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 vehicle braking, and the method comprises the steps that a parking signal sent by a communication device is received; based on a preset parking strategy of the parking chip, a non-failed parking mechanism corresponding to the parking chip is driven to park, whether the parking mechanism corresponding to any one of the other parking chips fails or not is judged, and the parking mechanism is one of the first parking device and the second parking device; and if the parking mechanism corresponding to any one of the other parking chips fails, a preset parking strategy is optimized according to the failed parking mechanism, and the failed parking mechanism is driven to park according to the optimized parking strategy. According to the method, the problems that monitoring and countermeasures for the parking mechanism are lacked in the prior art, when the parking mechanism fails, the requirement for the driving quality of a driver is high, and traffic accidents are likely to be caused can be solved, the parking mechanism is monitored, the parking action is completed based on the optimized parking strategy, and therefore the parking safety is improved.

Description

Technical Field

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

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

[0003] However, in the related art, the wire control braking system lacks monitoring and countermeasures for the parking mechanism. When the vehicle receives a parking instruction, if the parking mechanism fails, it is difficult to complete the parking action. At this time, the driver can only know that the parking mechanism fails through methods such as vehicle speed and fault prompts, and then realizes vehicle parking through driving experience or remote assistance, etc. This requires a high driving quality of the driver and is extremely likely to cause traffic accidents, which urgently needs to be improved. Summary of the Invention

[0004] This application provides a parking method, a vehicle, and a storage medium. This method can drive the non-failed parking mechanism corresponding to the parking chip based on a preset parking strategy, and optimize the preset parking strategy when it is determined that the parking mechanism corresponding to any one of the other parking chips fails. Thus, it is ensured that the vehicle can timely adjust the parking strategy of the failed parking mechanism in the case of the failure of the parking mechanism, so that the vehicle can complete the parking action based on the parking instruction while maintaining the smoothness of vehicle parking, reducing the dependence on the driver's driving quality, and avoiding traffic accidents caused by the failure of the parking mechanism.

[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. Both the first parking device and the second parking device include two parking mechanisms. The method is applied to any one of the parking chips, and the method includes:

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

[0007] Drive the non-failed parking mechanism corresponding to this parking chip based on the preset parking strategy of this parking chip, and determine whether the parking mechanism corresponding to any one of the other parking chips fails; and

[0008] If the parking mechanism corresponding to any one of the other parking chips fails, optimize the preset parking strategy according to the failed parking mechanism, and drive the failed parking mechanism corresponding to any one of the parking chips to park according to the optimized parking strategy.

[0009] Through the above technical solution, it is possible to drive the non-failed parking mechanism corresponding to this parking chip based on the preset parking strategy, and when it is determined that the parking mechanism corresponding to any one of the other parking chips fails, optimize the preset parking strategy, so as to ensure that the vehicle can timely adjust the parking strategy of the failed parking mechanism in the case of the failure of the parking mechanism, so that the vehicle can complete the parking action based on the parking instruction while maintaining the stability of the vehicle parking, reducing the dependence on the driver's driving quality, and avoiding traffic accidents caused by the failure of the parking mechanism.

[0010] Combined with the first aspect, in some possible implementation manners, after driving the failed parking mechanism to park according to the optimized parking strategy, it further includes:

[0011] Obtain the failure type of the failed parking mechanism;

[0012] Based on the failure type, generate reference parameters for the parking chip corresponding to the failed parking mechanism according to the first vehicle parameters fed back by the non-failed parking mechanism;

[0013] Send the reference parameters to the parking chip corresponding to the failed parking mechanism, so that the parking chip corresponding to the failed parking mechanism drives the failed parking mechanism to park according to the reference parameters.

[0014] Through the above technical solution, according to the failure type of the failed parking mechanism, after the non-failed parking mechanism adjusts the parameters according to the optimized parking strategy, the adjusted parameters of the non-failed parking mechanism can be used as the reference parameters of the failed parking mechanism, and then drive the failed parking mechanism to complete the parking action, so that the failed parking mechanism can cooperate with other non-failed parking mechanisms to complete the parking action, improving the vehicle parking stability.

[0015] Combined with the first aspect, in some possible implementation manners, before generating the reference parameters for the parking chip corresponding to the failed parking mechanism, it further includes:

[0016] Detect whether the non-failed parking mechanism and the failed parking mechanism belong to the first parking device or the second parking device;

[0017] When it is detected that they belong to the first parking device or the second parking device at the same time, generating the reference parameter is allowed;

[0018] When it is detected that they do not belong to the first parking device or the second parking device at the same time, obtaining second vehicle parameters fed back by the non-failed parking mechanisms that belong to the first parking device or the second parking device at the same time, so as to generate the reference parameter according to the second vehicle parameters.

[0019] Through the above technical solution, when the non-failed parking mechanism and the failed parking mechanism belong to the same parking device, since the environments are similar, the reference parameter generated by the non-failed parking mechanism can meet the parking requirements of the failed parking mechanism. When the non-failed parking mechanism and the failed parking mechanism do not belong to the same parking device, since the environments are different, the reference parameter generated by the non-failed parking mechanism will lose its reference value. Therefore, by obtaining the reference parameter generated by the non-failed parking mechanism that belongs to the same parking device according to the second vehicle parameters, the reference parameter can be made more in line with the parking requirements of the failed parking mechanism.

[0020] Combined with the first aspect, in some possible implementation manners, generating the reference parameter according to the second vehicle parameters includes:

[0021] Obtaining a first pose relationship between the non-failed parking mechanism and the failed parking mechanism;

[0022] Based on the pose relationship, correcting the first vehicle parameter to obtain the reference parameter.

[0023] Through the above technical solution, the first vehicle parameter can be corrected based on the first pose relationship between the failed parking mechanism and the non-failed parking mechanism, considering the influence of different pose relationships on wheel parking, so that the obtained reference parameter is more in line with the parking requirements.

[0024] Combined with the first aspect, in some possible implementation manners, when it is detected that they do not belong to the first parking device or the second parking device at the same time, it further includes:

[0025] When the acquisition of the second vehicle parameter fails, obtaining a second pose relationship and an environmental difference value between the non-failed parking mechanism and the failed parking mechanism;

[0026] Based on the second pose relationship and the environmental difference value, correcting the first vehicle parameter to obtain the reference parameter.

[0027] Through the above technical solution, when the acquisition of the second vehicle parameter fails, the first vehicle parameter can be corrected according to the second pose relationship and the environmental difference value between the non-failed parking mechanism and the failed parking mechanism, so that the first vehicle parameter can be closer to the second vehicle parameter, thereby generating a reference parameter that better meets the parking requirements.

[0028] In combination with the first aspect, in some possible implementation manners, the method further includes:

[0029] Determine whether any of the other parking chips is faulty;

[0030] If any of the parking chips is faulty, obtain the third vehicle parameter feedback by the parking mechanism corresponding to the faulty parking chip;

[0031] Generate a drive signal for the faulty parking chip according to the third vehicle parameter and the preset redundancy strategy, so as to drive the parking mechanism corresponding to the faulty parking chip to park based on the drive signal.

[0032] Through the above technical solution, it is possible to monitor the failure of the parking chip, and generate a drive signal for the faulty parking chip according to the third vehicle parameter feedback by the parking mechanism corresponding to the faulty parking chip and the preset redundancy strategy, thereby driving the parking mechanism corresponding to the faulty parking chip to complete the parking action, avoiding parking failure caused by the failure of the parking chip, and thus improving parking safety.

[0033] In combination with the first aspect, in some possible implementation manners, driving the parking mechanism corresponding to the faulty parking chip to park based on the drive signal includes:

[0034] Obtain the fault type of the faulty parking chip;

[0035] Send the drive signal to the parking mechanism corresponding to the faulty parking chip or the faulty parking chip according to the fault type.

[0036] Through the above technical solution, it is possible to send a corresponding drive signal to the parking mechanism set corresponding to the faulty parking chip according to the fault type of the faulty parking chip, or send a corresponding drive signal to the faulty parking chip to replace the faulty parking chip to complete the adjustment of the parking strategy, thereby realizing safe parking.

[0037] In combination with the first aspect, in some possible implementation manners, after driving the failed parking mechanism to park according to the optimized parking strategy, it further includes:

[0038] Collect the current parking data of the vehicle;

[0039] Upload the current parking data, the optimized parking strategy, and the failure information of the failed parking mechanism to a preset terminal.

[0040] Through the above technical solution, the parking effect of the optimized parking strategy and the failure information of the failed parking mechanism can be uploaded to a preset terminal, which is convenient for judging the optimization effect of the parking strategy, so as to improve the optimization of the parking strategy based on the optimization effect subsequently.

[0041] 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 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. Wherein, 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. Both the first parking device and the second parking device include two parking mechanisms. The device is applied to any one of the parking chips, and the device includes:

[0042] A receiving module, configured to receive a parking signal sent by the communication device;

[0043] A first judgment module, configured to park the corresponding unfailed parking mechanism based on a preset parking strategy of the present parking chip, and judge whether the parking mechanism corresponding to any one of the other parking chips fails; and

[0044] A control module, configured to optimize the preset parking strategy according to the failed parking mechanism when the parking mechanism corresponding to any one of the other parking chips fails, and drive the failed parking mechanism to park according to the optimized parking strategy.

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

[0046] A first obtaining unit, configured to obtain a failure type of the failed parking mechanism;

[0047] A first generating unit, configured to generate a reference parameter of the parking chip corresponding to the failed parking mechanism based on the failure type according to the first vehicle parameter fed back by the unfailed parking mechanism;

[0048] A first sending unit, configured to send the reference parameter to the parking chip corresponding to the failed parking mechanism, so that the parking chip corresponding to the failed parking mechanism drives the failed parking mechanism to park according to the reference parameter.

[0049] In combination with the second aspect, in some possible implementation manners, the control module further includes:

[0050] A detection unit for detecting whether the unfailed parking mechanism and the failed parking mechanism both belong to the first parking device or the second parking device;

[0051] A permission unit for permitting the generation of the reference parameter when it is detected that they both belong to the first parking device or the second parking device;

[0052] A second generation unit for, when it is detected that they do not both belong to the first parking device or the second parking device, obtaining a second vehicle parameter fed back by the unfailed parking mechanism that belongs to the first parking device or the second parking device, and generating the reference parameter according to the second vehicle parameter.

[0053] In combination with the second aspect, in some possible implementation manners, the second generation unit includes:

[0054] A first acquisition subunit for acquiring a first pose relationship between the unfailed parking mechanism and the failed parking mechanism;

[0055] A first correction subunit for correcting the first vehicle parameter based on the pose relationship to obtain the reference parameter.

[0056] In combination with the second aspect, in some possible implementation manners, the second generation unit further includes:

[0057] A second acquisition subunit for, when the acquisition of the second vehicle parameter fails, acquiring a second pose relationship between the unfailed parking mechanism and the failed parking mechanism and an environmental difference value;

[0058] A second correction subunit for correcting the first vehicle parameter based on the second pose relationship and the environmental difference value to obtain the reference parameter.

[0059] In combination with the second aspect, in some possible implementation manners, the device further includes:

[0060] A second judgment module for judging whether any one of the other parking chips is faulty;

[0061] An acquisition module for, when any one of the parking chips is faulty, acquiring a third vehicle parameter fed back by the parking mechanism corresponding to the faulty parking chip;

[0062] A generation module for generating a drive signal for the faulty parking chip according to the third vehicle parameter and the preset redundancy strategy, and driving the parking mechanism corresponding to the faulty parking chip to park based on the drive signal.

[0063] In combination with the second aspect, in some possible implementation manners, the generation module includes:

[0064] A second acquisition unit, configured to acquire the fault type of the faulty parking chip;

[0065] A second sending unit, configured to send the drive signal to the parking mechanism corresponding to the faulty parking chip or the faulty parking chip according to the fault type.

[0066] Combined with the second aspect, in some possible implementation manners, it further includes:

[0067] An acquisition module, configured to acquire the current parking data of the vehicle;

[0068] An upload module, configured to upload the current parking data, the optimized parking strategy, and the failure information of the failed parking mechanism to a preset terminal.

[0069] The parking device has the same advantages as the above-mentioned parking method compared with the prior art, and will not be elaborated herein.

[0070] 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.

[0071] In a fourth aspect, a computer-readable storage medium is provided, where the computer-readable storage medium stores computer program code, and when the computer program code runs on a computer, the computer is caused to execute the parking method in the first aspect or any one of the possible implementation manners of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1a A schematic diagram of the system architecture of a parking method according to an embodiment of the present application;

[0073] Figure 1b A schematic diagram of the system architecture of a parking method according to another embodiment of the present application;

[0074] Figure 2 A schematic diagram of the system architecture of a parking method according to still another embodiment of the present application;

[0075] Figure 3 A schematic diagram of the system architecture of a parking method according to yet another embodiment of the present application;

[0076] Figure 4 A flowchart of a parking method provided according to an embodiment of the present application;

[0077] Figure 5 A schematic diagram of the structure of a parking device provided according to an embodiment of the present application;

[0078] Figure 6 It is a schematic structural diagram of a vehicle provided according to an embodiment of the present application. Detailed implementation manners

[0079] Next, the technical solutions in the present application will be clearly and elaborately described in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. These three situations. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0080] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0081] The traditional parking brake system is in the form of a mechanical parking brake handle. It can lock the drive shaft or the rear wheels through a lever and a cable to implement braking. When the driver needs to park, the driver can manually pull up the parking brake lever, contact the brake plate with the wheels and prevent the vehicle from moving forward. It is relatively cumbersome and laborious, and is greatly affected by the terrain. When the terrain is uneven, the braking effect is poor and the accident risk is high. In addition, since the operation of the mechanical parking requires the intervention of the driver, it cannot be compatible with autonomous driving technology, which has imposed certain restrictions on the development of future automobiles.

[0082] Based on the improvement of the traditional parking brake system, related technologies can achieve electronic parking brake through an EPB (Electrical Park Brake) with higher precision and control performance, thereby reducing the driver's intervention, reducing the influence of terrain factors on the braking effect, improving the safety of parking brake, and providing an auxiliary basis for braking and parking in autonomous driving technology. However, the EPB needs to achieve vehicle deceleration and parking control through a parking mechanism. When the main line of the parking mechanism fails, it often leads to the failure of the parking brake, thus causing a large safety accident, making it difficult to ensure the safety of the parking brake and being unfavorable to improving the driving experience of the driver.

[0083] Before explaining the parking method provided by the embodiments of the present application, the system architecture involved in the embodiments of the present application will be described first.

[0084] Next, the application scenario or system architecture of the embodiments of the present application will be described. Refer to Figure 1a 、Figure 1b , Figure 2 and Figure 3 .

[0085] Combined with Figure 1a , Figure 1b and Figure 2 As shown, 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.

[0086] 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;

[0087] The first control component 300 includes a first parking chip 301 and a second parking chip 302;

[0088] The second control component 400 includes a third parking chip 401 and a fourth parking chip 402;

[0089] The first control component 300 can drive the first parking device 100 to park;

[0090] The second control component 400 can drive the second parking device 200 to park;

[0091] 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, the parking signal is forwarded by any control component to the other control component to realize the transmission of the parking signal.

[0092] Specifically, as Figure 3 shown, the first parking device 100 and the second parking device 200 can be a front controller and a rear controller respectively, and based on the relationship between the first parking device 100 and the second parking device 200 being respectively arranged corresponding to the wheels, control the corresponding parking mechanism, such as an EMB (Electromechanical Brake System) actuator.

[0093] The communication device 500 receives the signals of the first control component 300 and the second control component 400 respectively. 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.

[0094] The power supply supplies power to the four parking mechanism actuators, the first control component 300, and the second control component 400 respectively, and one of them is a redundant power supply to prevent the electronic parking system from not working due to the failure of a certain power supply.

[0095] Figure 4It is a schematic flowchart of a parking method provided by an embodiment of the present application.

[0096] Exemplarily, as Figure 4 shown, the method includes:

[0097] In step S401, a parking signal sent by a communication device is received.

[0098] In the actual execution process, the method of the embodiment of the present application can be applied to any parking chip. Any parking chip in the embodiment of the present application can receive the parking signal sent by the communication device, and any parking chip forwards the parking signal to the remaining parking chips, so as to realize the transmission of the parking signal, and then drive the parking mechanism in the corresponding parking device through the parking chip to realize vehicle parking.

[0099] In step S402, drive the non-failed parking mechanism corresponding to this parking chip to park based on the preset parking strategy of this parking chip, and judge whether the parking mechanism corresponding to any one of the other parking chips fails.

[0100] In the embodiment of the present application, when the parking mechanism is not failed, the non-failed parking mechanism corresponding to this parking chip can be driven to park based on the preset parking strategy of the parking signal. After receiving the preset parking strategy, this parking chip can judge whether there is a situation where the parking mechanism corresponding to a parking chip in the other parking chips fails before forwarding the preset parking strategy to the other parking chips or when forwarding the preset parking strategy to the other parking chips. The judgment method can include: detecting whether the wheel corresponding to the parking mechanism decelerates based on the preset parking strategy, detecting the parameter feedback by the parking mechanism, etc. For example, in the embodiment of the present application, after the other parking chips receive the parking signal, the wheel speed of the wheel controlled by the parking mechanism corresponding to each parking chip can be obtained, and it is judged whether the wheel speed decreases. If the wheel speed remains unchanged, the parking mechanism corresponding to the wheel fails; another example is that in the embodiment of the present application, the induction parameters feedback by the parking mechanism received by each parking chip can be obtained, such as the wheel speed feedback by the wheel speed sensor, and then by comparing the induction parameters received by each chip, it is determined whether there is a situation where the induction parameters received by a certain parking chip deviate too much from the induction parameters received by the remaining parking chips, and when the deviation is too large, it is determined that the parking mechanism corresponding to the parking chip fails.

[0101] Among them, the failure of the parking mechanism can be signal feedback failure, sensor data acquisition failure, etc. The failure of the parking mechanism can cause the parking chip to be unable to adjust the parking strategy in real time according to the parameters feedback by the parking mechanism.

[0102] The first parking device or the second parking device can each include at least one parking mechanism corresponding to the parking chip.

[0103] Specifically, there can be multiple preset parking strategies. For example, the preset parking strategies for different working conditions can be uniformly stored in a preset database, and the corresponding preset parking strategy is matched based on the current working condition of the vehicle, or the current working condition of the vehicle is uploaded to a preset server, and the preset server itself issues the preset parking strategy applicable to the current working condition, etc.

[0104] Among them, under the preset parking strategy, the corresponding parameters / actions for the non-failed parking mechanism to park are based on calibration data and data such as the collected ramp angle:

[0105] F 驻车力 = α × Mg × SinΦ

[0106] Where M is the calibrated mass of the whole vehicle, g is the acceleration due to gravity, α is the available ground adhesion coefficient of the whole vehicle, and Φ is the ramp angle signal.

[0107] In the embodiment of the present application, F can be calculated. 驻车力 Then, based on the parking structure of the vehicle, the parking force is distributed to each parking mechanism.

[0108] For example, when the parking chip that receives the parking signal sent by the communication device in the embodiment of the present application is the first parking chip, the embodiment of the present application can drive the non-failed parking mechanism corresponding to the first parking chip to park based on the preset parking strategy of the parking signal received by the first parking chip. At the same time, the first parking chip forwards the parking signal to other parking chips, that is, the second parking chip, the third parking chip, and the fourth parking chip, and determines whether the parking mechanisms corresponding to other parking chips are failed.

[0109] In step S403, if the parking mechanism corresponding to any one of the other parking chips fails, the preset parking strategy is optimized according to the failed parking mechanism, and the failed parking mechanism is driven to park according to the optimized parking strategy.

[0110] As a possible implementation method, in the embodiment of the present application, when the parking mechanism corresponding to other parking chips fails, the preset parking strategy can be optimized according to the failed parking mechanism. For example, when the wheel controlled by the failed parking mechanism is the left front wheel, the embodiment of the present application can appropriately reduce the braking force of the right front wheel and increase the braking force of the rear wheels to maintain parking balance, that is, on the basis of the original control parameters in the preset parking strategy, the failed parking mechanism is adaptively optimized, and the failed parking mechanism is driven to park according to the optimized parking strategy.

[0111] Optionally, in an embodiment of the present application, after driving the failure parking mechanism to park according to the optimized parking strategy, it further includes: obtaining the failure type of the failure parking mechanism; based on the failure type, generating reference parameters for the parking chip corresponding to the failure parking mechanism according to the first vehicle parameters fed back by the non-failed parking mechanism; sending the reference parameters to the parking chip corresponding to the failure parking mechanism, so that the parking chip corresponding to the failure parking mechanism can drive the failure parking mechanism to park according to the reference parameters.

[0112] It can be understood that the failure types of the failure parking mechanism may include: the sensing sensor of the parking mechanism fails, and the current data information of the corresponding vehicle, such as wheel speed information, ramp information, etc., cannot be obtained in real time; the feedback signal of the parking mechanism fails, resulting in the parking chip being unable to obtain the response situation of the corresponding parking mechanism, etc.

[0113] The embodiment of the present application can generate reference parameters for the parking chip corresponding to the failure parking mechanism based on the failure type of the failure parking mechanism and in combination with the first vehicle parameters fed back by the non-failed parking mechanism, such as the current vehicle speed, the parking force in the preset parking strategy, the wheel traveling direction, whether the current road is a ramp, etc., so that the parking chip corresponding to the failure parking mechanism can estimate the vehicle parameters corresponding to the failure parking mechanism according to the reference parameters, and then adjust the corresponding parking strategy according to the estimation result, and send the adjusted parking strategy to the failure parking mechanism, so that the failure parking mechanism can complete the parking action according to the adjusted parking strategy, thereby enabling the failure parking mechanism to cooperate with other non-failed parking mechanisms to complete the parking action and improving the vehicle parking stability.

[0114] For example, when the failure type is the failure of the feedback signal of the parking mechanism, that is, the failure parking mechanism has executed the parking action according to the parking strategy sent by the corresponding parking chip, but due to the inability to obtain the feedback data, it is difficult for the corresponding parking chip to adjust the control parameters of the failure parking mechanism in real time. The embodiment of the present application can send the reference parameters generated by the feedback of the non-failed parking mechanism to the parking chip of the failure parking mechanism, so that the parking chip corresponding to the failure parking mechanism can respond to the changes in the vehicle parking working conditions according to the reference parameters, thereby improving the smoothness of vehicle parking.

[0115] In addition, when the signal transmission between the parking chip and the corresponding parking mechanism fails, the embodiment of the present application can also directly send the parking strategy to the failure parking mechanism by using other parking chips to control the failure parking mechanism to complete the parking action.

[0116] Optionally, in an embodiment of the present application, before generating the reference parameters of the parking chip corresponding to the failed parking mechanism, it further includes: detecting whether the non-failed parking mechanism and the failed parking mechanism belong to the first parking device or the second parking device; when it is detected that they belong to the first parking device or the second parking device, allowing the generation of reference parameters; when it is detected that they do not belong to the first parking device or the second parking device, obtaining the second vehicle parameters fed back by the non-failed parking mechanism that belongs to the first parking device or the second parking device, so as to generate reference parameters according to the second vehicle parameters.

[0117] Further, in the embodiment of the present application, before generating the reference parameters of the parking chip corresponding to the failed parking mechanism, it can be detected whether the non-failed parking mechanism and the failed parking mechanism belong to the first parking device or the second parking device. When the non-failed parking mechanism and the failed parking mechanism belong to the same parking device, due to the similar environment and similar drive-by-wire logic, therefore, it is allowed for the non-failed parking mechanism to generate reference parameters, and the reference parameters generated by the non-failed parking mechanism can meet the parking requirements of the failed parking mechanism;

[0118] When the non-failed parking mechanism and the failed parking mechanism do not belong to the same parking device, due to the different environments and different drive-by-wire logics, the reference parameters generated by the non-failed parking mechanism will lose their reference value;

[0119] When the non-failed parking mechanism and the failed parking mechanism belong to the same parking device, due to the similar environment and similar drive-by-wire logic, at this time, the embodiment of the present application can allow the generation of reference parameters.

[0120] Therefore, when the non-failed parking mechanism and the failed mechanism do not belong to the same parking device, the embodiment of the present application can obtain the second vehicle parameters fed back by another non-failed parking mechanism, so as to generate reference parameters according to the second vehicle parameters, wherein another non-failed parking mechanism belongs to the same parking device as the failed parking mechanism.

[0121] Optionally, in an embodiment of the present application, generating reference parameters according to the second vehicle parameters includes: obtaining the first pose relationship between the non-failed parking mechanism and the failed parking mechanism; correcting the first vehicle parameters based on the pose relationship to obtain the reference parameters.

[0122] In the actual execution process, in addition to directly obtaining the fed-back second vehicle parameters, the embodiment of the present application can also correct the first vehicle parameters through the first pose relationship between the non-failed parking mechanism and the failed parking mechanism to generate reference parameters. By considering the influence of different pose relationships on wheel parking, the obtained reference parameters are more in line with the parking requirements.

[0123] Wherein, the first pose relationship can be a parallel relationship, a side-by-side relationship, a diagonal relationship, etc.

[0124] Optionally, in an embodiment of the present application, when it is detected that it does not belong to the first parking device or the second parking device, it further includes: when the acquisition of the second vehicle parameter fails, acquiring the second pose relationship and the environmental difference value between the non-failed parking mechanism and the failed parking mechanism; correcting the first vehicle parameter based on the second pose relationship and the environmental difference value to obtain a reference parameter.

[0125] Furthermore, when it is detected that it does not belong to the first parking device or the second parking device and the acquisition of the second vehicle parameter fails, the embodiment of the present application can acquire the second pose relationship between the non-failed parking mechanism and the failed parking mechanism, such as a parallel relationship, a juxtaposed relationship, a diagonal relationship, etc., and acquire the environmental difference value, the clamping force difference value, the wheel speed difference value, such as the friction force difference, the steering difference, the contact temperature difference, etc., to correct the first vehicle parameter, so that the first vehicle parameter can be closer to the second vehicle parameter, thereby generating a reference parameter that better meets the parking requirements.

[0126] Wherein, when the environmental difference value is the friction force difference, the correction of the first wheel parameter can be to increase / decrease the parking braking force;

[0127] When the environmental difference value is the steering difference, the correction of the first wheel parameter can be to correct the parking braking force based on the steering direction and the parking braking force ratio between the outer wheel and the inner wheel.

[0128] Optionally, in an embodiment of the present application, the method further includes: determining whether any parking chip in other parking chips is faulty; if any parking chip is faulty, acquiring the third vehicle parameter fed back by the parking mechanism corresponding to the faulty parking chip; generating a drive signal for the faulty parking chip according to the third vehicle parameter and a preset redundancy strategy, so as to drive the parking mechanism corresponding to the faulty parking chip to park based on the drive signal.

[0129] In other embodiments, the embodiment of the present application can monitor not only the failure of the parking mechanism but also whether the parking chip fails. The faulty parking chip cannot complete the timely calculation and adjustment of the parking strategy.

[0130] In the embodiment of the present application, when any parking chip fails, the present parking chip or other parking chips communicatively connected to the faulty parking chip can directly acquire the third vehicle parameter fed back by the parking mechanism corresponding to the faulty parking chip to replace the faulty parking chip for real-time calculation and adjustment of the parking strategy.

[0131] For example, the present parking chip can generate a driving signal for the faulty parking chip according to the third vehicle parameter and the preset redundancy strategy, and send the driving signal to the parking mechanism corresponding to the faulty parking chip bypassing the faulty parking chip, so as to drive the parking mechanism corresponding to the faulty parking chip to park based on the driving signal. Wherein, the preset redundancy strategy can be that when the parking chip receiving the parking signal from the communication module fails, the communication module sends the parking signal to another parking chip again, and the another parking chip forwards the parking signal.

[0132] The embodiments of the present application can monitor the failure of the parking chip, and generate a driving signal for the faulty parking chip according to the third vehicle parameter and the preset redundancy strategy fed back by the failed parking mechanism that fails due to the failure of the parking chip, so as to drive the parking mechanism corresponding to the faulty parking chip to complete the parking action, avoid parking failure caused by the failure of the parking chip, and thus improve parking safety.

[0133] Optionally, in an embodiment of the present application, driving the parking mechanism corresponding to the faulty parking chip to park based on the driving signal includes: obtaining the failure type of the faulty parking chip; sending the driving signal to the parking mechanism corresponding to the faulty parking chip or the faulty parking chip according to the failure type.

[0134] As a possible implementation manner, the embodiments of the present application can obtain the failure type of the faulty parking chip, and thus send the driving signal to the parking mechanism corresponding to the faulty parking chip or the faulty parking chip according to the failure type. For example, when the failure is a communication failure between the parking chip and the failed parking mechanism, the driving signal can be sent to the parking mechanism corresponding to the faulty parking chip. When the failure is a calculation failure of the parking chip, after other parking chips complete the calculation, the calculation result can be sent to the faulty parking chip through the driving signal. Wherein, the failure types of the parking chip can include:

[0135] Caused by external interference: If the environment around the parking chip is not stable enough or there is strong electromagnetic field interference, it may cause problems in the operation of the embedded software in the chip.

[0136] Caused by abnormal voltage: If the vehicle battery voltage is abnormal or the power supply of the parking chip is insufficient, it may affect the normal working state of the parking chip, and further lead to the failure of the parking system or even system paralysis, affecting the driving safety of the vehicle.

[0137] Internal design structure problems: In some cases, there are defects in the design structure of the parking chip itself or the production quality is not up to standard, resulting in equipment loss or even chip cracking and loosening during long-term use, which will also cause the parking chip to malfunction and endanger vehicle safety.

[0138] Excessive load: In some cases, the computing power of the parking chip is limited. In the face of complex working conditions, it may cause excessive computing load on the chip, resulting in chip failure.

[0139] Too high temperature: The layout position of the controller may cause the internal temperature of the chip to be too high, resulting in the loosening or disconnection of the internal connection wires and causing chip failure.

[0140] Through the above technical solutions, the embodiments of the present application can send corresponding drive signals to the failed parking mechanism set corresponding to the parking chip according to the fault type of the parking chip, or send corresponding drive signals to the faulty parking chip to replace the faulty parking chip to complete the adjustment of the parking strategy, thereby realizing safe parking.

[0141] Optionally, in an embodiment of the present application, after driving the failed parking mechanism to park according to the optimized parking strategy, it further includes: collecting the current parking data of the vehicle; uploading the current parking data, the optimized parking strategy, and the failure information of the failed parking mechanism to a preset terminal.

[0142] In the actual execution process, the embodiments of the present application can collect all the parking data of the vehicle during this parking process, including response duration, parking force of each parking mechanism, wheel speed change of the vehicle, the gap between the final parking location and the target parking location, etc., and judge the parking smoothness of the vehicle:

[0143] Pitch angle = Ax - deceleration - ramp

[0144] Where Ax is the longitudinal acceleration of the vehicle.

[0145] If the pitch angle ≤ a certain value (calibrated value), it is considered that the vehicle parks smoothly.

[0146] Furthermore, the embodiments of the present application can associate the parking smoothness, the optimized parking strategy adopted in this parking, and the failure information of the failed parking mechanism, and upload them to a preset terminal, such as the after-sales terminal of the vehicle enterprise, the maintenance terminal, etc., which is convenient for the vehicle enterprise to further optimize the parking strategy according to the parking effect of this time, and is also convenient for subsequent targeted maintenance of the failed mechanism of the vehicle.

[0147] Through the above technical solutions, it is possible to upload the parking effect of the optimized parking strategy and the failure information of the failed parking mechanism to a preset terminal, which is convenient for judging the optimization effect of the parking strategy, and thus subsequent improvement of the optimization of the parking strategy based on the optimization effect.

[0148] In summary, the present application can drive the non-failed parking mechanism corresponding to the present parking chip to park based on a preset parking strategy, and optimize the preset parking strategy when it is determined that the parking mechanism corresponding to any one of the other parking chips fails, so as to ensure that the vehicle can timely adjust the parking strategy of the failed parking mechanism in the case of the failure of the parking mechanism, so that the vehicle can complete the parking action based on the parking instruction while maintaining the stability of the vehicle parking, reducing the dependence on the driver's driving quality, and avoiding traffic accidents caused by the failure of the parking mechanism.

[0149] Figure 5 It is a schematic structural diagram of a parking device provided by an embodiment of the present application.

[0150] Exemplarily, as Figure 5 shown, the device 50 includes: a receiving module 51, a first determination module 52, and a control module 53.

[0151] Specifically, the receiving module 51 is configured to receive a parking signal sent by a communication device.

[0152] The first determination module 52 is configured to drive the non-failed parking mechanism corresponding to the present parking chip to park based on the preset parking strategy of the present parking chip, and determine whether the parking mechanism corresponding to any one of the other parking chips fails.

[0153] The control module 53 is configured to optimize the preset parking strategy according to the failed parking mechanism when the parking mechanism corresponding to any one of the other parking chips fails, and drive the failed parking mechanism to park according to the optimized parking strategy.

[0154] Optionally, in an embodiment of the present application, the control module 53 further includes: a first acquisition unit, a first generation unit, and a first sending unit.

[0155] Wherein, the first acquisition unit is configured to acquire the failure type of the failed parking mechanism.

[0156] The first generation unit is configured to generate reference parameters for the parking chip corresponding to the failed parking mechanism based on the failure type according to the first vehicle parameters fed back by the non-failed parking mechanism.

[0157] The first sending unit is configured to send the reference parameters to the parking chip corresponding to the failed parking mechanism, so that the parking chip corresponding to the failed parking mechanism drives the failed parking mechanism to park according to the reference parameters.

[0158] Optionally, in an embodiment of the present application, the control module 53 further includes: a detection unit, a permission unit, and a second generation unit.

[0159] A detection unit for detecting whether the non-failed parking mechanism and the failed parking mechanism belong to the first parking device or the second parking device.

[0160] A permission unit for allowing the generation of reference parameters when it is detected that they belong to the first parking device or the second parking device.

[0161] A second generation unit for obtaining second vehicle parameters fed back by the non-failed parking mechanism that belongs to the first parking device or the second parking device when it is detected that they do not belong to the first parking device or the second parking device, so as to generate reference parameters according to the second vehicle parameters.

[0162] Optionally, in an embodiment of the present application, the second generation unit includes: a first acquisition subunit and a first correction subunit.

[0163] Wherein, the first acquisition subunit is used to acquire the first pose relationship between the non-failed parking mechanism and the failed parking mechanism.

[0164] The first correction subunit is used to correct the first vehicle parameters based on the pose relationship to obtain reference parameters.

[0165] Optionally, in an embodiment of the present application, the second generation unit further includes: a second acquisition subunit and a second correction subunit.

[0166] Wherein, the second acquisition subunit is used to acquire the second pose relationship and the environmental difference value between the non-failed parking mechanism and the failed parking mechanism when the acquisition of the second vehicle parameters fails.

[0167] The second correction subunit is used to correct the first vehicle parameters based on the second pose relationship and the environmental difference value to obtain reference parameters.

[0168] Optionally, in an embodiment of the present application, the parking device 50 further includes: a second judgment module, an acquisition module, and a generation module.

[0169] Wherein, the second judgment module is used to judge whether any one of the other parking chips is faulty.

[0170] The acquisition module is used to acquire third vehicle parameters fed back by the parking mechanism corresponding to the faulty parking chip when any one of the parking chips is faulty.

[0171] The generation module is used to generate a drive signal for the faulty parking chip according to the third vehicle parameters and a preset redundancy strategy, so as to drive the parking mechanism corresponding to the faulty parking chip to park based on the drive signal.

[0172] Optionally, in an embodiment of the present application, the generation module includes: a second acquisition unit and a second transmission unit.

[0173] Wherein, the second obtaining unit is configured to obtain the fault type of the fault parking chip.

[0174] The second sending unit is configured to send a driving signal to the parking mechanism corresponding to the fault parking chip or the fault parking chip according to the fault type.

[0175] Optionally, in an embodiment of the present application, the parking device 50 further includes: an acquisition module and an upload module.

[0176] Wherein, the acquisition module is configured to acquire the current parking data of the vehicle.

[0177] The upload module is configured to upload the current parking data, the optimized parking strategy, and the failure information of the failed parking mechanism to a preset terminal.

[0178] It should be noted that the parking device in the embodiment of the present application has the same advantages as the above-mentioned parking method over the prior art, and will not be elaborated here.

[0179] In summary, the present application can drive the non-failed parking mechanism corresponding to the present parking chip to park based on a preset parking strategy, and optimize the preset parking strategy when it is determined that the parking mechanism corresponding to any one of the other parking chips fails, so as to ensure that the vehicle can timely adjust the parking strategy of the failed parking mechanism in the case of a failed parking mechanism, so that the vehicle can complete the parking action based on the parking instruction while maintaining the smoothness of vehicle parking, reducing the dependence on the driver's driving quality, and avoiding traffic accidents caused by the failure of the parking mechanism.

[0180] Figure 6 It is a schematic structural diagram of an electronic device vehicle provided by an embodiment of the present application. The electronic device vehicle may include:

[0181] A memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

[0182] When the processor 602 executes the program, it implements the parking method provided in the above embodiment.

[0183] Further, the electronic device vehicle further includes:

[0184] A communication interface 603 for communication between the memory 601 and the processor 602.

[0185] The memory 601 is used to store a computer program executable on the processor 602.

[0186] The memory 601 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0187] 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 via 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 the sake of simplicity in representation, Figure 6 only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0188] 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.

[0189] 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.

[0190] 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-described parking method is implemented.

[0191] 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 a suitable manner in any one or N embodiments or examples. 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 different embodiments or examples.

[0192] 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.

[0193] 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 the 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.

[0194] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as a sequenced 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 such instruction execution systems, apparatus, 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, since the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0195] 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 of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logic functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), and the like.

[0196] 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 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.

[0197] In addition, in each embodiment of the present application, the functional units 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.

[0198] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, 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, 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 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. Wherein, 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. Both the first parking device and the second parking device include two parking mechanisms. 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; Based on the preset parking strategy of this parking chip, driving the non-failed parking mechanism corresponding to this parking chip to park, and judging whether the parking mechanism corresponding to any one of the other parking chips fails; and If the parking mechanism corresponding to any one of the other parking chips fails, optimizing the preset parking strategy according to the failed parking mechanism, and driving the failed parking mechanism corresponding to the any one of the parking chips to park according to the optimized parking strategy.

2. The method according to claim 1, characterized in that, after driving the failed parking mechanism to park according to the optimized parking strategy, it further includes: Obtaining the failure type of the failed parking mechanism; Based on the failure type, generating a reference parameter for the parking chip corresponding to the failed parking mechanism according to the first vehicle parameter fed back by the non-failed parking mechanism; Sending the reference parameter to the parking chip corresponding to the failed parking mechanism, so that the parking chip corresponding to the failed parking mechanism drives the failed parking mechanism to park according to the reference parameter.

3. The method according to claim 2, characterized in that, before generating the reference parameter for the parking chip corresponding to the failed parking mechanism, it further includes: Detecting whether the non-failed parking mechanism and the failed parking mechanism belong to the first parking device or the second parking device at the same time; When it is detected that they belong to the first parking device or the second parking device at the same time, allowing the generation of the reference parameter; When it is detected that they do not belong to the first parking device or the second parking device at the same time, obtaining the second vehicle parameter fed back by the non-failed parking mechanism belonging to the first parking device or the second parking device at the same time, so as to generate the reference parameter according to the second vehicle parameter.

4. The method according to claim 3, characterized in that, generating the reference parameter according to the second vehicle parameter includes: Obtaining the first pose relationship between the non-failed parking mechanism and the failed parking mechanism; Based on the pose relationship, correcting the first vehicle parameter to obtain the reference parameter.

5. The method according to claim 3, characterized in that, when it is detected that they do not belong to the first parking device or the second parking device at the same time, it further includes: When the acquisition of the second vehicle parameter fails, acquire the second pose relationship and the environmental difference value between the non-failed parking mechanism and the failed parking mechanism; Based on the second pose relationship and the environmental difference value, correct the first vehicle parameter to obtain the reference parameter.

6. The method according to claim 1, wherein, the method further includes: judging whether any parking chip in the other parking chips is faulty; if any of the parking chips is faulty, acquire the third vehicle parameter fed back by the parking mechanism corresponding to the faulty parking chip; generate a driving signal for the faulty parking chip according to the third vehicle parameter and the preset redundancy strategy, so as to drive the parking mechanism corresponding to the faulty parking chip to park based on the driving signal.

7. The method according to claim 6, wherein, the driving the parking mechanism corresponding to the faulty parking chip to park based on the driving signal includes: acquiring the fault type of the faulty parking chip; sending the driving signal to the parking mechanism corresponding to the faulty parking chip or the faulty parking chip according to the fault type.

8. The method according to claim 1, wherein, after driving the failed parking mechanism to park according to the optimized parking strategy, further includes: collecting the current parking data of the vehicle; uploading the current parking data, the optimized parking strategy and the failure information of the failed parking mechanism to a preset terminal.

9. A vehicle, wherein, 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 vehicle control device according to any one of claims 1 to 8.

10. A computer-readable storage medium, wherein, 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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