Parking method, vehicle and storage medium

Abstract

The invention provides a parking method, a vehicle and a storage medium, the method is applied to the field of automobile braking, and the method comprises the steps that a parking signal sent by a communication device or other parking chips is received; determining a current parking strategy of the parking chip based on the parking signal; the current parking strategy is used for driving a parking mechanism corresponding to the parking chip to park, and the parking mechanism is one of the first parking device and the second parking device. According to the method, the parking instruction of the communication device or other parking chips can be received, the communication device does not need to uniformly send the parking instruction to each parking chip at the same time, the signal transmission efficiency is improved, the parking chip can determine the current parking strategy according to the parking signal, therefore, various different working conditions are met, stable parking of the vehicle is achieved, and the user experience is improved. And the parking safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile braking, and more specifically, to a parking method, a vehicle and a storage medium in the field of automobile braking. Background Art

[0002] In the related technology, the shortcomings of the traditional mechanical parking brake system are circumvented by adopting an electronic parking system, namely EPB (Electrical Park Brake). EPB has higher precision and control performance, and is the core parking system for realizing vehicle advanced assisted driving, automatic driving and deep braking energy recovery.

[0003] However, in the related art, although the parking brake system can use redundant parking strategies to achieve vehicle braking in the event of a fault, emergency braking using pre-stored fixed parking strategies is difficult to apply to different working conditions, resulting in the vehicle body being difficult to remain stable when parking using redundant parking strategies, posing a major safety hazard and requiring improvement. Summary of the invention

[0004] The present application provides a parking method, a vehicle and a storage medium. The method can receive a parking instruction from a communication device or other parking chips, and there is no need for the communication device to uniformly and simultaneously send the parking instruction to each parking chip, thereby improving signal transmission efficiency and reducing channel occupancy. The parking chip can determine the current parking strategy based on the parking signal, thereby meeting a variety of different working conditions, so as to control the vehicle to complete the parking action according to the current parking strategy, achieve stable parking of the vehicle, and improve the safety of vehicle parking. Moreover, each chip is independent of each other. When one chip fails, other chips can still complete the parking action, thereby achieving redundant parking.

[0005] In a first aspect, a parking method is provided, wherein a vehicle comprises a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, a first control component driving the first parking device to park, a second control component driving the second parking device to park, and a communication device communicating with the first control component or the second control component, wherein the first control component comprises a first parking chip and a second parking chip, the second control component comprises a third parking chip and a fourth parking chip, the first parking chip, the second parking chip, the third parking chip and the fourth parking chip communicate with each other, the first parking device and the second parking device each comprise two parking mechanisms, wherein the method is applied to any parking chip, and comprises the following steps:

[0006] Receiving a parking signal sent by the communication device or other parking chips;

[0007] Based on the parking signal, determining the current parking strategy of the parking chip; and

[0008] The current parking strategy is used to drive a parking mechanism corresponding to the parking chip to park the vehicle, wherein the parking mechanism is one of the first parking device or the second parking device.

[0009] Through the above-mentioned technical method, it is possible to receive parking instructions from a communication device or other parking chips, and there is no need for the communication device to uniformly and simultaneously send parking instructions to each parking chip, thereby improving signal transmission efficiency and reducing channel occupancy. The parking chip can determine the current parking strategy based on the parking signal, thereby meeting a variety of different working conditions, and controlling the vehicle to complete the parking action according to the current parking strategy, thereby achieving stable parking of the vehicle and improving the safety of vehicle parking. Moreover, each chip is independent of each other. When one chip fails, other chips can still complete the parking action, thereby achieving redundant parking.

[0010] In conjunction with the first aspect, in some possible implementations, determining the current parking strategy of the parking chip includes:

[0011] Obtaining vehicle information of the vehicle;

[0012] The current parking strategy is determined according to the whole vehicle information and the position information of the wheels corresponding to the parking chip.

[0013] Through the above technical approach, the current parking strategy can be determined based on the vehicle's overall information and the wheel posture information corresponding to the parking chip, so that the current parking strategy can better meet parking requirements.

[0014] In combination with the first aspect, in some possible implementations, using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle includes:

[0015] Acquiring environmental information of the current environment of the vehicle;

[0016] determining at least one control parameter of the current parking strategy according to the environmental information;

[0017] The target parking force of the parking mechanism is determined according to the at least one control parameter to control the parking mechanism corresponding to the parking chip to park.

[0018] Through the above technical method, the current parking strategy can be adjusted according to the environmental information of the current environment of the vehicle, so as to determine the target parking force of the parking mechanism corresponding to the parking chip, so that the current parking strategy can be applicable to different environmental information, thereby ensuring the stability of vehicle parking.

[0019] In combination with the first aspect, in some possible implementations, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the method further includes:

[0020] Obtaining the actual service life of the wheel corresponding to the parking chip;

[0021] The current parking strategy is generated according to the actual service life and the initial parking strategy.

[0022] Through the above technical approach, the parking strategy can be adjusted according to the actual service life of the wheels to reduce wheel wear.

[0023] In combination with the first aspect, in some possible implementations, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the method further includes:

[0024] Obtaining the driver's driving habits and / or parking preferences;

[0025] The current parking strategy of the parking chip is adjusted according to the driving habits and / or the parking preference to obtain a new current parking strategy, so as to utilize the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

[0026] Through the above technical approach, the parking strategy can be adjusted according to the driver's driving habits and / or parking preferences, so that the current parking strategy is more in line with the driver's habits or preferences, thereby improving the driver's driving experience.

[0027] In combination with the first aspect, in some possible implementations, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the method further includes:

[0028] Collecting at least one wheel parameter of the wheel corresponding to the parking chip;

[0029] The current parking strategy of the parking chip is adjusted according to the at least one wheel parameter to obtain a new current parking strategy, so as to utilize the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

[0030] Through the above technical approach, the parking strategy can be adjusted according to the wheel parameters of the corresponding wheels, thereby reducing the wear on the wheels and making the parking strategy more in line with the actual conditions of the wheels, and adjusting the wheels accordingly.

[0031] In combination with the first aspect, in some possible implementations, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the method further includes:

[0032] Detecting whether the vehicle meets a preset parking condition;

[0033] When it is detected that the preset parking condition is not met, a parking failure reminder is given to the driver.

[0034] Through the above-mentioned technical approach, when the vehicle does not meet the preset parking conditions, a parking failure reminder can be issued, which is convenient for the driver to take over control and troubleshoot the fault in time.

[0035] In combination with the first aspect, in some possible implementations, while reminding the driver of parking failure, the method further includes:

[0036] generating a parking control recommendation reminder for the vehicle based on the vehicle information;

[0037] The parking control recommendation reminder is pushed to the driver.

[0038] Through the above technical approach, when the vehicle does not meet the preset parking conditions, a parking control recommendation reminder for the vehicle can be generated based on the vehicle information to provide a reference operation for the driver to control the parking of the vehicle.

[0039] In a second aspect, a parking device is provided, wherein the vehicle comprises a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, a first control component driving the first parking device to park, a second control component driving the second parking device to park, and a communication device communicating with the first control component or the second control component, wherein the first control component comprises a first parking chip and a second parking chip, the second control component comprises a third parking chip and a fourth parking chip, the first parking chip, the second parking chip, the third parking chip and the fourth parking chip communicate with each other, the first parking device and the second parking device each comprise two parking mechanisms, wherein the device is applied to any parking chip, and comprises:

[0040] A receiving module, used for receiving a parking signal sent by the communication device or other parking chips;

[0041] a determination module, configured to determine a current parking strategy of the parking chip based on the parking signal; and

[0042] A driving module is used to drive the parking mechanism corresponding to the parking chip to park the vehicle by using the current parking strategy, wherein the parking mechanism is one of the first parking device or the second parking device.

[0043] In conjunction with the second aspect, in some possible implementations, the determining module includes:

[0044] A first acquisition unit, used to acquire the whole vehicle information of the vehicle;

[0045] The first determination unit is used to determine the current parking strategy according to the whole vehicle information and the position information of the wheels corresponding to the parking chip.

[0046] In conjunction with the second aspect, in some possible implementations, the driving module includes:

[0047] A second acquisition unit, used to acquire environmental information of the current environment of the vehicle;

[0048] a second determining unit, configured to determine at least one control parameter of the current parking strategy according to the environmental information;

[0049] The third determining unit is used to determine the target parking force of the parking mechanism according to the at least one control parameter to control the parking mechanism corresponding to the parking chip to park.

[0050] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0051] A first acquisition module is used to acquire the actual service life of the wheel corresponding to the parking chip;

[0052] A generating module is used to generate the current parking strategy according to the actual service life and the initial parking strategy.

[0053] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0054] A second acquisition module, used to acquire the driver's driving habits and / or parking preferences;

[0055] The first adjustment module is used to adjust the current parking strategy of the parking chip according to the driving habits and / or the parking preference to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park by using the new current parking strategy.

[0056] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0057] A collection module, used for collecting at least one wheel parameter of the wheel corresponding to the parking chip;

[0058] The second adjustment module is used to adjust the current parking strategy of the parking chip according to the at least one wheel parameter to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park by using the new current parking strategy.

[0059] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0060] A detection module, used to detect whether the vehicle meets a preset parking condition;

[0061] The reminder module is used to remind the driver of parking failure when it is detected that the preset parking condition is not met.

[0062] In combination with the second aspect, in some possible implementations, the reminder module is further used to generate a parking control recommendation reminder for the vehicle based on the vehicle information; and push the parking control recommendation reminder to the driver.

[0063] In a third aspect, a car is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parking method as described in the above embodiment.

[0064] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the parking method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1a is a schematic diagram of the system architecture of a parking method according to an embodiment of the present application;

[0066] Figure 1b is a schematic diagram of a system architecture of a parking method according to another embodiment of the present application;

[0067] Figure 2 is a schematic diagram of a system architecture of a parking method according to yet another embodiment of the present application;

[0068] Figure 3 is a schematic diagram of a system architecture of a parking method according to yet another embodiment of the present application;

[0069] Figure 4 A flowchart of a parking method provided according to an embodiment of the present application;

[0070] Figure 5 It is a structural schematic diagram of a parking device provided according to an embodiment of the present application;

[0071] Figure 6 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0072] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0073] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0074] The traditional parking brake system is in the form of a mechanical parking brake handle, which can lock the drive shaft or rear wheel for braking through a lever and a cable to connect the parking brake. When the driver needs to stop the car, the driver can manually pull up the parking brake lever to contact the brake plate with the wheel and stop the vehicle from moving forward. This is rather cumbersome and laborious, and is greatly affected by the terrain. The braking effect is poor when the terrain is uneven, and the risk of accidents is greater. In addition, since the operation of the mechanical parking system requires the intervention of the driver, it is not compatible with autonomous driving technology, which imposes certain restrictions on the future development of automobiles.

[0075] Based on the improvement of the traditional parking brake system, the relevant technology can realize electronic parking brake through EPB (Electrical Park Brake) with higher precision and control performance, thereby reducing the driver's intervention, reducing the impact of terrain factors on the braking effect, improving parking brake safety, and providing an auxiliary basis for braking and parking for autonomous driving technology. However, although the parking brake system can use parking strategies to achieve vehicle braking, braking with pre-stored fixed parking strategies is difficult to apply to different working conditions, resulting in the body of the vehicle not being easy to maintain stability when parking, posing a major safety hazard.

[0076] Before explaining the parking method provided in the embodiment of the present application, the system architecture involved in the embodiment of the present application is first explained.

[0077] Next, the applicable scenarios or system architectures of the embodiments of the present application will be described exemplarily. Figure 1a , Figure 1b , Figure 2 and Figure 3 .

[0078] Combination Figure 1a , Figure 1b and Figure 2 As shown, the system architecture of the embodiment of the present application may include: a first parking device 100 , a second parking device 200 , a first control component 300 , a second control component 400 and a communication device 500 .

[0079] The first parking device 100 and the second parking device 200 are respectively arranged corresponding to the front wheels and the rear wheels;

[0080] Wherein, each parking device controls the wheel by driving the corresponding parking mechanism, and each parking mechanism is provided corresponding to one wheel of the vehicle;

[0081] The first control component 300 includes a first parking chip 301 and a second parking chip 302;

[0082] The second control component 400 includes a third parking chip 401 and a fourth parking chip 402;

[0083] The first control component 300 and the second control component 400 can drive the first parking device 100 and the second parking device 200 respectively;

[0084] The communication device 500 can communicate with the first control component 300 or the second control component 400, and after the communication device 500 sends a parking signal to any control component, any control component forwards the parking signal to another control component to realize the transmission of the parking signal, wherein the first control component 300 and the second control component 400 can communicate with each other, and the first parking chip 301, the second parking chip 302, the third parking chip 401 and the fourth parking chip 402 can communicate with each other.

[0085] Specifically, Figure 3 As shown, the first control component 300 and the second control component 400 can be a front controller and a rear controller respectively, so as to control the corresponding parking mechanism, such as an EMB (Electromechanical Brake System) actuator, based on the relationship between the first parking device 100 and the second parking device 200 and the corresponding settings of the wheels.

[0086] The communication device 500 receives signals from the first control component 300 and the second control component 400 respectively, and as redundancy, ensures that after the first control component 300 and the second control component 400 fail, the communication device 500 can still send instructions to the parking mechanisms of the four wheels through the parking chip.

[0087] The power supplies are respectively used to supply power to the four parking mechanisms, the first control assembly 300 and the second control assembly 400, one of which is a redundant power supply to prevent the electronic parking system from being unable to work due to a failure of a certain power supply.

[0088] Figure 4 It is a schematic flow chart of a parking method provided in an embodiment of the present application.

[0089] For example, Figure 4 As shown, the parking method is applied to any parking chip, which includes the following steps:

[0090] In step S401, a parking signal sent by a communication device or other parking chip is received.

[0091] During the actual implementation process, the embodiments of the present application can be applied to any parking chip, and then receive the parking signal sent by the communication device, forward the parking signal to other parking chips, or receive the parking signal forwarded by other parking chips. There is no need for the communication device to uniformly send the parking signal to all parking chips, thereby ensuring the efficiency and quality of signal transmission.

[0092] In step S402, based on the parking signal, the current parking strategy of the parking chip is determined.

[0093] As a possible implementation method, the parking chip of the embodiment of the present application can determine the current parking strategy of the parking chip after receiving the parking signal.

[0094] Among them, the parking signal may include a parking condition signal, a vehicle speed signal, a wheel parameter signal, a parking environment condition signal, etc.

[0095] For example, when the vehicle speed in the parking signal is relatively high, the current parking strategy of the embodiment of the present application may be to first provide a deceleration braking force until the speed drops to the parking range, and then provide a parking force, etc.;

[0096] When the vehicle is parked on a flat road and at a high speed, a torque reduction signal is sent to the drive motor, and the braking system provides a large deceleration braking force until the speed drops to ≤1kph. At this time, the vehicle's parking mechanism, such as the solenoid valve, works to complete parking.

[0097] When the vehicle is parked on a flat road and the speed is 0, parking force can be provided directly;

[0098] When the vehicle is parked on a slope and the speed is not 0, a torque reduction signal is first sent to the drive motor, and the brake system provides a large deceleration braking force until the vehicle stops. The solenoid valve works and determines the parking force based on the slope parameters in the parking condition, thereby completing the parking.

[0099] When the vehicle is parked on a slope and the vehicle speed is 0, the solenoid valve works and determines the parking force based on the slope parameters in the parking condition to complete the parking.

[0100] Optionally, in one embodiment of the present application, determining the current parking strategy of the parking chip includes: acquiring whole vehicle information of the vehicle; and determining the current parking strategy according to the whole vehicle information and the position information of the wheels corresponding to the parking chip.

[0101] In some embodiments, the embodiments of the present application can obtain the whole vehicle information of the vehicle, wherein the whole vehicle information may include accelerator pedal signal, torque signal, speed signal, wheel parameter signal, etc.; the embodiments of the present application can also obtain the position information of the wheel corresponding to the parking chip.

[0102] It is understandable that when the vehicle is parking, in order to adapt to the current road conditions and ensure parking safety and stability, the parking force provided by each wheel may be different. For example, when the vehicle is on a split road, the parking force of the high-addition side wheel is greater than the parking force of the low-addition side to prevent unstable parking of the vehicle.

[0103] Therefore, the embodiment of the present application can determine the current parking strategy based on the vehicle information and posture information, so that the current parking strategy can better meet the parking requirements.

[0104] That is to say, each of the vehicle's four parking chips corresponds to the parking mechanism of a wheel. The parking chip can obtain the data corresponding to each wheel when the vehicle is braking through the vehicle acceleration sensor, wheel speed sensor, etc., to estimate the road friction coefficient, road slope and other data. Different road adhesion coefficients correspond to different four-wheel target parking forces. Combined with the position of the wheel corresponding to the parking chip, such as whether the corresponding wheel is the front wheel or the rear wheel, the actual target parking force is obtained to obtain the current parking strategy.

[0105] For example, in the current parking strategy, this parking chip can combine the initial parking force (calculated by wheel parameters, such as wheel radius, wheel friction, ground friction and other data), posture relationship (the posture relationship of the wheels corresponding to this parking chip, such as front wheels and rear wheels) and the initial parking force and posture relationship of other parking chips to calculate the target parking force of this parking chip, and determine the parking timing of the vehicle based on the current motion state of the vehicle (accelerator pedal signal, torque signal, speed signal, etc.), so as to control the parking of the vehicle with the target parking force at the parking timing.

[0106] In step S403, the current parking strategy is used to drive the parking mechanism corresponding to the parking chip to park the vehicle, wherein the parking mechanism is one of the first parking device or the second parking device.

[0107] Furthermore, the embodiment of the present application can utilize the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle, so as to complete the parking action.

[0108] Optionally, in one embodiment of the present application, the current parking strategy is used to drive the parking mechanism corresponding to the parking chip to park, including: obtaining environmental information of the current environment of the vehicle; determining at least one control parameter of the current parking strategy based on the environmental information; determining the target parking force of the parking mechanism based on at least one control parameter to control the parking mechanism corresponding to the parking chip to park.

[0109] It is understandable that environmental factors can affect ground friction, tire pressure, etc. For example, in rainy and snowy weather, when there is water on the ground or the ground is frozen, the friction will be reduced accordingly, and the vehicle needs to increase the parking force to ensure parking stability.

[0110] Therefore, the embodiments of the present application can obtain environmental information of the current environment of the vehicle based on the vehicle's sensors, such as temperature sensors, pressure sensors, humidity sensors, cameras, wheel speed sensors, etc., such as rainy and snowy environment, plateau environment, high temperature environment, etc., so as to determine at least one control parameter of the current parking strategy according to the environmental information, wherein the control parameters may include braking force parameters, parking mechanism control parameters, parking response time parameters, etc., wherein the braking force parameters may affect the parking state of the vehicle, that is, whether the vehicle can realize dynamic and static parking functions; the parking mechanism control parameters may affect the parking state of the vehicle, that is, whether the vehicle can maintain the parking state of the vehicle after it stops; the parking response time parameters may affect the time for the vehicle to trigger parking, that is, whether the vehicle can complete parking in a shorter time when the road conditions are poor, so as to avoid the vehicle slipping and losing control.

[0111] In some embodiments, when a vehicle is in a parking state and is hit by an external force causing the body to slide, if the surrounding environment is different from when the vehicle is parked, such as water on the ground, ice, sand and gravel, etc., when the vehicle still controls the wheels according to the parking force when parked, it is difficult to ensure that the vehicle can be parked stably. At this time, the embodiment of the present application can determine a new target parking force based on environmental information, thereby ensuring that the vehicle can be parked stably again.

[0112] Furthermore, the embodiment of the present application can determine the target parking force of the parking mechanism according to at least one control parameter, thereby controlling the parking mechanism corresponding to the parking chip to park.

[0113] Through the above technical method, the current parking strategy can be adjusted according to the environmental information of the current environment of the vehicle, so as to determine the target parking force of the parking mechanism corresponding to the parking chip, so that the current parking strategy can be applicable to different environmental information, thereby ensuring parking stability.

[0114] Optionally, in one embodiment of the present application, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, it also includes: obtaining the actual service life of the wheel corresponding to the parking chip; generating the current parking strategy according to the actual service life and the initial parking strategy.

[0115] In some embodiments, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the embodiment of the present application can also determine the current parking strategy based on the actual service life of the wheel corresponding to the parking chip, wherein the actual service life of the wheel may include the service life of the tire, rim, bearing, spoke plate, etc.

[0116] For example, when any tire of the vehicle reaches the end of its service life, the parking force of the wheel decreases, and the parking forces of other wheels need to satisfy the parking force distribution curve function to achieve smooth parking. The calculation formula of the parking force distribution curve function can be:

[0117]

[0118] Among them, F μ1 is the front wheel parking force (N), F μ2 is the rear wheel parking force (N), G is the vehicle gravity (N), h g is the height of the vehicle's center of mass (m), b is the distance from the vehicle's center of mass to the center line of the rear axle (m), and L is the vehicle's wheelbase (m).

[0119] It should be noted that the service life of the wheel will affect the execution results of the wheel parking strategy. At the same time, unreasonable parking strategies will accelerate the wear of the wheels and reduce the service life of the wheels. Therefore, adjusting the initial parking strategy according to the actual service life of the wheels can ensure the parking stability of the vehicle while allocating achievable parking force to each wheel and reducing the wear of the wheels.

[0120] For example, when the service life of the wheel corresponding to the parking chip is low, for example, when the wheel surface is severely worn and the friction with the ground is reduced, the embodiment of the present application can achieve parking by increasing the parking force of the wheels corresponding to other parking chips, or can increase the parking force of the wheel corresponding to the parking chip to ensure that the friction between the wheel and the ground is the same as that of other wheels.

[0121] Optionally, in one embodiment of the present application, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, it also includes: obtaining the driver's driving habits and / or parking preferences; adjusting the current parking strategy of the parking chip according to the driving habits and / or parking preferences to obtain a new current parking strategy, so as to use the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

[0122] In other embodiments, the embodiments of the present application can also obtain the driver's driving habits and / or parking preferences based on the vehicle's historical driving data, such as the driver's preference for efficient and fast driving habits or parking preferences, energy-saving driving habits or parking preferences, and smooth driving habits or parking preferences, and then adjust the current parking strategy of the parking chip according to the driving habits and / or parking preferences.

[0123] For example, the embodiments of the present application can obtain the parking parameters manually adjusted by the driver each time the car parks, identify the frequency and signal wavelength of the parking signal, etc., determine the driver's parking preference, and adjust the preset parking strategy and the pre-stored redundant parking strategy to make the parking action more in line with the driver's preference.

[0124] The relationship between the parking signal frequency and wavelength and the parking preference may be shown in Table 1. Table 1 is a table showing the relationship between the parking signal frequency and wavelength and the parking preference.

[0125] Table 1

[0126] Parking preferences Parking signal frequency Parking signal wavelength Radical Preference <![CDATA[<1.5s -1 ]]> ≥40ms Stable Preference <![CDATA[≥1.5s -1 ]]> <40ms

[0127] When the driver prefers aggressive behavior, the parking signal is transmitted faster and more sensitively, and the parking force corresponding to the parking is greater. When the parking chip recognizes that the wavelength of the parking signal is less than or equal to a certain limit value, the parking chip defaults to a false touch situation;

[0128] When the driver prefers stability, the wavelength of the parking signal is smaller and the frequency of the parking signal is larger. When the parking chip recognizes that the wavelength of the parking signal is greater than a certain limit value, the parking chip defaults to a false touch situation.

[0129] Through the above technical approach, the parking strategy can be adjusted according to the driver's driving habits and / or parking preferences, so that the current parking strategy is more in line with the driver's habits or preferences, thereby improving the driver's driving experience.

[0130] Optionally, in one embodiment of the present application, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, it also includes: collecting at least one wheel parameter of the wheel corresponding to the parking chip; adjusting the current parking strategy of the parking chip according to the at least one wheel parameter to obtain a new current parking strategy, so as to use the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

[0131] During the actual execution process, the embodiment of the present application can also collect at least one wheel parameter of the wheel corresponding to the parking chip, such as wheel radius, tire pressure, wheel speed, current steering angle of the wheel, etc.

[0132] The embodiment of the present application can adjust the current parking strategy of the parking chip according to at least one wheel parameter, such as calculating the required parking force required for a single wheel when parking the vehicle through the wheel radius, tire pressure and wheel wear, and optimizing the current parking strategy by comparing the parking force in the current parking strategy with the required parking force, to obtain a new current parking strategy with the required parking force as the actual parking force.

[0133] Through the above technical approach, the parking strategy can be adjusted according to the wheel parameters of the corresponding wheels, thereby reducing the wear on the wheels and making the parking strategy more in line with the actual conditions of the wheels, and adjusting the wheels accordingly.

[0134] Optionally, in one embodiment of the present application, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, it also includes: detecting whether the vehicle meets the preset parking conditions; if it is detected that the preset parking conditions are not met, reminding the driver of parking failure.

[0135] As a possible implementation method, the embodiment of the present application can detect whether the vehicle meets the preset parking conditions before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, wherein the preset parking conditions can be to determine whether the parking mechanism is faulty / failed, etc.

[0136] When the vehicle meets the preset parking conditions, the embodiment of the present application can use the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle;

[0137] When the vehicle does not meet the preset parking conditions, the embodiment of the present application can push a parking failure reminder to the driver by means of acoustic reminders, optical reminders and / or vibration reminders, so that the driver can manually adjust the parking parameters or manually take over the parking control based on the failure reminder. Furthermore, troubleshooting and maintenance can be carried out in a timely manner.

[0138] Among them, the acoustic reminder can be a voice reminder or a warning sound reminder played by the vehicle speakers; the optical reminder can be a flashing reminder of the corresponding icon on the dashboard or a text reminder on the center console; the vibration reminder can be a steering wheel vibration reminder or a seat vibration reminder. The specific reminder method can be set by technical personnel in this field according to actual conditions, and no specific limitation is made here.

[0139] Through the above-mentioned technical approach, when the vehicle does not meet the preset parking conditions, a parking failure reminder can be issued, which is convenient for the driver to take over control and troubleshoot the fault in time.

[0140] Optionally, in one embodiment of the present application, while reminding the driver of parking failure, it also includes: generating a parking control recommendation reminder for the vehicle based on the vehicle's entire vehicle information; and pushing the parking control recommendation reminder to the driver.

[0141] During the actual implementation process, the embodiment of the present application can generate a reference operation for the driver to manually park the vehicle based on the vehicle's overall information, such as the vehicle's current wheel speed, current driving conditions, target parking brake force, fault information, etc., when the vehicle does not meet the preset parking conditions, so as to prevent traffic accidents caused by the driver's difficulty in responding in time when encountering emergencies.

[0142] In summary, the present application can receive parking instructions from a communication device or other parking chips, and there is no need for the communication device to uniformly and simultaneously send parking instructions to each parking chip, thereby improving signal transmission efficiency and reducing channel occupancy. The present parking chip can determine the current parking strategy based on the parking signal, so that the current parking strategy can be adjusted accordingly according to the different parking signals, thereby meeting a variety of different working conditions, so as to control the vehicle to complete the parking action according to the current parking strategy, achieve stable parking of the vehicle, and improve parking safety. Moreover, each chip is independent of each other. When one chip fails, other chips can still complete the parking action, thereby achieving redundant parking.

[0143] Figure 5 It is a structural schematic diagram of a parking device provided in an embodiment of the present application.

[0144] For example, Figure 5 As shown, the parking device 50 is applied to any parking chip, and includes: a receiving module 51 , a determining module 52 and a driving module 53 .

[0145] Specifically, the receiving module 51 is used to receive a parking signal sent by a communication device or other parking chips.

[0146] The determination module 52 is used to determine the current parking strategy of the parking chip based on the parking signal.

[0147] The driving module 53 is used to drive the parking mechanism corresponding to the parking chip to park the vehicle using the current parking strategy, wherein the parking mechanism is one of the first parking device or the second parking device.

[0148] Optionally, in one embodiment of the present application, the determination module 52 includes: a first acquisition unit and a first determination unit.

[0149] Wherein, the first acquisition unit is used to acquire the whole vehicle information of the vehicle.

[0150] The first determination unit is used to determine the current parking strategy according to the whole vehicle information and the position information of the wheels corresponding to the parking chip.

[0151] Optionally, in one embodiment of the present application, the driving module 53 includes: a second acquiring unit, a second determining unit and a third determining unit.

[0152] The second acquisition unit is used to acquire environmental information of the current environment of the vehicle.

[0153] The second determination unit is used to determine at least one control parameter of the current parking strategy according to the environmental information.

[0154] The third determination unit is used to determine the target parking force of the parking mechanism according to at least one control parameter to control the parking mechanism corresponding to the parking chip to park.

[0155] Optionally, in one embodiment of the present application, the parking device 50 further includes: a first acquisition module and a generation module.

[0156] The first acquisition module is used to acquire the actual service life of the wheel corresponding to the parking chip.

[0157] The generating module is used for generating a current parking strategy according to the actual service life and the initial parking strategy.

[0158] Optionally, in one embodiment of the present application, the parking device 50 further includes: a second acquisition module and a first adjustment module.

[0159] The second acquisition module is used to acquire the driver's driving habits and / or parking preferences.

[0160] The first adjustment module is used to adjust the current parking strategy of the parking chip according to driving habits and / or parking preferences to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park using the new current parking strategy.

[0161] Optionally, in one embodiment of the present application, the parking device 50 further includes: a collection module and a second adjustment module.

[0162] Among them, the acquisition module is used to collect at least one wheel parameter of the wheel corresponding to the parking chip.

[0163] The second adjustment module is used to adjust the current parking strategy of the parking chip according to at least one wheel parameter to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park using the new current parking strategy.

[0164] Optionally, in one embodiment of the present application, the parking device 50 further includes: a detection module and a reminder module.

[0165] Among them, the detection module is used to detect whether the vehicle meets the preset parking conditions.

[0166] The reminder module is used to remind the driver of parking failure when it is detected that the preset parking conditions are not met.

[0167] Optionally, in one embodiment of the present application, the reminder module is further used to generate a parking control recommendation reminder for the vehicle based on the vehicle's entire vehicle information; and push the parking control recommendation reminder to the driver.

[0168] In summary, the present application can receive parking instructions from a communication device or other parking chips, and there is no need for the communication device to uniformly and simultaneously send parking instructions to each parking chip, thereby improving signal transmission efficiency and reducing channel occupancy. The present parking chip can determine the current parking strategy based on the parking signal, so that the current parking strategy can be adjusted accordingly according to the different parking signals, thereby meeting a variety of different working conditions, so as to control the vehicle to complete the parking action according to the current parking strategy, achieve stable parking of the vehicle, and improve parking safety. Moreover, each chip is independent of each other. When one chip fails, other chips can still complete the parking action, thereby achieving redundant parking.

[0169] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0170] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0171] When the processor 602 executes the program, the parking method provided in the above embodiment is implemented.

[0172] Furthermore, the vehicle also includes:

[0173] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0174] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0175] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0176] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0177] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0178] The processor 602 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0179] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above parking method is implemented.

[0180] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0181] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0182] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0183] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0184] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0185] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0186] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0187] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A parking method, characterized in that, the vehicle includes a first parking device and a second parking device respectively corresponding to the front wheels and the rear wheels, a first control component for driving the first parking device to park, a second control component for driving the second parking device to park, and a communication device communicating with the first control component or the second control component. Wherein, the first control component includes a first parking chip and a second parking chip, the second control component includes a third parking chip and a fourth parking chip, and the first parking chip, the second parking chip, the third parking chip and the fourth parking chip communicate with each other. Both the first parking device and the second parking device include two parking mechanisms. Wherein, the method is applied to any one of the parking chips and includes the following steps: Receiving a parking signal sent by the communication device or other parking chips; Based on the parking signal, determining the current parking strategy of the present parking chip; and Using the current parking strategy to drive the parking mechanism corresponding to the present parking chip to park.

2. The method according to claim 1, characterized in that, the determining the current parking strategy of the present parking chip includes: Obtaining the vehicle's overall vehicle information; Determining the current parking strategy according to the overall vehicle information and the pose information of the wheel corresponding to the present parking chip.

3. The method according to claim 1, characterized in that, the using the current parking strategy to drive the parking mechanism corresponding to the present parking chip to park includes: Obtaining the environmental information of the current environment where the vehicle is located; Determining at least one control parameter of the current parking strategy according to the environmental information; Determining the target parking force of the parking mechanism according to the at least one control parameter to control the parking mechanism corresponding to the present parking chip to park.

4. The method according to claim 1, characterized in that, before using the current parking strategy to drive the parking mechanism corresponding to the present parking chip to park, it further includes: Obtaining the actual service life of the wheel corresponding to the present parking chip; Generating the current parking strategy according to the actual service life and the initial parking strategy.

5. The method according to claim 1, characterized in that, before using the current parking strategy to drive the parking mechanism corresponding to the present parking chip to park, it further includes: Obtaining the driving habits and / or parking preferences of the driver; Adjusting the current parking strategy of the present parking chip according to the driving habits and / or the parking preferences to obtain a new current parking strategy, so as to use the new current parking strategy to drive the parking mechanism corresponding to the present parking chip to park.

6. The method according to claim 1, characterized in that, before using the current parking strategy to drive the parking mechanism corresponding to the present parking chip to park, it further includes: Collecting at least one wheel parameter of the wheel corresponding to the present parking chip; Adjusting the current parking strategy of the present parking chip according to the at least one wheel parameter to obtain a new current parking strategy, so as to use the new current parking strategy to drive the parking mechanism corresponding to the present parking chip to park.

7. The method according to claim 1, wherein, before using the current parking strategy to drive the parking mechanism corresponding to the present parking chip to park, it further includes: detecting whether the vehicle meets a preset parking condition; in the case where it is detected that the preset parking condition is not met, giving a parking failure reminder to the driver.

8. The method according to claim 7, wherein, while giving a parking failure reminder to the driver, it further includes: generating a parking control recommendation reminder for the vehicle based on the vehicle's vehicle information; pushing the parking control recommendation reminder to the driver.

9. A vehicle, wherein, it includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the parking method according to any one of claims 1-8.

10. A computer-readable storage medium, wherein, the computer-readable storage medium stores a computer program, and when the computer program is executed, it implements the parking method according to any one of claims 1 to 8.

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