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 the parking mechanism corresponding to the parking chip and the parking mechanism corresponding to the other parking chip fail or not; and according to the failed parking mechanism, optimizing a pre-stored parking strategy of a parking chip corresponding to the non-failed parking mechanism, and according to the optimized parking strategy, driving the non-failed parking mechanism to park. According to the method, the parking strategy of the parking chip corresponding to the parking mechanism which does not fail can be optimized when it is judged that the parking mechanism fails, so that the vehicle is controlled to execute the parking action based on the optimized parking strategy, the situation that parking force is unbalanced due to the fact that part of the parking mechanisms stop working in the parking process of the vehicle can be effectively prevented, and the parking reliability of the vehicle is improved. And therefore, the parking stability is improved.

Description

Technical Field

[0001] The present 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 and is the core parking system for realizing advanced assisted driving, autonomous driving, and deep braking energy recovery of vehicles.

[0003] However, in the related art, the parking braking system not only has high requirements for the main chip but also has certain requirements for the execution ability of the parking mechanism. Once the parking mechanism fails, if the vehicle continues to perform parking control according to the original parking parameters, only the non-failed parking mechanism performs parking according to the original parking parameters, making the overall parking force insufficient to complete the parking of the vehicle. Moreover, since some parking mechanisms cannot participate in parking, resulting in uneven distribution of the parking force, it is extremely easy to cause the vehicle to get out of control, and it will be difficult to ensure parking braking safety, which urgently needs to be improved. Summary of the Invention

[0004] The present application provides a parking method, a vehicle, and a storage medium. The method can determine whether the parking mechanism corresponding to the parking chip fails, and after determining that the parking mechanism fails, optimize the parking strategy of the parking chip corresponding to the non-failed parking mechanism, so as to control the vehicle to perform a parking action based on the optimized parking strategy, which can effectively prevent the problem of uneven parking force caused by some parking mechanisms stopping working during the parking process of the vehicle, thereby causing traffic accidents, and improve parking stability.

[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, or a first parking device corresponding to one of the front wheels of the vehicle and one of the rear wheels of the vehicle, and a second parking device corresponding to the other of the front wheels of the vehicle and the other of the rear wheels of the vehicle, a first control component for driving the first parking device to park, a second control component for driving the second parking device to park, and a communication device communicating with the first control component or the second control component. Among them, the first control component includes a first parking chip, the second control component includes a second parking chip, and the first parking chip and the second parking chip communicate with each other. Both the first parking device and the second parking device include two parking mechanisms. Among them, the method is applied to any parking chip, and the method includes the following steps:

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

[0007] Detect whether the parking mechanism corresponding to this parking chip and the parking mechanism corresponding to another parking chip fail; and

[0008] When it is detected that the parking mechanism corresponding to this parking chip or the parking mechanism corresponding to another parking chip fails, optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism, and drive the non-failed parking mechanism to park according to the optimized parking strategy.

[0009] Through the above technical means, it is possible to determine whether the parking mechanism corresponding to the parking chip fails, and after determining that the parking mechanism fails, optimize the parking strategy of the parking chip corresponding to the non-failed parking mechanism, so as to control the vehicle to perform a parking action based on the optimized parking strategy, which can effectively prevent the problem of uneven parking force caused by some parking mechanisms stopping working during the parking process of the vehicle, and further cause traffic accidents, and improve the parking stability.

[0010] In a first aspect, a parking method is provided. The optimizing the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism includes:

[0011] Obtain the actual parking type of the vehicle; (Type X, Type II, Type Two)

[0012] Match the corresponding optimization method according to the actual parking type;

[0013] Optimize the pre-stored parking strategy by using the optimization method.

[0014] Through the above technical means, it is possible to match the optimization method of the parking strategy according to the actual parking type of the vehicle, so that the optimized parking strategy is more targeted, meets the requirements of vehicle parking stability, and can be applied to vehicles of different parking types at the same time, with higher versatility.

[0015] In a first aspect, a parking method is provided. The optimizing the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism includes:

[0016] When the parking mechanism corresponding to this parking chip fails, generate first optimization reference data according to the parking data before the failure and the parking strategy of this parking chip;

[0017] Send the first optimization reference data to the other parking chip, so that the other parking chip optimizes the parking strategy of the other parking chip based on the first optimization reference data.

[0018] Through the above technical means, it is possible to obtain optimized reference data based on the historical parking data of the failed parking mechanism, so as to optimize the parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the optimized reference data, in order to ensure parking stability.

[0019] In a first aspect, a parking method is provided. The method of optimizing the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism includes:

[0020] In the case where the parking mechanism corresponding to the other parking chip fails, receive the second optimized reference data sent by the other parking chip;

[0021] Optimize the parking strategy of the present parking chip according to the second optimized reference data.

[0022] Through the above technical means, it is possible to obtain optimized reference data based on the historical parking data of the failed parking mechanism, so as to optimize the parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the optimized reference data, in order to ensure parking stability.

[0023] In a first aspect, a parking method is provided. The method of driving the non-failed parking mechanism to park according to the optimized parking strategy includes:

[0024] Obtain at least one environmental parameter of the current environment where the vehicle is located;

[0025] Modify the optimized parking strategy according to the at least one environmental parameter to obtain a modified parking strategy;

[0026] Drive the non-failed parking mechanism to park based on the modified parking strategy.

[0027] Through the above technical means, it is possible to modify the optimized parking strategy according to the current environment of the vehicle, so that the modified parking strategy can meet the requirements of the current environment for vehicle parking.

[0028] In a first aspect, a parking method is provided. In the case where it is detected that the parking mechanism corresponding to the present parking chip or the parking mechanism corresponding to the other parking chip fails, it further includes:

[0029] Identify the actual failure type of the parking mechanism corresponding to the present parking chip or the parking mechanism corresponding to the other parking chip;

[0030] Match the first optimization method of the parking strategy according to the actual failure type, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism by using the first optimization method.

[0031] Through the above technical means, it is possible to match corresponding optimization methods according to the actual failure types of the parking mechanisms, so as to optimize the parking strategy using the optimization methods, enabling the parking strategy to be adjusted accordingly for different failure types to ensure parking stability.

[0032] In a first aspect, a parking method is provided. When it is detected that the parking mechanism corresponding to the present parking chip or the parking mechanism corresponding to the other parking chip fails, it further includes:

[0033] Obtain the driving preferences of the driver;

[0034] Match a second optimization method for the parking strategy according to the driving preferences, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism using the second optimization method.

[0035] Through the above technical means, it is possible to match corresponding optimization methods according to the driving preferences, so as to optimize the parking strategy using the optimization methods, enabling the parking strategy to be adjusted accordingly for different driving preferences to ensure parking stability.

[0036] In a first aspect, a parking method is provided. After parking the non-failed parking mechanism according to the optimized parking strategy, it further includes:

[0037] Generate a fault reminder signal based on the failed parking mechanism;

[0038] Send the fault reminder signal to the driver.

[0039] Through the above technical means, it is possible to remind the driver to repair the vehicle fault after parking, thereby improving the driving safety of the vehicle.

[0040] 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, or a first parking device corresponding to one of the front wheels of the vehicle and one of the rear wheels of the vehicle, and a second parking device corresponding to the other of the front wheels of the vehicle and the other of the rear wheels of the vehicle, a first control component for driving the first parking device to park, a second control component for driving the second parking device to park, and a communication device communicating with the first control component or the second control component. Among them, the first control component includes a first parking chip, the second control component includes a second parking chip, the first parking chip and the second parking chip communicate with each other, and both the first parking device and the second parking device include two parking mechanisms. Among them, the device is applied to any parking chip, and the device includes:

[0041] A receiving module, configured to receive the parking signal sent by the communication device;

[0042] A detection module, configured to detect whether the parking mechanism corresponding to this parking chip and the parking mechanism corresponding to another parking chip fail; and

[0043] A parking module, configured to, when it is detected that the parking mechanism corresponding to this parking chip or the parking mechanism corresponding to the other parking chip fails, optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism, and drive the non-failed parking mechanism to park according to the optimized parking strategy.

[0044] In a second aspect, a parking device is provided, and the parking module includes:

[0045] A first acquisition unit, configured to acquire the actual parking type of the vehicle;

[0046] A first matching unit, configured to match a corresponding optimization method according to the actual parking type;

[0047] A first optimization unit, configured to optimize the pre-stored parking strategy by using the optimization method.

[0048] In a second aspect, a parking device is provided, and the parking module includes:

[0049] A generation unit, configured to, when the parking mechanism corresponding to this parking chip fails, generate first optimization reference data according to the parking data before the failure and the parking strategy of this parking chip;

[0050] A second optimization unit, configured to send the first optimization reference data to the other parking chip, so that the other parking chip optimizes the parking strategy of the other parking chip based on the first optimization reference data.

[0051] In a second aspect, a parking device is provided, and the parking module includes:

[0052] A receiving unit, configured to, when the parking mechanism corresponding to the other parking chip fails, receive second optimization reference data sent by the other parking chip;

[0053] A third optimization unit, configured to optimize the parking strategy of this parking chip according to the second optimization reference data.

[0054] In a second aspect, a parking device is provided, and the parking module includes:

[0055] A second acquisition unit, configured to acquire at least one environmental parameter of the current environment where the vehicle is located;

[0056] A correction unit, configured to correct the optimized parking strategy according to the at least one environmental parameter to obtain a corrected parking strategy;

[0057] A driving unit, configured to drive the non-failed parking mechanism to park based on the corrected parking strategy.

[0058] In a second aspect, a parking device is provided. The parking module further includes:

[0059] An identification unit, configured to identify the actual failure type of the parking mechanism corresponding to the present parking chip or the parking mechanism corresponding to the other parking chip;

[0060] A second matching unit, configured to match a first optimization method of the parking strategy according to the actual failure type, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism by using the first optimization method.

[0061] In a second aspect, a parking device is provided. The parking module further includes:

[0062] A third acquisition unit, configured to acquire the driving preference of the driver;

[0063] A fourth optimization unit, configured to match a second optimization method of the parking strategy according to the driving preference, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism by using the second optimization method.

[0064] In a second aspect, a parking device is further provided, including:

[0065] A generation module, configured to generate a fault reminder signal based on the failed parking mechanism;

[0066] A sending module, configured to send the fault reminder signal to the driver.

[0067] 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. The processor executes the program to implement the parking method as described in the above embodiments.

[0068] In a fourth aspect, a computer-readable storage medium is provided. 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 method in the first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0069] Figure 1a It is a schematic diagram of the system architecture of a parking method according to an embodiment of the present application;

[0070] Figure 1b Schematic diagram of the system architecture of a parking method according to another embodiment of the present application;

[0071] Figure 2 Schematic diagram of the system architecture of a parking method according to still another embodiment of the present application;

[0072] Figure 3 Schematic diagram of the system architecture of a parking method according to yet another embodiment of the present application;

[0073] Figure 4 Flowchart of a parking method provided according to an embodiment of the present application;

[0074] Figure 5 Schematic diagram of the force on a wheel according to an embodiment of the present application;

[0075] Figure 6 Schematic diagram of the force on a wheel according to another embodiment of the present application;

[0076] Figure 7 Schematic diagram of the principle of analyzing the parking force on a low - adhesion road surface according to an embodiment of the present application;

[0077] Figure 8 Schematic diagram of the principle of analyzing driving preferences according to an embodiment of the present application;

[0078] Figure 9 Schematic diagram of the structure of a parking device provided according to an embodiment of the present application;

[0079] Figure 10 Schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. Detailed implementation manners

[0080] 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 can represent 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 can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0081] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be understood 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.

[0082] The traditional parking brake system is in the form of a mechanical parking brake lever. It can lock the drive shaft or the rear wheels through a lever and a cable to implement braking. When the driver needs to stop the vehicle, the driver can manually pull up the parking brake lever to bring the brake plate into contact with the wheels and prevent the vehicle from moving forward. This is rather 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 driver's intervention, it cannot be compatible with autonomous driving technology, which imposes certain limitations on the future development of automobiles.

[0083] 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 parking brake safety, 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 parking chip that drives the parking mechanism fails, it often leads to the failure of the parking brake, thus causing major safety accidents, making it difficult to ensure parking brake safety and being unfavorable for improving the driver's driving experience.

[0084] At the same time, when the parking mechanism fails, it often leads to the failure of vehicle parking and causes traffic accidents. For vehicles with parking mechanisms driven by different parking chips, when any one of the parking mechanisms fails, it is easy to cause uneven distribution of parking force, thus causing accidents such as vehicle rollover.

[0085] Before explaining the vehicle parking update method provided in the embodiments of the present application, the system architecture involved in the embodiments of the present application will be described first.

[0086] Next, the applicable scenarios or system architecture of the embodiments of the present application will be exemplarily described. Refer to Figure 1a 、 Figure 1b and Figure 2 and Figure 3 .

[0087] 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.

[0088] 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;

[0089] Alternatively, the first parking device 100 is correspondingly arranged with one of the front wheels of the vehicle and one of the rear wheels of the vehicle, and the second parking device 200 is correspondingly arranged with the other of the front wheels of the vehicle and the other of the rear wheels of the vehicle;

[0090] Wherein, each parking device controls the wheels by driving the corresponding parking mechanism, each parking mechanism is correspondingly arranged with one wheel of the vehicle, and the corresponding relationship between the parking device and the wheel can be divided into three types: type II, type II, and type X.

[0091] For example, the structure of type II is described as follows:

[0092] The first parking device 100 is correspondingly arranged with two front wheels of the vehicle, and the second parking device 200 is correspondingly arranged with two rear wheels of the vehicle;

[0093] Or, the first parking device 100 is correspondingly arranged with two rear wheels of the vehicle, and the second parking device 200 is correspondingly arranged with two front wheels of the vehicle.

[0094] Based on the above structure of type II, the type II parking control of the vehicle is realized.

[0095] The structure of type II is described as follows:

[0096] The first parking device 100 is correspondingly arranged with the front and rear two wheels on the left side of the vehicle, and the second parking device 200 is correspondingly arranged with the front and rear two wheels on the right side of the vehicle;

[0097] Or, the first parking device 100 is correspondingly arranged with the front and rear two wheels on the right side of the vehicle, and the second parking device 200 is correspondingly arranged with the front and rear two vehicles on the left side of the vehicle.

[0098] Based on the above structure of type II, the type II parking control of the vehicle is realized.

[0099] The structure of type X is described as follows:

[0100] The first parking device 100 is correspondingly arranged with the left front wheel and the right rear wheel of the vehicle, and the second parking device 200 is correspondingly arranged with the right front wheel and the left rear wheel of the vehicle;

[0101] Or, the first parking device 100 is correspondingly arranged with the right front wheel and the left rear wheel of the vehicle, and the second parking device 200 is correspondingly arranged with the left front wheel and the right rear wheel of the vehicle.

[0102] Based on the above structure of type X, the type X parking control of the vehicle is realized.

[0103] Wherein, the first control component 300 includes a first parking chip 301;

[0104] The second control component 400 includes a second parking chip 401;

[0105] The first control component 300 can drive the first parking device 100 to park the vehicle;

[0106] The second control component 400 can drive the second parking device 200 to park the vehicle;

[0107] On this basis, the first parking chip 301 and the second parking chip 401 can determine a parking strategy that matches the corresponding relationship based on the corresponding relationship between the parking device and the wheel, so as to ensure the smoothness of vehicle parking.

[0108] It should be noted that the first control component 300 and the second control component 400 are not limited to the first parking chip 301 and the second parking chip 401. The first control component 300 and the second control component 400 can also respectively include corresponding actuators, corresponding drive units and other structures to achieve parking through combined linkage.

[0109] 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 control component, any control component forwards the parking signal to the other control component to achieve 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 and the second parking chip 401 can communicate with each other.

[0110] Specifically, as Figure 3 shown, the first control component 300 and the second control component 400 can be the front controller and the rear controller respectively, so as to control the corresponding parking mechanism, such as an EMB (Electromechanical Brake System) actuator, based on the relationship between the first parking device 100 and the second parking device 200 respectively set corresponding to the wheels.

[0111] 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 mechanisms of the four wheels through the parking chips.

[0112] The power supply supplies power to the four parking mechanisms, 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 failing to work due to the failure of a certain power supply.

[0113] Figure 4 is a schematic flowchart of a parking method provided by an embodiment of the present application.

[0114] Exemplarily, as Figure 4As shown, this method is applied to any parking chip, and the method includes the following steps:

[0115] In step S401, receive the parking signal sent by the communication device.

[0116] In the actual execution process, the embodiment of the present application can be applied to any parking chip of the vehicle. Any parking chip can receive the parking signal sent by the communication device to determine the corresponding parking strategy based on the parking signal, so as to drive the parking mechanism to complete the corresponding parking action to assist the vehicle to complete the parking action.

[0117] In step S402, detect whether the parking mechanism corresponding to this parking chip and the parking mechanism corresponding to another parking chip fail.

[0118] Furthermore, the embodiment of the present application can detect whether the parking mechanism corresponding to this parking chip and the parking mechanism corresponding to another parking chip fail. The detection method can include: after sending the analog signal, detecting whether the internal signal of the parking chip is complete, detecting whether there is a corresponding parking signal in the parking mechanism, detecting whether the execution action of the parking mechanism under the corresponding analog signal conforms to the instruction in the analog signal, etc. The specific detection method can be set by those skilled in the art according to the actual configuration of the vehicle, and no specific limitation is made here.

[0119] According to the result obtained by the above detection method, the embodiment of the present application can judge whether the parking mechanism fails. The failure condition of the parking mechanism is that the parking mechanism cannot respond to the parking signal, the parking mechanism does not execute the corresponding action according to the parking signal, the parking mechanism executes the parking action but the parking chip does not send out the braking signal, etc. The specific failure condition can be set by those skilled in the art according to different detection methods, and no specific limitation is made here.

[0120] Based on the detection result, the embodiment of the present application can perform corresponding adjustment and optimization of the parking strategy to ensure the stability of vehicle parking. When the parking mechanisms corresponding to this parking chip and another parking chip do not fail, the embodiment of the present application can normally execute the parking action.

[0121] In step S403, when it is detected that the parking mechanism corresponding to this parking chip or the parking mechanism corresponding to another parking chip fails, optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism, and drive the non-failed parking mechanism to park according to the optimized parking strategy.

[0122] It can be understood that the failure of the parking mechanism can be divided into two situations: the situation where the parking mechanism corresponding to this parking chip fails or the situation where the parking mechanism corresponding to another parking chip fails.

[0123] When the parking mechanism corresponding to this parking chip fails, the embodiments of the present application can optimize the pre-stored parking strategy of another parking chip, so as to drive the non-failed parking mechanism to park according to the optimized parking strategy;

[0124] When the parking mechanism corresponding to another parking chip fails, the embodiments of the present application can optimize the pre-stored parking strategy of this parking chip, so as to drive the non-failed parking mechanism to park according to the optimized parking strategy.

[0125] In addition, there is also a situation where the parking mechanisms corresponding to both this parking chip and another parking chip fail. In this case, all parking strategies cannot be used. The embodiments of the present application can perform emergency parking, such as performing emergency parking through an emergency parking structure additionally provided in the vehicle, generating an alarm reminder, and sending a distress signal to servers such as an alarm center and a maintenance platform at the same time. Among them, the additionally provided emergency parking structure can be set accordingly by those skilled in the art according to the actual structure of the vehicle, and no specific limitation is made here.

[0126] Optionally, in an embodiment of the present application, optimizing the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism includes: obtaining the actual parking type of the vehicle; matching the corresponding optimization method according to the actual parking type; and optimizing the pre-stored parking strategy by using the optimization method.

[0127] In the actual execution process, the optimization method of the embodiments of the present application can be to optimize the pre-stored parking strategy of the non-failed parking mechanism, so as to use the non-failed parking mechanism to make up for the insufficient parking force caused by the stopped action of the failed parking mechanism and reduce the phenomenon of the vehicle body instability during parking caused by the failed parking mechanism.

[0128] In some embodiments, the actual parking type of the vehicle may include: a type in which the parking mechanism corresponding to this parking chip is connected to the two front wheels of the vehicle, and the parking mechanism corresponding to another parking chip is connected to the two rear wheels of the vehicle; a type in which the parking mechanism corresponding to this parking chip is connected to the two left wheels of the vehicle, and the parking mechanism corresponding to another parking chip is connected to the two right wheels of the vehicle; a type in which the parking mechanism corresponding to this parking chip is connected to the left front wheel and the right rear wheel of the vehicle, and the parking mechanism corresponding to another parking chip is connected to the right front wheel and the left rear wheel of the vehicle, etc.

[0129] Based on different actual parking types, the optimization methods are also different. For example, when the actual parking type is such that the parking mechanism corresponding to this parking chip is connected to the two front wheels of the vehicle, and the parking mechanism corresponding to another parking chip is connected to the two rear wheels of the vehicle, it is not easy to maintain the vehicle body stability when parking with a single parking mechanism. Especially in some special working conditions, such as the parking condition on a ramp with a relatively large slope, the vehicle realizes ramp parking through the parking forces of the front wheels and the rear wheels. Once the parking mechanism corresponding to the front wheel or the rear wheel fails, it is difficult to ensure the vehicle body stability during parking only by the original parking force exerted by the non-failed parking mechanism, and it is also difficult to ensure that the vehicle can achieve ramp parking. Therefore, the optimization method can be to forward the pre-stored parking strategy of the non-failed parking mechanism to the failed parking mechanism through the parking chip, and on the basis of the failed parking mechanism using the pre-stored parking strategy for parking, optimize the pre-stored parking strategy of the non-failed parking mechanism. For example, in the parking condition on a ramp with a relatively large slope, when the parking mechanism corresponding to the front wheel of the vehicle fails, the non-failed parking mechanism corresponding to the rear wheel of the vehicle needs to increase the corresponding parking force to maintain the vehicle body stability while ensuring that the vehicle can park on the ramp.

[0130] Similarly, for other actual parking types, the embodiments of the present application can adjust the pre-stored parking strategies of the parking chips corresponding to the non-failed parking mechanisms according to different parking working conditions to ensure that the vehicle completes the parking action.

[0131] It can be understood that before the vehicle parks, based on the different pose relationships of the vehicle wheels, the calculation formula for the braking force allocated to each wheel can be:

[0132] The braking force of the wheel needs to satisfy the braking force distribution curve function to achieve stable parking. Among them, the calculation formula for the braking force distribution curve function can be:

[0133]

[0134] Among them, F μ1 、F μ2 are the front and rear wheel braking forces (N) respectively, G is the vehicle gravity (N), h g is the vehicle centroid height (m), b is the distance from the vehicle centroid to the center line of the rear axle (m), and L is the vehicle wheelbase (m).

[0135] Furthermore, on this basis, the embodiments of the present application can determine the ratio between the parking forces of the wheels based on the differences in the braking forces, and then determine the parking force that the parking mechanism should execute. As shown in Figure 5 and Figure 6 , it is a schematic diagram of the force analysis of the wheels when the vehicle parks in the embodiments of the present application. Among them, T u is the frictional torque when the friction plate and the brake disc in the parking mechanism rotate relative to each other, F Xbis the ground parking force, W is the wheel vertical load, F p is the thrust of the axle on the wheel, F 1 is the normal reaction force of the ground on the wheel, and r is the wheel radius.

[0136] Among them, F Xb = T u / r.

[0137] For Type II, when a certain parking mechanism fails or the front / rear wheel parking force is too small, T u will increase, that is, the ground parking force becomes larger, ensuring the vehicle parks stably.

[0138] For Type X and Type II, when a certain parking mechanism fails, increase the parking force of the failed wheel and reduce the corresponding driving force of the non-failed parking mechanism, so that the inequality degree of the parking forces of the two wheels at the front axle △F ur is less than or equal to 20%, and the rear axle △F ur is less than or equal to 24%, △F ur =(F μb - F μ1 ) / F μb ×100%;

[0139] F μb is the larger parking force value among the left and right wheels, and F μ1 is the smaller parking force value among the left and right wheels; thus ensuring the vehicle parks stably and the vehicle does not deviate.

[0140] In addition, the embodiments of the present application can also map the relationships among the above actual parking types, optimization methods, failed parking mechanisms, and pre-stored parking strategies, and store the optimized parking strategies, so that when the same failure occurs next time, the stored optimized parking strategies can be used, thereby saving response time and computing power resources.

[0141] The embodiments of the present application can also optimize the current pre-stored parking strategy of the non-failed mechanism while reading the stored optimized parking strategy, and compare the optimized parking strategy with the optimized current pre-stored parking strategy to determine whether the two parking strategies are consistent, so as to determine whether there are other faults in the vehicle, such as calculation faults, etc. Therefore, when the two parking strategies are consistent, execute the corresponding parking strategy, and when the two parking strategies are inconsistent, execute the read optimized parking strategy.

[0142] It should be noted that the actual parking type can include multiple choices, not limited to the above examples.

[0143] Through the above technical means, it is possible to match the optimization method of the parking strategy according to the actual parking type of the vehicle, making the optimized parking strategy more targeted. While meeting the requirements of vehicle parking stability, it can be applied to vehicles of different parking types, with higher versatility.

[0144] Optionally, in an embodiment of the present application, optimizing the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism includes: in the case where the parking mechanism corresponding to the present parking chip fails, generating first optimization reference data according to the parking data before the failure and the parking strategy of the present parking chip; sending the first optimization reference data to another parking chip, so that the other parking chip optimizes the parking strategy of the other parking chip based on the first optimization reference data.

[0145] Here, the situation where the parking mechanism corresponding to the present parking chip fails is elaborated in detail.

[0146] The embodiment of the present application can obtain the historical parking data before the parking mechanism does not fail and the pre-stored parking strategy of the present parking chip before detecting the failure of the corresponding parking mechanism, so as to obtain the parking data of the present parking chip before the corresponding parking mechanism does not fail, and then obtain the first optimization reference data, so that the other parking chip can optimize the parking strategy of the other parking chip itself according to the first optimization reference data to reduce the impact of the failure of the parking mechanism on parking. Among them, optimizing the parking strategy of the other parking chip according to the first optimization reference data has an influence relationship with the actual parking type.

[0147] For example, the first optimization reference data can be data such as the parking clamping force before the failure, the maximum motor current before the failure, and the response time of the deceleration from 0g to the maximum locked parking force.

[0148] It can be understood that the parking mechanism may fail during the vehicle parking process. At this time, the failed parking mechanism may continue to execute the pre-stored parking strategy received before the failure, but cannot make adaptive adjustments according to the changes in the actual parking conditions of the vehicle. At this time, the parking chip corresponding to the non-failed parking mechanism in the embodiment of the present application can optimize its own parking strategy based on the first optimization reference data to cope with the changes in the parking conditions.

[0149] That is to say, the other parking chip can infer the current state of the failed parking mechanism based on the first optimization reference data, and then calculate the parking clamping force, motor current, response time, etc. data required for the non-failed parking mechanism to maintain the vehicle body stable parking based on the current state of the failed parking mechanism, so as to optimize the parking strategy of the other parking chip.

[0150] Taking the failed parking mechanism corresponding to the two front wheels of the vehicle and the unfailed parking mechanism corresponding to the two rear wheels as an example, when the front-wheel parking clamping force before failure of the parking mechanism corresponding to the front wheels is 56 KN, the front-wheel motor current before failure is 60 A, and the response time of deceleration from 0 g to the locked parking force is 80 ms, the parking strategy optimized by the parking chip corresponding to the unfailed parking mechanism based on the above parameters is that the parking clamping force of the rear wheels corresponding to the unfailed parking mechanism is adjusted to 32 KN, the rear-wheel clamping force is adjusted to 30 KN, the rear-wheel motor current is adjusted to 30 A, and the response time of deceleration from 0 g to the locked parking force is adjusted to 80 ms.

[0151] Through the above technical means, it is possible to obtain optimized reference data based on the historical parking data of the failed parking mechanism, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the unfailed parking mechanism according to the optimized reference data, thereby ensuring parking stability.

[0152] Optionally, in an embodiment of the present application, optimizing the pre-stored parking strategy of the parking chip corresponding to the unfailed parking mechanism according to the failed parking mechanism includes: when the parking mechanism corresponding to another parking chip fails, receiving the second optimized reference data sent by another parking chip; optimizing the parking strategy of this parking chip according to the second optimized reference data.

[0153] Here, the situation where the parking mechanism corresponding to another parking chip fails is elaborated in detail.

[0154] Consistent with the optimization principle of the parking strategy when the parking mechanism corresponding to any parking chip fails, the embodiment of the present application can obtain the historical parking data before the parking mechanism fails and the pre-stored parking strategy of another parking chip before detecting the failure of the corresponding parking mechanism, so as to obtain the parking data of another parking chip before the corresponding parking mechanism fails, and further obtain the second optimized reference data, so that this parking chip can optimize the parking strategy of this parking chip according to the second optimized reference data to reduce the impact of the failure of the vehicle mechanism on parking. Among them, optimizing the parking strategy of this parking chip according to the second optimized reference data has an influence relationship with the actual parking type.

[0155] For example, the second optimized reference data can be data such as the parking clamping force before failure, the maximum motor current before failure, and the response time of deceleration from 0 g to the maximum locked parking force.

[0156] It can be understood that the parking mechanism may fail during vehicle parking. At this time, the failed parking mechanism may continue to execute the pre-stored parking strategy received before the failure, but it cannot be adaptively adjusted according to the changes in the actual parking conditions of the vehicle. At this time, the parking chip corresponding to the non-failed parking mechanism in the embodiment of the present application can optimize its own parking strategy based on the second optimization reference data to cope with the changes in the parking conditions.

[0157] That is to say, another parking chip can infer the current state of the failed parking mechanism based on the second optimization reference data, and thus calculate data such as the parking clamping force, motor current, response time, etc. required for the non-failed parking mechanism to maintain the vehicle body stable for parking based on the current state of the failed parking mechanism, so as to optimize the parking strategy of another parking chip.

[0158] Through the above technical means, the optimization reference data can be obtained based on the historical parking data of the failed parking mechanism, and thus the parking strategy of the parking chip corresponding to the non-failed parking mechanism can be optimized according to the optimization reference data to ensure parking stability.

[0159] Optionally, in an embodiment of the present application, driving the non-failed parking mechanism to park according to the optimized parking strategy includes: obtaining at least one environmental parameter of the current environment where the vehicle is located; correcting the optimized parking strategy according to the at least one environmental parameter to obtain a corrected parking strategy; driving the non-failed parking mechanism to park based on the corrected parking strategy.

[0160] In the actual execution process, the embodiment of the present application can also use the environmental information collected by at least one environmental sensor of the vehicle to obtain the current environment where the vehicle is located, such as the road surface state signal of the vehicle (such as high adhesion, low adhesion, oncoming road surface, etc.), the environmental signal of the vehicle (such as high cold, high temperature, high humidity, etc.), etc., to correct the optimized parking strategy to determine the state of the vehicle in the current environment for different temperatures. For example, when the temperature is too high, the air pressure in the wheels is too high, which is likely to cause a flat tire. The embodiment of the present application can adjust the parking strategy for the wheel state at different temperatures to keep the vehicle body stable; it can determine the slipping probability of the wheels through a humidity sensor for different humidities, such as judging whether there is water accumulation on the current driving road of the wheels, etc., and then provide corresponding parking strategy adjustments based on the different frictions at different humidities to achieve vehicle body stability, that is, correct the optimized parking strategy according to at least one environmental parameter, and thus drive the non-failed parking mechanism to park based on the corrected parking strategy.

[0161] In some embodiments, when the vehicle is in a parked state and is hit by an external force, causing the vehicle body to slide, if the surrounding environment is different from when the vehicle was parked, such as water accumulation, icing, or gravel on the ground, it is difficult to ensure stable parking of the vehicle when the vehicle still controls the wheels according to the parking force when parked. At this time, the embodiments of the present application can correct the optimized parking strategy based on at least one environmental parameter, so as to adjust the parking force of the vehicle by using the corrected parking strategy and ensure that the vehicle can park smoothly again.

[0162] In some other embodiments, the parking force and parking response time of the vehicle can be determined based on the braking process of the vehicle before parking.

[0163] Taking the road surface state signal as an example, as Figure 7 shown, it is a schematic diagram of the correspondence between deceleration and pedal travel when the state signal is low adhesion (ice road, snow road, tile road). For low adhesion road surfaces, the corresponding adjustment of the parking strategy can be that the deceleration increases faster and the braking pedal travel is shorter, that is, the parking mechanism requires a shorter parking response time and a faster response speed, so that the vehicle can complete the parking action after braking on a low adhesion road surface and prevent the vehicle from slipping.

[0164] Through the above technical means, the optimized parking strategy can be corrected according to the current environment of the vehicle, so that the corrected parking strategy can meet the requirements of the current environment for vehicle parking.

[0165] Optionally, in an embodiment of the present application, when it is detected that the parking mechanism corresponding to this parking chip or the parking mechanism corresponding to another parking chip fails, it further includes: identifying the actual failure type of the parking mechanism corresponding to this parking chip or the parking mechanism corresponding to another parking chip; matching the first optimization method of the parking strategy according to the actual failure type, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism by using the first optimization method.

[0166] It can be understood that different failure types of parking mechanisms may adopt different optimization methods.

[0167] The embodiments of the present application can identify the actual failure type of the failed parking mechanism, so as to match the first optimization method, so that the parking strategy can be adjusted accordingly for different failure types to ensure parking stability.

[0168] For example, when the actual failure type is the communication failure type between the parking mechanism and the corresponding parking chip of this parking chip, the parking strategy obtained by using the first optimization method can be that another parking chip communicates directly with the failed parking mechanism;

[0169] When the actual failure type is that both the parking mechanism and all parking chips are communication failure types, the parking strategy obtained by using the first optimization method can be to adjust the parking force of the non-failed mechanism to park smoothly, or to activate the emergency parking mode of the failed parking mechanism. For example, use the external safety structure of the vehicle to start after the parking mechanism fails to achieve auxiliary parking;

[0170] When the actual failure type is that the parking mechanism has hardware damage, the parking strategy obtained by using the first optimization method can be to adjust the parking force of the non-failed mechanism to park smoothly, etc.

[0171] Through the above technical means, it is possible to match the corresponding optimization method according to the actual failure type of the parking mechanism, so as to optimize the parking strategy by using the optimization method, so that the parking strategy can be adjusted accordingly for different failure types to ensure parking stability.

[0172] Optionally, in an embodiment of the present application, when it is detected that the parking mechanism corresponding to the present parking chip or the parking mechanism corresponding to another parking chip fails, it further includes: obtaining the driving preference of the driver; matching the second optimization method of the parking strategy according to the driving preference, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism by using the second optimization method.

[0173] As a possible implementation manner, the embodiment of the present application can match the corresponding optimization method according to the driving preference, so as to optimize the parking strategy by using the optimization method, so that the parking strategy can be adjusted accordingly for different driving preferences to ensure parking stability.

[0174] Among them, the driving preference of the driver can be obtained by analyzing the historical driving data of the vehicle.

[0175] The embodiment of the present application can obtain the driving parameters manually adjusted by the driver each time the vehicle is driven, so as to determine the driving preference of the driver based on the driving parameters, match the second optimization method of the parking strategy, and optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism by using the second optimization method, so that when the parking mechanism fails, the executed parking strategy of the vehicle can conform to the driver's preference and reduce the driver's negative emotion towards the failure of the parking mechanism.

[0176] Among them, the embodiment of the present application can form the driver's preference for parking operations for the driving preference. For example, an aggressive driving preference can form an aggressive preference, and a comfortable and stable driving preference can form a smooth preference, etc. Thus, for the parking preference, the second optimization method is matched to optimize the pre-stored parking strategy.

[0177] For example, such as Figure 8As shown in the figure, the embodiments of the present application can determine the driving preference of the driver based on the time taken for the brake pedal stroke to reach the full stroke. When the time taken for the brake pedal stroke to reach the full stroke is greater than 0.7 s, it is an aggressive driving preference; when it is less than 0.7 s, it is a comfortable and stable driving preference, etc. Among them, Comfort is the deceleration corresponding to the slow parking pedal stroke, and Sport is the deceleration corresponding to the fast brake pedal stroke.

[0178] For example, the embodiments of the present application can obtain the parking parameters manually adjusted by the driver each time when parking, the frequency of identifying the parking signal, the signal wavelength, etc., to determine the parking preference of the driver, so as to adjust the pre-stored parking strategy and the pre-stored redundant parking strategy, making the parking action more in line with the driver's preference.

[0179] Among them, the relationship between the parking signal frequency and wavelength and the parking preference can be as shown in Table 1. Table 1 is the relationship table between the parking signal frequency and wavelength and the parking preference.

[0180] Table 1

[0181] Parking preference Parking signal frequency Parking signal wavelength Aggressive preference <![CDATA[< 1.5 s -1 > ≥40ms Smoothing preference <![CDATA[≥1.5s -1 > <40ms

[0182] When the driver has an aggressive preference, the parking signal is transmitted faster and is more sensitive, and the parking force corresponding to the parking is greater. When the parking chip identifies that the wavelength of the parking signal is less than or equal to a certain limit value, the parking chip defaults it to a mis-touch situation;

[0183] When the driver has a steady preference, the wavelength of the parking signal is smaller and the frequency of the parking signal is greater. When the parking chip identifies that the wavelength of the parking signal is greater than a certain limit value, the parking chip defaults it to a mis-touch situation.

[0184] Optionally, in an embodiment of the present application, after driving the unfailed parking mechanism to park according to the optimized parking strategy, it further includes: generating a fault reminder signal based on the failed parking mechanism; sending the fault reminder signal to the driver.

[0185] In the actual execution process, the embodiments of the present application can generate corresponding fault reminder information based on the failed parking mechanism after the vehicle parks, and remind the driver of the failure of the vehicle's parking mechanism, facilitating the driver to repair the vehicle fault in time, thereby improving the driving safety of the vehicle.

[0186] In summary, the present application can determine whether the parking mechanism corresponding to the parking chip fails, and after determining the failure of the parking mechanism, optimize the parking strategy of the parking chip corresponding to the unfailed parking mechanism, so as to control the vehicle to perform the parking action based on the optimized parking strategy, which can effectively prevent the problem of uneven parking force caused by some parking mechanisms stopping working during the parking process of the vehicle, and further cause traffic accidents, and improve the parking stability.

[0187] Figure 9 This is a schematic structural diagram of a parking device provided by an embodiment of the present application.

[0188] Exemplarily, as Figure 9 shown, the parking device 90 is applied to any parking chip, and the device 90 includes: a receiving module 91, a detection module 92, and a parking module 93.

[0189] Specifically, the receiving module 91 is configured to receive a parking signal sent by a communication device.

[0190] The detection module 92 is configured to detect whether the parking mechanism corresponding to this parking chip and the parking mechanism corresponding to another parking chip fail.

[0191] The parking module 93 is configured to, when it is detected that the parking mechanism corresponding to this parking chip or the parking mechanism corresponding to another parking chip fails, optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism according to the failed parking mechanism, and drive the non-failed parking mechanism to park according to the optimized parking strategy.

[0192] Optionally, in an embodiment of the present application, the parking module 93 includes: a first acquisition unit, a first matching unit, and a first optimization unit.

[0193] Among them, the first acquisition unit is configured to acquire the actual parking type of the vehicle.

[0194] The first matching unit is configured to match the corresponding optimization method according to the actual parking type.

[0195] The first optimization unit is configured to optimize the pre-stored parking strategy by using the optimization method.

[0196] Optionally, in an embodiment of the present application, the parking module 93 includes: a generation unit and a second optimization unit.

[0197] Among them, the generation unit is configured to generate first optimization reference data according to the parking data before the failure and the parking strategy of this parking chip when the parking mechanism corresponding to this parking chip fails.

[0198] The second optimization unit is configured to send the first optimization reference data to another parking chip, so that the other parking chip optimizes the parking strategy of the other parking chip based on the first optimization reference data.

[0199] Optionally, in an embodiment of the present application, the parking module 93 includes: a receiving unit and a third optimization unit.

[0200] Among them, the receiving unit is configured to receive second optimization reference data sent by another parking chip when the parking mechanism corresponding to the other parking chip fails.

[0201] A third optimization unit, configured to optimize the parking strategy of this parking chip according to the second optimization reference data.

[0202] Optionally, in an embodiment of the present application, the parking module 93 includes: a second acquisition unit, a correction unit, and a driving unit.

[0203] Wherein, the second acquisition unit is configured to acquire at least one environmental parameter of the current environment where the vehicle is located.

[0204] The correction unit is configured to correct the optimized parking strategy according to at least one environmental parameter to obtain a corrected parking strategy.

[0205] The driving unit is configured to drive the non-failed parking mechanism to park based on the corrected parking strategy.

[0206] Optionally, in an embodiment of the present application, the parking module 93 further includes: an identification unit and a second matching unit.

[0207] Wherein, the identification unit is configured to identify the actual failure type of the parking mechanism corresponding to this parking chip or the parking mechanism corresponding to another parking chip.

[0208] The second matching unit is configured to match the first optimization method of the parking strategy according to the actual failure type, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism by using the first optimization method.

[0209] Optionally, in an embodiment of the present application, the parking module 93 further includes:

[0210] A third acquisition unit, configured to acquire the driving preference of the driver.

[0211] A fourth optimization unit, configured to match the second optimization method of the parking strategy according to the driving preference, so as to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism by using the second optimization method.

[0212] Optionally, in an embodiment of the present application, the parking device 90 further includes: a generation module and a sending module.

[0213] Wherein, the generation module is configured to generate a fault reminder signal based on the failed parking mechanism.

[0214] The sending module is configured to send the fault reminder signal to the driver.

[0215] In summary, the present application can determine whether the parking mechanism corresponding to the parking chip fails. After determining that the parking mechanism fails, the parking strategy of the parking chip corresponding to the non-failed parking mechanism is optimized, so as to control the vehicle to perform a parking action based on the optimized parking strategy, which can effectively prevent the problem of unbalanced parking force caused by some parking mechanisms stopping working during the parking process of the vehicle, thereby avoiding traffic accidents and improving parking stability.

[0216] Figure 10 FIG. is a schematic structural diagram of an electronic device vehicle provided by an embodiment of the present application. The electronic device vehicle may include:

[0217] A memory 1001, a processor 1002, and a computer program stored on the memory 1001 and executable on the processor 1002.

[0218] When the processor 1002 executes the program, it implements the parking method provided in the above embodiment.

[0219] Further, the electronic device vehicle further includes:

[0220] A communication interface 1003 for communication between the memory 1001 and the processor 1002.

[0221] The memory 1001 is used to store a computer program executable on the processor 1002.

[0222] The memory 1001 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0223] If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be interconnected through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 10 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0224] Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on a single chip, the memory 1001, the processor 1002, and the communication interface 1003 can communicate with each other through an internal interface.

[0225] The processor 1002 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.

[0226] 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 parking method as described above is implemented.

[0227] 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 may be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0228] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying 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 at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0229] Any process or method description in the flowchart or described in other ways herein may be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logic function or process, and 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 involved functions, 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 belong.

[0230] The logic and / or steps represented in the flowchart or otherwise described herein can, for example, be considered as a definitional sequence list of executable instructions for implementing logical functions, which can be embodied specifically 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 (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection part (electronic device) having one or N wirings, a portable computer disk cartridge (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 suitable processing as necessary, and then storing it in a computer memory.

[0231] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above 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 in 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 having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having suitable combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0232] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program, and 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.

[0233] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, may exist physically alone for each unit, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0234] The above-mentioned storage medium may 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, 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, or a first parking device arranged corresponding to one of the front wheels of the vehicle and one of the rear wheels of the vehicle and a second parking device arranged corresponding to the other of the front wheels of the vehicle and the other of the rear wheels of the vehicle, a first control component for driving the first parking device to park and a second control component for driving the second parking device to park, and a communication device for communicating with the first control component or the second control component, wherein the first control component comprises a first parking chip, the second control component comprises a second parking chip, the first parking chip and the second parking chip communicate with each other, the first parking device and the second parking device each comprise two parking mechanisms, wherein the method is applied to any parking chip, and the method comprises the following steps: receiving a parking signal sent by the communication device; Detecting whether the parking mechanism corresponding to the parking chip and the parking mechanism corresponding to another parking chip are invalid; and When it is detected that the parking mechanism corresponding to the present parking chip or the parking mechanism corresponding to the other parking chip fails, the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism is optimized according to the failed parking mechanism, and the non-failed parking mechanism is driven to park according to the optimized parking strategy.

2. The method according to claim 1, It is characterized in that The method of optimizing the pre-stored parking strategy of the parking chip corresponding to the parking mechanism that has not failed according to the failed parking mechanism includes: Obtaining the actual parking type of the vehicle; Matching a corresponding optimization method according to the actual parking type; The pre-stored parking strategy is optimized using the optimization method.

3. The method according to claim 1, It is characterized in that The method of optimizing the pre-stored parking strategy of the parking chip corresponding to the parking mechanism that has not failed according to the failed parking mechanism includes: In the case where the parking mechanism corresponding to the parking chip fails, generating first optimized reference data according to the parking data before the failure and the parking strategy of the parking chip; The first optimization reference data is sent to the other parking chip, so that the other parking chip optimizes the parking strategy of the other parking chip based on the first optimization reference data.

4. The method according to claim 1, It is characterized in that The method of optimizing the pre-stored parking strategy of the parking chip corresponding to the parking mechanism that has not failed according to the failed parking mechanism includes: When the parking mechanism corresponding to the other parking chip fails, receiving second optimization reference data sent by the other parking chip; The parking strategy of the parking chip is optimized according to the second optimization reference data.

5. The method according to claim 1, It is characterized in that The driving the non-failed parking mechanism to park the vehicle according to the optimized parking strategy includes: Acquire at least one environmental parameter of the current environment of the vehicle; Modifying the optimized parking strategy according to the at least one environmental parameter to obtain a modified parking strategy; The parking mechanism that has not failed is driven to park the vehicle based on the revised parking strategy.

6. The method according to claim 1, It is characterized in that In the case where it is detected that the parking mechanism corresponding to the parking chip or the parking mechanism corresponding to another parking chip fails, the method further includes: Identifying an actual failure type of a parking mechanism corresponding to the parking chip or a parking mechanism corresponding to another parking chip; A first optimization method of matching the parking strategy is performed according to the actual failure type, so as to utilize the first optimization method to optimize the pre-stored parking strategy of the parking chip corresponding to the non-failed parking mechanism.

7. The method according to claim 1, It is characterized in that In the case where it is detected that the parking mechanism corresponding to the parking chip or the parking mechanism corresponding to another parking chip fails, the method further includes: Obtaining the driver's driving preferences; A second optimization method for matching the parking strategy according to the driving preference to utilize the Second optimization method The pre-stored parking strategy of the parking chip corresponding to the parking mechanism that has not failed is optimized.

8. The method according to claim 1, It is characterized in that After driving the non-failed parking mechanism to park according to the optimized parking strategy, the method further includes: generating a fault warning signal based on the failed parking mechanism; The fault reminder signal is sent to the driver.

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 method 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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