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 is received; detecting whether a parking mechanism corresponding to other parking chips fails or not, the parking mechanism being one of the first parking device or the second parking device; and when it is detected that the parking mechanisms corresponding to the other parking chips fail, the corresponding parking mechanism is driven to park according to a pre-stored standby parking strategy. According to the method, under the condition that the parking mechanisms corresponding to the other parking chips fail, the parking mechanisms corresponding to the other parking chips can be driven to park by using the standby parking strategy pre-stored by the parking chip, redundant parking of the vehicle is achieved, vehicle body unbalance during parking caused by parking failure of the parking mechanisms corresponding to part of the parking chips is prevented, and the service life of the vehicle is prolonged. Therefore, the vehicle body stability of the vehicle under the condition that the parking mechanism fails is improved, and the parking safety is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle braking, and more particularly, to a parking method, a vehicle, and a storage medium in the field of vehicle braking. Background Art

[0002] In related technologies, by adopting an electronic parking system, that is, an EPB (Electrical Park Brake), the disadvantages of a traditional mechanical parking braking system are avoided. The EPB has higher precision and control performance and is the core parking system for realizing advanced assisted driving, autonomous driving, and deep braking energy recovery of vehicles.

[0003] However, in related technologies, the parking braking system has high requirements for the main chip and the corresponding parking mechanism. The parking mechanism affects whether the vehicle can complete the parking braking action. Once a failure occurs, it will be difficult to ensure parking braking safety, and there is an urgent need for improvement. Summary of the Invention

[0004] This application provides a parking method, a vehicle, and a storage medium. This method can, in the case where the parking mechanisms corresponding to other parking chips fail, drive the corresponding parking mechanism to park by using a backup parking strategy pre-stored in this parking chip, realize redundant parking of the vehicle, prevent the vehicle body from losing balance during parking caused by the parking failure of the parking mechanisms corresponding to some parking chips, thereby improving the vehicle body stability when the parking mechanism fails and improving parking safety.

[0005] In a first aspect, a parking method is provided. 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 work, a second control component for driving the second parking device to work, and a communication device communicating with the first control component or the second control component. Among them, the first control component includes a first parking chip and a second parking chip, and the second control component includes a third parking chip and a fourth parking chip. Among them, the first parking chip, the second parking chip, the third parking chip, and the fourth parking chip communicate with each other. This method is applied to any parking chip and includes the following steps:

[0006] Receive a parking signal sent by the communication device;

[0007] Detect whether the parking mechanisms corresponding to other parking chips fail, where the parking mechanism is one included in the first parking device or the second parking device; and

[0008] In the case where it is detected that the parking mechanisms corresponding to other parking chips fail, drive the parking mechanisms corresponding to other parking chips to park according to a pre-stored backup parking strategy.

[0009] Through the above technical means, when the parking mechanism corresponding to other parking chips fails, the parking mechanism corresponding to this parking chip can be driven to park by using the pre-stored backup parking strategy, realizing redundant parking of the vehicle, preventing the vehicle body from losing balance during parking caused by the failure of the parking mechanism corresponding to some parking chips, thereby improving the vehicle body stability when the parking mechanism fails and enhancing parking safety.

[0010] In combination with the first aspect, in some possible implementation manners, before driving the parking mechanism corresponding to the other parking chips to park according to the pre-stored backup parking strategy, it further includes:

[0011] Obtain the failure information of the parking mechanism corresponding to the other parking chips;

[0012] Match the corresponding backup parking strategy according to the failure information.

[0013] Through the above technical means, the corresponding backup parking strategy can be matched according to the failure information to achieve more targeted redundant parking for different failure situations and ensure the smoothness of vehicle parking.

[0014] In combination with the first aspect, in some possible implementation manners, before driving the parking mechanism corresponding to the other parking chips to park according to the pre-stored backup parking strategy, it further includes:

[0015] Detect the actual failure type of the parking mechanism corresponding to the other parking chips;

[0016] Determine the backup parking strategy according to the actual failure type.

[0017] Through the above technical means, the corresponding backup parking strategy can be determined according to the actual failure type of the parking mechanism, so as to achieve more targeted redundant parking for different failure types and ensure the smoothness of vehicle parking.

[0018] In combination with the first aspect, in some possible implementation manners, before driving the parking mechanism corresponding to the other parking chips to park according to the pre-stored backup parking strategy, it further includes:

[0019] Obtain the historical parking data or the last parking data of the parking mechanism corresponding to the other parking chips;

[0020] Generate a new parking strategy according to the historical parking data or the last parking data in combination with the current parking strategy of this parking chip as the backup parking strategy.

[0021] Through the above technical means, the backup parking strategy can be modified according to historical parking data or the previous parking data, so that the backup parking strategy can conform to the driver's historical parking habits.

[0022] Combined with the first aspect, in some possible implementation manners, driving the parking mechanism corresponding to the other parking chips to park according to the pre-stored backup parking strategy includes:

[0023] Obtain the parking information of all failed parking mechanisms;

[0024] Simulate the parking effect according to the parking information, the backup parking strategy, and the parking information of all non-failed parking mechanisms to obtain a simulation result;

[0025] Detect whether the simulation result meets the preset safe parking condition;

[0026] When it is detected that the simulation result meets the preset safe parking condition, drive the parking mechanism corresponding to the other parking chips to park according to the backup parking strategy.

[0027] Through the above technical means, it is possible to perform parking simulation using the backup parking strategy based on the parking information of all the vehicle's parking mechanisms, so as to judge whether the backup parking strategy is safe and reliable according to the simulation result.

[0028] Combined with the first aspect, in some possible implementation manners, after detecting whether the simulation result meets the preset safe parking condition, it further includes:

[0029] When it is detected that the simulation result does not meet the preset safe parking condition, push the simulation result to a preset terminal.

[0030] Through the above technical means, it is possible to timely send the simulation result to a preset terminal when the simulation result does not meet the preset safe parking condition, so as to seek external help.

[0031] Combined with the first aspect, in some possible implementation manners, before driving the parking mechanism corresponding to the other parking chips to park according to the pre-stored backup parking strategy, it further includes:

[0032] Judge whether the pre-stored backup parking strategy meets the preset call condition according to the vehicle's overall vehicle information;

[0033] If the backup parking strategy does not meet the preset call condition, generate a corresponding backup parking strategy according to the overall vehicle information and the current parking strategy of the other parking chips, and use it as the pre-stored backup parking strategy.

[0034] Through the above technical means, it is possible to determine whether the pre-stored backup parking strategy can be invoked. When it cannot be invoked, a new backup parking strategy is generated based on the vehicle information and the current parking strategies of other parking chips, so as to ensure that the backup parking strategy is always available when the parking mechanism of the vehicle fails.

[0035] In combination with the first aspect, in some possible implementation manners, it further includes:

[0036] When it is detected that the parking mechanism corresponding to the present parking chip fails, while driving the parking mechanism corresponding to the present parking chip to park, the parking information of the parking mechanism corresponding to the present parking chip and / or the parking strategy and / or control parameters of the present parking chip are sent to the other parking chips.

[0037] Through the above technical solution, when the parking mechanism corresponding to the present parking chip fails, the parking information of the parking mechanism corresponding to the present parking chip and / or the parking strategy and / or control parameters of the present parking chip can be sent to other parking chips, so as to facilitate the corresponding adjustment of the parking strategy by other parking chips to ensure the stability of vehicle parking.

[0038] In a second aspect, a parking device is provided. 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 and a second control component respectively driving the first parking device and the second parking device to work, and a communication device communicating with the first control component or the second control component. Among them, the first control component includes a first parking chip and a second parking chip, and the second control component includes a third parking chip and a fourth parking chip. Among them, the device is applied to any parking chip, and the device includes:

[0039] A receiving module, configured to receive a parking signal sent by the communication device;

[0040] A detection module, configured to detect whether the parking mechanism corresponding to other parking chips fails, where the parking mechanism is one included in the first parking device or the second parking device; and

[0041] A driving module, configured to drive the parking mechanism corresponding to the other parking chips to park according to the pre-stored backup parking strategy when it is detected that the parking mechanism corresponding to the other parking chips fails.

[0042] In combination with the second aspect, in some possible implementation manners, it further includes:

[0043] A first obtaining module, configured to obtain the failure information of the parking mechanism corresponding to other parking chips;

[0044] A matching module, configured to match the corresponding backup parking strategy according to the failure information.

[0045] In combination with the second aspect, in some possible implementation manners, it further includes:

[0046] A detection module, configured to detect the actual failure type of the parking mechanism corresponding to the other parking chips;

[0047] A determination module, configured to determine the backup parking strategy according to the actual failure type.

[0048] In combination with the second aspect, in some possible implementation manners, it further includes:

[0049] A second acquisition module, configured to acquire the historical parking data or the last parking data of the parking mechanism corresponding to the other parking chips;

[0050] A first generation module, configured to generate a new parking strategy according to the historical parking data or the last parking data in combination with the current parking strategy of the present parking chip, and use it as the backup parking strategy.

[0051] In combination with the second aspect, in some possible implementation manners, the driving module includes:

[0052] An acquisition unit, configured to acquire the parking information of all failed parking mechanisms;

[0053] A simulation unit, configured to simulate the parking effect according to the parking information, the backup parking strategy and the parking information of all non-failed parking mechanisms to obtain a simulation result;

[0054] A detection unit, configured to detect whether the simulation result meets a preset safe parking condition;

[0055] A driving unit, configured to drive the parking mechanism corresponding to the other parking chips to park according to the backup parking strategy when it is detected that the simulation result meets the preset safe parking condition.

[0056] In combination with the second aspect, in some possible implementation manners, the driving module is further configured to push the simulation result to a preset terminal when it is detected that the simulation result does not meet the preset safe parking condition.

[0057] In combination with the second aspect, in some possible implementation manners, it further includes:

[0058] A judgment module, configured to judge whether the pre-stored backup parking strategy meets a preset call condition according to the vehicle's overall vehicle information;

[0059] A second generation module, configured to generate a corresponding backup parking strategy based on the vehicle information and the current parking strategies of other parking chips when the backup parking strategy does not meet the preset invocation conditions, and use the generated strategy as the pre-stored backup parking strategy.

[0060] In combination with the second aspect, in some possible implementation manners, the system further includes:

[0061] A control module, configured to, when detecting that the parking mechanism corresponding to the present parking chip fails, while driving the parking mechanism corresponding to the present parking chip to park, send the parking information of the parking mechanism corresponding to the present parking chip and / or the parking strategy and / or control parameters of the present parking chip to the other parking chips.

[0062] In a third aspect, a vehicle is provided, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the parking method as described in the above embodiments.

[0063] In a fourth aspect, a computer program product is provided, including: computer program code, which, when running on a computer, causes the computer to execute the parking method in the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1a FIG. is a schematic diagram of a system architecture of a parking method according to an embodiment of the present application;

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

[0066] Figure 2 FIG. is a schematic diagram of a system architecture of a parking method according to still another embodiment of the present application;

[0067] Figure 3 FIG. is a schematic diagram of a system architecture of a parking method according to yet another embodiment of the present application;

[0068] Figure 4 FIG. is a flowchart of a parking method provided according to an embodiment of the present application;

[0069] Figure 5 FIG. is a schematic structural diagram of a parking device provided according to an embodiment of the present application;

[0070] Figure 6 FIG. is a schematic structural diagram of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0071] 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.

[0072] 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.

[0073] 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 mechanical parking requires the intervention of the driver, it is not compatible with autonomous driving technology, which imposes certain restrictions on the future development of automobiles.

[0074] 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 auxiliary basis for braking and parking for autonomous driving technology. However, EPB needs to use the parking mechanism to achieve vehicle deceleration and parking control. When the parking mechanism fails, it often causes the vehicle to lose control when parking, causing major safety accidents, making it difficult to ensure parking brake safety, which is not conducive to improving the driver's driving experience.

[0075] 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.

[0076] Next, the application scenario or system architecture of the embodiment of the present application will be described. Figure 1a , Figure 1b , Figure 2 and Figure 3 .

[0077] Combination Figure 1a , Figure 1b andFigure 2 As shown in the figure, the system architecture of the embodiments 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.

[0078] Among them, the first parking device 100 and the second parking device 200 are respectively arranged corresponding to the front wheels and the rear wheels;

[0079] The first control component 300 includes a first parking chip 301 and a second parking chip 302;

[0080] The second control component 400 includes a third parking chip 401 and a fourth parking chip 402;

[0081] The first control component 300 drives the first parking device 100 to perform a parking action;

[0082] The second control component 400 can drive the second parking device 200 to perform a parking action;

[0083] The communication device 500 can communicate with the first control component 300 or the second control component 400. After the communication device 500 sends a parking signal to any one of the control components, the parking signal is forwarded by any one of the control components to the other control component to realize the transmission of the parking signal. Among them, 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.

[0084] Specifically, as Figure 3 shown, the first control component 300 and the second control component 400 can be respectively a front controller and a rear controller, so as to control the corresponding parking mechanism, such as an EMB (Electromechanical Brake System) actuator, based on the relationship that the first parking device 100 and the second parking device 200 are respectively arranged corresponding to the front wheels and the rear wheels.

[0085] The communication device 500 respectively receives the signals of the first control component 300 and the second control component 400. As a redundancy, it is ensured 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 mechanism actuators of the four wheels through the parking chips.

[0086] The power supply supplies power to the four parking mechanism actuators, the first control component 300, and the second control component 400 respectively. One of them is a redundant power supply to prevent the electronic parking system from failing to work due to the failure of a certain power supply.

[0087] Figure 4It is a schematic flowchart of a parking method provided by an embodiment of the present application.

[0088] Exemplarily, as Figure 4 shown, the parking method includes the following steps:

[0089] In step S401, a parking signal sent by a communication device is received.

[0090] In the actual execution process, any parking chip of the embodiment of the present application can receive the parking signal sent by the communication device, thereby generating a corresponding parking strategy based on the parking signal to control the corresponding parking mechanism to park through the parking strategy. At the same time, the parking signal can also be forwarded to other parking chips to improve the transmission efficiency and transmission quality of the signal.

[0091] In step S402, it is detected whether the parking mechanism corresponding to other parking chips fails, where the parking mechanism is one of those included in the first parking device or the second parking device.

[0092] It can be understood that the parking mechanism corresponding to the parking chip may fail. The failure reasons may include that the parking strategy in the parking chip cannot be sent to the parking mechanism, the parking chip cannot receive the feedback signal of the parking mechanism, etc.; the corresponding failure consequences may be that the parking chip cannot adjust the parking strategy in time according to the actual parameters of the parking mechanism, etc.

[0093] Furthermore, when only some of the parking mechanisms corresponding to the parking chips fail, the non-failed parking mechanisms execute the parking strategy according to the corresponding parking chips. When the failed parking mechanisms cannot execute the same parking strategy, it is very easy to cause the vehicle to become unbalanced during parking, thus triggering a traffic accident.

[0094] Among them, the detection method for whether the parking mechanism fails may include:

[0095] Whether the driving current of the solenoid valve push rod is in place, and at the same time, it is judged whether there are situations such as poor contact and short circuit through the magnitude of the current;

[0096] It is detected by a displacement sensor whether the solenoid valve push rod reaches the expected physical position;

[0097] The driving state of the solenoid valve push rod is cancelled (due to the characteristics of the push rod, the push rod will remain in place), the driving current of the braking motor slowly decreases, and it is observed whether the rotation angle of the driving motor changes;

[0098] Send corresponding signals to the parking mechanism through the parking chip, detect the response status of the parking mechanism, or determine whether the parking chip can receive the data fed back by the parking mechanism. When the data fed back by the parking mechanism can be received, compare it with the data received by other parking chips to determine whether the difference between the data conforms to the pose relationship between different parking mechanisms.

[0099] Through the above method, it is possible to detect whether the parking mechanism is faulty or fails.

[0100] Therefore, the embodiment of the present application can detect whether the parking mechanism corresponding to other parking chips fails on the premise that the parking mechanism corresponding to the present parking chip does not fail, where the parking mechanism is one of those included in the first parking device or the second parking device.

[0101] It should be noted that the situation where the parking mechanism corresponding to the present parking chip fails will be elaborated below.

[0102] In step S403, when it is detected that the parking mechanism corresponding to other parking chips fails, drive the parking mechanism corresponding to other parking chips to park according to the pre-stored backup parking strategy.

[0103] Furthermore, the embodiment of the present application can, when it is detected that the parking mechanism corresponding to other parking chips fails, that is, when the parking strategy in other parking chips cannot be transmitted to the parking mechanism corresponding to other parking chips, drive the parking mechanism corresponding to other parking chips to park according to the pre-stored backup parking strategy, so as to achieve that each parking mechanism can participate in vehicle braking while maintaining the vehicle body stability when parking.

[0104] Among them, the backup parking strategy will be elaborated below.

[0105] Optionally, in an embodiment of the present application, before driving the parking mechanism corresponding to other parking chips to park according to the pre-stored backup parking strategy, it further includes: obtaining the failure information of the parking mechanism corresponding to other parking chips; matching the corresponding backup parking strategy according to the failure information.

[0106] In some embodiments, the backup parking strategy can be obtained by matching the failure information of the parking mechanism corresponding to other parking chips.

[0107] Among them, the failure information may include: failure type, failure signal, failure value, etc. The embodiment of the present application can match the corresponding backup parking strategy according to different failure information, so that the backup parking strategy can achieve more targeted redundant parking for different failure situations and ensure the smoothness of vehicle parking.

[0108] For example, based on different failure types, such as the failure of the parking device control component, the failure of the parking mechanism receiving module, etc., the corresponding backup parking strategies matched by the embodiments of the present application can be to enable other non-failed components or modules, or to attempt to restart, etc.

[0109] Optionally, in an embodiment of the present application, before driving the parking mechanism corresponding to other parking chips according to the pre-stored backup parking strategy, it further includes: detecting the actual failure type of the parking mechanism corresponding to other parking chips; determining the backup parking strategy according to the actual failure type.

[0110] In some other embodiments, the embodiments of the present application can also determine the backup parking strategy according to the actual failure type of the parking mechanism corresponding to other parking chips, where the actual failure type of the parking mechanism can include: occasional failure of the control component of the parking mechanism; failure of the parking mechanism receiving module (such as drive failure, signal failure, where the failure reason can be harness failure, plug failure, etc.); occasional failure of the clamping module (such as occasional failure, jamming, and failure to execute in place of the clamping module); occasional failure of the parking execution module (such as occasional failure, jamming, and failure to execute in place of the parking execution module); signal feedback failure, etc.

[0111] When the failure information is the failure of the control component of the parking mechanism, the corresponding backup parking strategy can be to reset the failed control component, similar to restarting, retain the driver's usage requirements, and attempt to control after recovery. After repeating the reset 3 times and being unable to execute, it is determined that the control component cannot be restored in a short time, which may be a parking mechanism failure, and the parking operation is performed by other parking mechanisms. Among them, the control component can include an electronic control unit, a chip, a communication structure, etc., and can be specifically set by those skilled in the art according to the actual connection method of the parking mechanism;

[0112] When the failure information is the failure of the parking mechanism receiving module, the corresponding backup parking strategy can be that the failure of the parking mechanism receiving module causes the parking mechanism to be unable to execute. It is determined that the control component cannot be restored in a short time, which may be a parking mechanism failure, and the parking operation is performed by other parking mechanisms;

[0113] When the failure information is the failure of the clamping module, the corresponding backup parking strategy can be to reset the failed clamping module component, similar to restarting, retain the user's usage requirements, and attempt to control after recovery. After occurring 3 times within a cumulative period of time, it is determined that the availability of the clamping components in this round of clamping modules is low, which may be a parking mechanism failure, and the parking operation is performed by other parking mechanisms;

[0114] When the failure information is signal feedback failure, the corresponding alternative parking strategy can be: when there is a relevant detection method to determine the execution situation, the execution result shall prevail. If available, maintain the parking brake function of this wheel. If not available, perform degradation, and let other parking mechanisms perform the parking operation to ensure the clamping force; when the relevant detection methods cannot determine the execution situation, it is considered that the unavailability is low, and other parking mechanisms perform the parking operation to ensure the clamping force.

[0115] Through the above technical means, it is possible to determine the corresponding alternative parking strategy according to the actual failure type of the parking mechanism, so as to achieve more targeted redundant parking for different failure types and ensure the smoothness of vehicle parking.

[0116] Optionally, in an embodiment of the present application, before driving the parking mechanism corresponding to other parking chips to park according to the pre-stored alternative parking strategy, it further includes: obtaining the historical parking data or the last parking data of the parking mechanism corresponding to other parking chips; generating a new parking strategy according to the historical parking data or the last parking data combined with the current parking strategy of this parking chip as the alternative parking strategy.

[0117] Furthermore, the embodiment of the present application can also obtain a new parking strategy according to the historical parking data or the last parking data combined with the current parking strategy of this parking chip, so that the alternative parking strategy can conform to the driver's historical parking habits.

[0118] Among them, the historical parking data or the last parking data can facilitate the embodiment of the present application to assist the vehicle in parking with the parking strategy used before in the same or similar situations, so as to improve the matching degree of the parking strategy and the current parking working condition. Combining with the current parking strategy of this parking chip can further make the parking strategy more suitable in the case where the working condition may change.

[0119] When the parking working condition of the vehicle in the historical parking data or the last parking data is different from the current parking working condition, the embodiment of the present application can extract the driver's parking preferences from the historical parking data or the last parking data, such as efficient parking preference, smooth parking preference, etc., so as to generate a new parking strategy based on the parking preference and the current parking strategy of this parking chip. For example, based on the relationship between deceleration and brake pedal travel in the vehicle historical data, determine the driver's parking preference, so as to judge whether the relationship between deceleration and brake pedal travel in the current parking strategy matches the relationship between deceleration and brake pedal travel in the historical data. When they do not match, correct the relationship between deceleration and brake pedal travel in the current parking strategy to the historical data, or take the intermediate value of the current parking strategy and the historical data to obtain a new parking strategy.

[0120] Optionally, in an embodiment of the present application, driving the parking mechanism corresponding to other parking chips according to a pre-stored alternative parking strategy includes: obtaining the parking information of all failed parking mechanisms; simulating the parking effect according to the parking information, the alternative parking strategy, and the parking information of all non-failed parking mechanisms to obtain a simulation result; detecting whether the simulation result meets a preset safe parking condition; and when it is detected that the simulation result meets the preset safe parking condition, driving the parking mechanism corresponding to other parking chips according to the alternative parking strategy.

[0121] During the actual execution process, the embodiment of the present application can also simulate according to the parking information of all failed parking mechanisms, the alternative parking strategy, and the parking information of non-failed parking mechanisms, and determine whether the simulation result meets the preset safe parking condition. Among them, the preset safe parking condition can be whether the parking position is the target parking position when the vehicle completes parking, whether the wheels are straightened after the vehicle parks, whether there is a possibility of the vehicle slipping after parking, whether the vehicle can complete parking within the expected parking duration, etc.; the parking information of the failed parking mechanism can include parking mechanism fault alarm signal data, the failure information of the parking mechanism, the failure type, the status information, the number of failed parking mechanisms, etc., to determine the specific failed components of the parking mechanism and the pose relationship between the failed parking mechanisms, determine the pose relationship between the failed parking mechanism and the non-failed parking mechanism, and the parking information of the non-failed parking mechanism can include no parking mechanism fault alarm signal, the position information of the parking mechanism, etc.

[0122] When the simulation result meets the preset safety condition, the embodiment of the present application can use the current alternative parking strategy for parking to determine whether the alternative parking strategy is safe and reliable according to the simulation result.

[0123] Optionally, in an embodiment of the present application, after detecting whether the simulation result meets the preset safe parking condition, it further includes: when it is detected that the simulation result does not meet the preset safe parking condition, pushing the simulation result to a preset terminal.

[0124] When the simulation result does not meet the preset safety condition, the embodiment of the present application can determine that the current alternative parking strategy is not applicable to the current parking condition, and re-match a new alternative parking strategy, or send a parking warning to the driver to notify the driver to take over the parking control. For example, the driver issues an emergency parking instruction, and then realizes parking by triggering an alternative emergency parking structure, such as an additional emergency clamping device, a spare brake pad, etc.

[0125] The embodiment of the present application can also push the simulation result to a preset terminal, such as a vehicle enterprise terminal, a maintenance terminal, etc., so as to determine the cause of the fault according to the simulation result and provide driving operation suggestions for the driver, and also facilitate the maintenance side to prepare a maintenance strategy in advance.

[0126] Optionally, in an embodiment of the present application, before driving the parking mechanism corresponding to other parking chips to park according to the pre-stored backup parking strategy, it further includes: judging whether the pre-stored backup parking strategy meets the preset invocation condition according to the vehicle's vehicle information; if the backup parking strategy does not meet the preset invocation condition, generating a corresponding backup parking strategy according to the vehicle information and the current parking strategy of other parking chips, and using it as the pre-stored backup parking strategy.

[0127] As a possible implementation manner, the embodiment of the present application can also judge whether the pre-stored parking strategy meets the preset invocation condition according to the vehicle's vehicle information. The vehicle information may include the slope where the vehicle is currently located, the vehicle load estimation (such as evaluating the real-time load of the vehicle through acceleration and deceleration, such as 2 people, and the current weight of the actual vehicle is 2500 Kg), the sensitivity of the vehicle brake pedal (such as the relationship between deceleration and the brake pedal), etc. The preset invocation condition may include judging whether the vehicle can achieve stable parking after simulating the implementation of the backup parking strategy.

[0128] When the backup parking strategy does not meet the preset invocation condition, the embodiment of the present application can generate a corresponding backup parking strategy according to the vehicle information and the current parking strategy of other parking chips. For example, if the slope is α and the actual vehicle load is mg, mgtanα is the component force to overcome gravity. The parking strategy is to make full use of the effective parking mechanism to meet the requirement of this component force without slipping. That is, the corresponding backup parking strategy generated by the embodiment of the present application can be the parking force ≥ mgtanα.

[0129] When the backup parking strategy meets the preset invocation condition, the embodiment of the present application can use the pre-stored backup parking strategy to park.

[0130] Through the above technical means, it is possible to judge whether the pre-stored backup parking strategy can be invoked, and when it cannot be invoked, generate a new backup parking strategy according to the vehicle information and the current parking strategy of other parking chips, so as to ensure that the backup parking strategy is always available when the parking mechanism of the vehicle fails.

[0131] Optionally, in an embodiment of the present application, it further includes: when detecting that the parking mechanism corresponding to this parking chip fails, while driving the parking mechanism corresponding to this parking chip to park, sending the parking information of the parking mechanism corresponding to this parking chip and / or the parking strategy and / or control parameters of this parking chip to other parking chips.

[0132] During the actual execution process, there may also be a situation where the parking mechanism corresponding to this parking chip fails. At this time, the embodiment of the present application can drive the parking mechanism corresponding to this parking chip to park using the backup parking strategy, and at the same time, send the parking information of the parking mechanism corresponding to this parking chip and / or the parking strategy of this parking chip and / or control parameters to other parking chips corresponding to the non-failed parking mechanisms, so as to facilitate the corresponding adjustment of the parking strategy by other parking chips to ensure the stability of vehicle parking.

[0133] For example, estimate the braking force according to the execution angle of the parking mechanism. The control parameter takes the execution angle as a reference, and the corresponding other parking mechanisms can refer to this parameter. If it is determined that the parking braking force is small based on the control parameter sent by this parking chip, other parking chips can correspondingly increase the braking force in the control parameter of the corresponding parking mechanism, thereby achieving vehicle body stability.

[0134] In summary, through the above technical means, the present application can, in the case where the parking mechanisms corresponding to other parking chips fail, use the backup parking strategy pre-stored in this parking chip to drive the corresponding parking mechanism to park, realize redundant parking of the vehicle, prevent the vehicle body from losing balance during parking caused by the parking failure of the parking mechanisms corresponding to some parking chips, thereby improving the vehicle body stability in the case of the failure of the parking mechanism and improving parking safety.

[0135] Figure 5 It is a schematic structural diagram of a parking device provided by an embodiment of the present application.

[0136] Exemplarily, as Figure 5 shown, the parking device 50 includes: a receiving module 51, a detection module 52, and a driving module 53.

[0137] Specifically, the receiving module 51 is configured to receive a parking signal sent by a communication device.

[0138] The detection module 52 is configured to detect whether the parking mechanism corresponding to other parking chips fails, where the parking mechanism is one included in the first parking device or the second parking device.

[0139] The driving module 53 is configured to, in the case where it is detected that the parking mechanism corresponding to other parking chips fails, drive the parking mechanism corresponding to other parking chips to park according to the pre-stored backup parking strategy.

[0140] Optionally, in an embodiment of the present application, it further includes: a first acquisition module and a matching module

[0141] Wherein, the first acquisition module is configured to acquire the failure information of the parking mechanism corresponding to other parking chips.

[0142] A matching module, configured to match a corresponding backup parking strategy according to failure information.

[0143] Optionally, in an embodiment of the present application, the parking device 50 further includes: a detection module and a determination module.

[0144] Wherein, the detection module is configured to detect the actual failure type of the parking mechanism corresponding to other parking chips.

[0145] The determination module is configured to determine a backup parking strategy according to the actual failure type.

[0146] Optionally, in an embodiment of the present application, the parking device 50 further includes: a second acquisition module and a first generation module.

[0147] Wherein, the second acquisition module is configured to acquire historical parking data or the last parking data of the parking mechanism corresponding to other parking chips.

[0148] The first generation module is configured to generate a new parking strategy according to the historical parking data or the last parking data in combination with the current parking strategy of the present parking chip as the backup parking strategy.

[0149] Optionally, in an embodiment of the present application, the driving module 53 includes: an acquisition unit, a simulation unit, a detection unit, and a driving unit.

[0150] Wherein, the acquisition unit is configured to acquire the parking information of all failed parking mechanisms.

[0151] The simulation unit is configured to simulate the parking effect according to the parking information, the backup parking strategy, and the parking information of all non-failed parking mechanisms to obtain a simulation result.

[0152] The detection unit is configured to detect whether the simulation result meets a preset safe parking condition.

[0153] The driving unit is configured to drive the parking mechanisms corresponding to other parking chips to park according to the backup parking strategy when it is detected that the simulation result meets the preset safe parking condition.

[0154] Optionally, in an embodiment of the present application, the driving module 53 is further configured to push the simulation result to a preset terminal when it is detected that the simulation result does not meet the preset safe parking condition.

[0155] Optionally, in an embodiment of the present application, the parking device 50 further includes: a judgment module and a second generation module.

[0156] Wherein, the judgment module is configured to judge whether the pre-stored backup parking strategy meets a preset call condition according to the vehicle's overall vehicle information.

[0157] A second generation module, configured to generate a corresponding backup parking strategy based on vehicle information and the current parking strategies of other parking chips when the backup parking strategy does not meet the preset call conditions, and use it as the pre-stored backup parking strategy.

[0158] Optionally, in an embodiment of the present application, the parking device 50 further includes: a control module.

[0159] The control module is configured to, when detecting that the parking mechanism corresponding to this parking chip fails, while driving the parking mechanism corresponding to this parking chip to park, send the parking information of the parking mechanism corresponding to this parking chip and / or the parking strategy and / or control parameters of this parking chip to other parking chips.

[0160] In summary, through the above technical means, the present application can, when the parking mechanisms corresponding to other parking chips fail, use the backup parking strategies pre-stored in this parking chip to drive the corresponding parking mechanisms to park, realize redundant parking of the vehicle, prevent the vehicle body from losing balance during parking caused by the failure of the parking mechanisms corresponding to some parking chips, thereby improving the vehicle body stability of the vehicle in the case of the failure of the parking mechanism and improving parking safety.

[0161] Figure 6 The structural schematic diagram of the vehicle provided by the embodiment of the present application. The vehicle may include:

[0162] A memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

[0163] When the processor 602 executes the program, it implements the parking method provided in the above embodiment.

[0164] Further, the vehicle further includes:

[0165] A communication interface 603, configured for communication between the memory 601 and the processor 602.

[0166] The memory 601 is used to store a computer program executable on the processor 602.

[0167] The memory 601 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0168] 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 interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 only a thick line is used in Figure 6 , but it does not mean that there is only one bus or one type of bus.

[0169] Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a single chip, the memory 601, the processor 602, and the communication interface 603 can communicate with each other through an internal interface.

[0170] 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.

[0171] This embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above parking method is implemented.

[0172] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection 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 can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0173] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0174] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more N executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0175] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing a logical function, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or N wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.

[0176] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, 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, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0177] Those of ordinary skill in the art can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program. The said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0178] In addition, each functional unit in various embodiments of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0179] The above-mentioned storage medium can be a read-only memory, a magnetic disk, 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 should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A parking method, It is characterized in that 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 work, a second control component driving the second parking device to work, 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, and the second control component comprises a third parking chip and a fourth parking chip, wherein the first parking chip, the second parking chip, the third parking chip and the fourth parking chip communicate with each other, and the method is applied to any parking chip, and comprises the following steps: receiving a parking signal sent by the communication device; Detecting whether the parking mechanism corresponding to the other parking chip fails, wherein the parking mechanism is one of the first parking device or the second parking device; and When it is detected that the parking mechanism corresponding to the other parking chip fails, the parking mechanism corresponding to the other parking chip is driven to park according to a pre-stored backup parking strategy.

2. The method according to claim 1, It is characterized in that Before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes: Obtaining failure information of parking mechanisms corresponding to other parking chips; The corresponding backup parking strategy is matched according to the failure information.

3. The method according to claim 1, It is characterized in that Before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes: Detecting the actual failure type of the parking mechanism corresponding to the other parking chips; The backup parking strategy is determined according to the actual failure type.

4. The method according to claim 1, It is characterized in that Before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes: Acquire historical parking data or last parking data of the parking mechanism corresponding to the other parking chip; A new parking strategy is generated according to the historical parking data or the last parking data in combination with the current parking strategy of the parking chip as the backup parking strategy.

5. The method according to claim 1, It is characterized in that The driving of the parking mechanism corresponding to the other parking chip to park the vehicle according to the pre-stored backup parking strategy includes: Obtain parking information of all disabled parking mechanisms; Simulating the parking effect according to the parking information, the backup parking strategy and the parking information of all the parking mechanisms that have not failed, to obtain a simulation result; Detecting whether the simulation result meets a preset safe parking condition; When it is detected that the simulation result satisfies the preset safe parking condition, the parking mechanism corresponding to the other parking chip is driven to park according to the backup parking strategy.

6. The method according to claim 5, It is characterized in that After detecting whether the simulation result meets the preset safe parking condition, the method further includes: When it is detected that the simulation result does not meet the preset safe parking condition, the simulation result is pushed to a preset terminal.

7. The method according to claim 1, It is characterized in that Before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes: Determining whether the pre-stored backup parking strategy meets a preset calling condition according to the vehicle information; If the backup parking strategy does not meet the preset calling condition, a corresponding backup parking strategy is generated according to the whole vehicle information and the current parking strategies of other parking chips as the pre-stored backup parking strategy.

8. The method according to claim 1, It is characterized in that Also includes: When it is detected that the parking mechanism corresponding to the parking chip fails, the parking mechanism corresponding to the parking chip is driven to park, and at the same time, the parking information of the parking mechanism corresponding to the parking chip and / or the parking strategy and / or control parameters of the parking chip are sent to the other parking chips.

9. A vehicle, It is characterized in that include: 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 device according to any one of claims 1 to 8.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the parking method according to any one of claims 1 to 8 is implemented.

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