in the AVH release state, wherein the vehicle dynamic information includes the vehicle force information and the initial driving torque, and then calculate the initial braking force that should be released by the vehicle in the AVH release state and the pressure release strategy that should be adopted based on the driver interaction information, the vehicle dynamic information and the braking force calculation method, when the current state of the AVH state machine is the AVH release state, the braking force is released according to the calculated initial braking force and the pressure release strategy, and the initial driving torque of the vehicle is output according to the calculated initial driving torque. Since the embodiment of the present application calculates the braking force by smoothing the connection between the braking torque and the driving torque, the connection between the braking force and the driving torque is very smooth, rather than sudden, so that the vibration can be avoided when the vehicle automatically maintains the braking state after stopping and then starts, thereby improving driving comfort and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0018] Figure 1 A flowchart of a method for reducing vibration when the vehicle's automatic parking hold function is activated provided in an embodiment of the present application.

[0019] Figure 2 A state diagram of the AVH state machine provided in an embodiment of the present application.

[0020] Figure 3 A schematic diagram of the structure of a device for reducing vibration when the automatic parking hold function of a vehicle is activated, provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0022] An embodiment of the present application provides a method for reducing vibration when an automatic parking hold function of a vehicle is activated. The method for reducing vibration when an automatic parking hold function of a vehicle is activated is applied to a vehicle with an automatic parking function.

[0023] See also Figure 1 , Figure 1 A flow chart of a method for reducing vibration when the automatic parking hold function of a vehicle is activated provided in an embodiment of the present application. The method for reducing vibration when the automatic parking hold function of a vehicle is activated is applied to a vehicle with an automatic parking function, and the method may include the following steps: Step 101 , obtaining the mass of a vehicle and road information of a road on which the vehicle is currently located, and calculating, based on the mass of the vehicle and the road information, an initial driving torque that should be output when the vehicle enters a driving state from a parking state.

[0024] Among them, road information includes road slope information and friction information. Under different road conditions, such as slippery, icy and snowy roads with low friction coefficients, the vehicle's control system adjusts the torque output based on real-time feedback to prevent slipping or shaking. In complex slope environments, the drive module will adaptively increase or decrease the torque output to cope with changes in wheel traction requirements caused by different slopes. By calculating the initial drive torque that should be output when the vehicle enters the driving state from the parking state for roads with different slopes and different frictions, the vehicle can be prevented from slipping or shaking. By analyzing the road and load conditions of the vehicle, the torque output of the drive system is dynamically adjusted to ensure smoothness and safety during the starting process.

[0025] In some embodiments, the road information is slope information, and the initial driving torque that should be output when the vehicle enters the driving state from the parking state based on the mass of the vehicle and the road information includes: Calculating a gravity component of the vehicle in the direction of the road based on the mass of the vehicle and the slope information; An initial driving torque that should be output when the vehicle enters a driving state from a parking state is calculated based on the calculated gravity component force.

[0026] Among them, by analyzing the vehicle's slope and load conditions, the torque output of the drive system is dynamically adjusted to ensure smoothness and safety during starting.

[0027] Step 102 , obtaining driver interaction information, vehicle dynamic information, and a method for calculating the braking force of the vehicle when the AVH state machine is in an AVH released state, wherein the vehicle dynamic information includes vehicle force information and the initial driving torque.

[0028] Among them, Figure 2 As shown, the AVH state machine in the vehicle includes at least five states, namely Off, Ready, Activated, Safe, and Released. The initial state of the AVH state machine is Off; it judges that the switch is turned on and the AVH function can be activated to enter the Ready state; it detects if the vehicle needs to remain parked and enters the AVH Activated state; it detects whether the EPB is turned on, if it is turned on, the AVH enters the Safe state, otherwise it maintains the AVH Activated state; when the vehicle enters the Driving state from the Parking state, the AVH state machine enters the Released state.

[0029] Among them, the AVH state machine calculates the vehicle braking force differently in different states, so the braking force of the vehicle in different states of the AVH state machine can also be calculated separately.

[0030] In some embodiments, the driver interaction information includes driver information, accelerator pedal information, vehicle motion information, brake pedal information, and vehicle gear information.

[0031] Specifically, the driver information is information about the driver being in the seat, the accelerator pedal information is information about the accelerator pedal being pressed, the vehicle movement information is information about the vehicle moving forward, the brake pedal information is information about the brake pedal being released, and the vehicle gear information is information about the vehicle gear not being in the P gear. Among them, the driver can be judged to be in the seat by combining the fact that the seat belt is fastened and the door is closed; the accelerator pedal is judged to be pressed by combining the fact that the accelerator pedal travel is greater than a preset travel threshold; the vehicle's forward direction can be judged by combining the vehicle speed and wheel speed; and whether the vehicle is in the P gear can be judged by combining the vehicle gear information.

[0032] Step 103 , based on the driver interaction information, the vehicle dynamic information and the braking force calculation method, the initial braking force that should be released by the vehicle in the AVH release state and the pressure release strategy that should be adopted are calculated.

[0033] Among them, the pressure release strategy includes torque control strategy and gradient control strategy. At this time, it is necessary to calculate which strategy the vehicle should adopt in the AVH release state. In addition, the calculated pressure release strategy will be used as the basis for state jump when the AVH state machine jumps.

[0034] Among them, since the braking force is calculated by smoothly connecting the braking torque and the driving torque, the connection between the braking force and the driving torque is very smooth rather than abrupt, thereby avoiding jitter when the vehicle automatically maintains the braking state after stopping and then starts again.

[0035] In some embodiments, the calculating of the initial braking force to be released by the vehicle in the AVH release state and the pressure release strategy to be adopted based on the driver interaction information, the vehicle dynamic information and the braking force calculation method includes: Calculating an initial braking force that should be released by the vehicle in the AVH release state based on the driver interaction information, the vehicle dynamic information and the braking force calculation method; A pressure release strategy that the vehicle should adopt in the AVH release state is calculated based on the driver interaction information and the vehicle dynamic information.

[0036] Step 104, detecting whether the current state of the AVH state machine is the AVH release state, if so, releasing the braking force according to the calculated initial braking force and using the pressure release strategy, and outputting the initial driving torque of the vehicle according to the calculated initial driving torque to allow the vehicle to start smoothly.

[0037] Specifically, when it is detected that the current state of the AVH state machine is the AVH release state, the calculated pressure release strategy is used to release the braking force, and the initial value of the braking force release is the calculated initial braking force. In addition, the vehicle's driving torque is output, and the initial value of the driving torque is the calculated initial driving torque. At this time, the vehicle starts smoothly. Among them, no matter which pressure release strategy is used, the torque output of the braking system is gradually reduced, that is, the slow release logic of the driver releasing the brake pedal is increased, and the torque output of the braking system is gradually reduced to avoid sudden changes between driving and braking.

[0038] In some embodiments, the detecting whether the current state of the AVH state machine is the AVH release state includes: Whether the current state of the AVH state machine is the AVH release state is detected by detecting whether the driver steps on the accelerator pedal or detecting whether the parking holding time period exceeds a preset time period threshold.

[0039] If the driver steps on the accelerator pedal or the parking holding time period exceeds the preset time period threshold, it means that the current state of the AVH state machine is the AVH release state.

[0040] In addition, the embodiment of the present application can dynamically determine whether the vehicle needs to maintain the parking state through comprehensive detection of brake status, vehicle position, driver operation signal and slope information; after the vehicle is completely stopped, the system determines whether it is necessary to apply or maintain brake pressure based on multiple states to prevent the vehicle from moving due to external forces. The control method can automatically apply the parking hold function when the vehicle stops according to the slope, wheel speed, driver's brake and throttle operations.

[0041] In some embodiments, before detecting whether the current state of the AVH state machine is the AVH release state, the method further includes: The diagnostic mode information of the vehicle is obtained, and a general inhibition condition of the AVH function is calculated based on the diagnostic mode information, the driver interaction information and the vehicle dynamic information as a basis for activating the AVH function.

[0042] In some embodiments, in the pressure release strategy, when the driving torque output by the vehicle reaches a certain preset proportion of the initial braking force, the braking force of the vehicle is completely released.

[0043] Among them, the jitter of the AVH function is mainly caused by the non-smooth connection between the braking force and the driving torque when the pressure is released. Therefore, different pressure release strategies are constructed according to functional requirements. This strategy mainly releases the braking torque gradually through an exponential or linear function, and in order to prevent sudden changes between the driving torque and the braking torque, a connection condition is calculated and set. When the driving torque reaches a certain proportion of the initial braking torque (initial braking force), the torque is fully released. The proportional coefficient can be adjusted according to different needs to adapt to different target vehicles and environmental conditions. The braking torque is calculated by smoothing the connection between the braking torque and the driving torque, and then converted into the braking force output.

[0044] As can be seen from the above, this application achieves smooth connection between braking force and driving torque, dynamically coordinates the braking system with the driving system, adds slow-release logic when the driver releases the brake pedal, gradually reduces the torque output of the braking system, and sets a smooth transition curve of the target driving torque and braking torque through a piecewise function, and avoids sudden changes between driving and braking by gradually releasing or increasing the torque. Through the above optimization method, the normal activation of the Auto Hold function can be guaranteed, and the problem of starting jitter can be avoided, further optimizing the stability of the vehicle when starting on a slope or driving at low speed, effectively improving the safety and driving comfort of the vehicle, and improving the user experience and system reliability.

[0045] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0046] In specific implementation, the present application is not limited by the execution order of the various steps described. If no conflict occurs, some steps can be performed in other orders or simultaneously.

[0047] As can be seen from the above, the method for reducing vibration when the automatic parking function of the vehicle is activated provided by the embodiment of the present application obtains the mass of the vehicle and the road information of the road where the vehicle is currently located, and calculates the initial driving torque that should be output when the vehicle enters the driving state from the parking state based on the mass of the vehicle and the road information, and then obtains the driver interaction information, the vehicle dynamic information and the braking force calculation method of the vehicle in the AVH release state, wherein the vehicle dynamic information includes the vehicle force information and the initial driving torque, and then calculates the initial braking force that the vehicle should release in the AVH release state and the pressure release strategy that should be adopted based on the driver interaction information, the vehicle dynamic information and the braking force calculation method, when the current state of the AVH state machine is the AVH release state, the braking force is released according to the calculated initial braking force and the pressure release strategy, and the initial driving torque of the vehicle is output according to the calculated initial driving torque. Since the embodiment of the present application calculates the braking force by smoothing the connection between the braking torque and the driving torque, the connection between the braking force and the driving torque is very smooth, rather than sudden, so that the vibration can be avoided when the vehicle automatically maintains the braking state after stopping and then starts, thereby improving driving comfort and user experience.

[0048] An embodiment of the present application also provides a device for reducing vibration when the vehicle's automatic parking function is activated. The device is integrated in a vehicle with an automatic parking function. The device includes a processor and a memory. The memory stores a computer program. The processor calls the computer program stored in the memory to execute the method for reducing vibration when the vehicle's automatic parking function is activated as described in any of the above embodiments.

[0049] See also Figure 3 , Figure 3 A schematic diagram of the structure of a device for reducing jitter when the automatic parking function of a vehicle is activated provided in an embodiment of the present application. The device 30 for reducing jitter when the automatic parking function of a vehicle is activated includes a memory 120, one or more processors 180, and one or more applications, wherein the one or more applications are stored in the memory 120 and configured to be executed by the processor 180; the memory 120 can be used to store applications and data. The application stored in the memory 120 contains executable code. The application can be composed of various functional modules. The processor 180 executes various functional applications and data processing by running the application stored in the memory 120. In addition, the memory 120 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 120 may also include a memory controller to provide the processor 180 with access to the memory 120.

[0050] The processor 180 is the control center of the device, and uses various interfaces and lines to connect various parts of the entire terminal, and executes various functions of the device and processes data by running or executing applications stored in the memory 120, and calling data stored in the memory 120, so as to monitor the device as a whole. Optionally, the processor 180 may include one or more processing cores; preferably, the processor 180 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs.

[0051] Specifically in this embodiment, a computer program is stored in the memory 120, and the processor 180 executes the method for reducing vibration when the automatic parking hold function of the vehicle is activated as described in any of the above embodiments by calling the computer program stored in the memory 120.

[0052] Specifically, the processor 180 includes a driver interaction information processing module, a vehicle dynamic information preprocessing module, a pressure release strategy preprocessing module, a general information preprocessing module, an AVH state machine module and an AVH brake control module. The driver interaction information processing module is used to obtain driver information, accelerator pedal information, vehicle motion information, brake pedal information and vehicle gear information; the vehicle dynamic information preprocessing module is used to obtain vehicle force information and calculate the initial driving force of the vehicle; the pressure release strategy preprocessing module is used to calculate the pressure release strategy to be adopted; the general information preprocessing module is used to calculate the function inhibition condition information; the AVH state machine module is used to obtain the state machine jump condition and perform the state machine jump; the AVH brake control module is used to output the braking force and the driving torque.

[0053] An embodiment of the present application also provides a vehicle with an automatic parking function, which includes the device for reducing vibration when the vehicle's automatic parking function is activated as described in any of the above embodiments. The vehicle can be used to implement the method for reducing vibration when the vehicle's automatic parking function is activated provided in the above embodiments.

[0054] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer, the computer executes the method for reducing vibration when the vehicle automatic parking function is activated as described in any of the above embodiments.

[0055] It should be noted that, for the method for reducing vibration when the automatic parking function of a vehicle is activated as described in the present application, ordinary testers in the field can understand that the whole or part of the process of the device method for reducing vibration when the automatic parking function of a vehicle is activated as described in the embodiment of the present application can be completed by controlling the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, such as stored in the memory of a vehicle with an automatic parking function, and executed by at least one processor in the vehicle with an automatic parking function, and the execution process may include the process of the embodiment of the method for reducing vibration when the automatic parking function of a vehicle is activated. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), etc.

[0056] The above is a detailed introduction to the method, device, storage medium and vehicle with automatic parking function for reducing vibration when the vehicle automatic parking function is activated provided by the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application; at the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for reducing vibration when the automatic parking hold function of a vehicle is activated, characterized in that: The method comprises: Acquiring the mass of the vehicle and road information of the road the vehicle is currently on, and calculating, based on the mass of the vehicle and the road information, an initial driving torque that should be output when the vehicle enters a driving state from a parking state; Acquire driver interaction information, vehicle dynamic information, and a braking force calculation method of the vehicle when the AVH state machine is in an AVH release state, wherein the vehicle dynamic information includes vehicle force information and the initial driving torque; Calculate the initial braking force that should be released by the vehicle in the AVH release state and the pressure release strategy that should be adopted based on the driver interaction information, the vehicle dynamic information and the braking force calculation method; Detect whether the current state of the AVH state machine is the AVH release state. If so, release the braking force according to the calculated initial braking force and the pressure release strategy, and output the initial driving torque of the vehicle according to the calculated initial driving torque to allow the vehicle to start smoothly.

2. The method for reducing vibration when the automatic parking hold function of a vehicle is activated as claimed in claim 1, characterized in that: The road information is slope information, and the initial driving torque that should be output when the vehicle enters a driving state from a parking state is calculated based on the mass of the vehicle and the road information, includes: Calculating a gravity component of the vehicle in the direction of the road based on the mass of the vehicle and the slope information; An initial driving torque that should be output when the vehicle enters a driving state from a parking state is calculated based on the calculated gravity component force.

3. The method for reducing vibration when the automatic parking hold function of a vehicle is activated as claimed in claim 1, characterized in that: The calculating, based on the driver interaction information, the vehicle dynamic information and the braking force calculation method, the initial braking force to be released by the vehicle in the AVH release state and the pressure release strategy to be adopted includes: Calculating an initial braking force that should be released by the vehicle in the AVH release state based on the driver interaction information, the vehicle dynamic information and the braking force calculation method; A pressure release strategy that the vehicle should adopt in the AVH release state is calculated based on the driver interaction information and the vehicle dynamic information.

4. The method for reducing vibration when the automatic parking hold function of a vehicle is activated as claimed in claim 1, characterized in that: The detecting whether the current state of the AVH state machine is the AVH release state includes: Whether the current state of the AVH state machine is the AVH release state is detected by detecting whether the driver steps on the accelerator pedal or detecting whether the parking holding time period exceeds a preset time period threshold.

5. The method for reducing vibration when the automatic parking hold function of a vehicle is activated as claimed in claim 1, characterized in that: Before detecting whether the current state of the AVH state machine is the AVH release state, the method further includes: The diagnostic mode information of the vehicle is obtained, and a general inhibition condition of the AVH function is calculated based on the diagnostic mode information, the driver interaction information and the vehicle dynamic information as a basis for activating the AVH function.

6. The method for reducing vibration when the automatic parking hold function of a vehicle is activated as claimed in claim 1, characterized in that: In the pressure release strategy, when the driving torque output by the vehicle reaches a certain preset proportion of the initial braking force, the braking force of the vehicle is completely released.

7. The method for reducing vibration when the automatic parking hold function of a vehicle is activated as claimed in claim 1, characterized in that: The driver interaction information includes driver information, accelerator pedal information, vehicle motion information, brake pedal information and vehicle gear information.

8. A device for reducing vibration when the automatic parking function of a vehicle is activated, characterized in that: The device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the method for reducing vibration when the automatic parking hold function of a vehicle is activated as described in any one of claims 1 to 7 by calling the computer program stored in the memory.

9. A vehicle with an automatic parking function, characterized in that: The vehicle includes the device for reducing vibration when the vehicle's automatic parking hold function is activated as described in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the computer is caused to execute the method for reducing vibration when the automatic parking hold function of a vehicle is activated as described in any one of claims 1 to 7.

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