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 technical field of vehicle braking, and the method comprises the steps that actual working condition parameters of a parking device corresponding to a parking chip are collected; whether a parking device corresponding to the parking chip meets a preset failure condition or not is judged according to the actual working condition parameters; if the parking device corresponding to the parking chip meets the preset failure condition, it is judged that the parking device corresponding to the parking chip fails, control over the failed parking device is stopped, and / or a failure signal is sent to the other parking chip, and the other parking chip is made to enter a failure mode. According to the method, whether the parking device fails or not can be judged based on the actual working condition parameters of the parking device, and then when it is judged that the parking device fails, control over the failed parking device is stopped and / or another parking chip is driven to enter the failure mode, redundant parking is achieved, and the stability and safety of vehicle parking are 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, it is 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 a parking device serving as a parking execution mechanism fails based on actual working condition parameters, and then when it is determined that the parking device fails, send a failure signal of a parking chip corresponding to the parking device to another parking chip to drive the other parking chip to perform parking control based on a failure mode, so as to achieve redundant parking, reduce the impact of partial failure of the parking device on vehicle parking, improve the smoothness and safety of vehicle parking, and improve the driving experience of the driver.

[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. Wherein, 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. Wherein, the method is applied to any one of the parking chips, and the method includes the following steps:

[0006] Collect the actual working condition parameters of the parking device corresponding to the present parking chip;

[0007] Determine whether the parking device corresponding to the present parking chip meets the preset failure condition according to the actual working condition parameters; and

[0008] If the parking device corresponding to the present parking chip meets the preset failure condition, it is determined that the parking device corresponding to the present parking chip fails, stop controlling the failed parking device, and / or send a failure signal to another parking chip, so that the other parking chip enters the failure mode.

[0009] Through the above technical means, it is possible to judge whether it fails based on the actual working condition parameters of the parking device as a parking actuator. Furthermore, when it is judged that the parking device fails, the failure signal of the parking chip corresponding to the parking device is sent to another parking chip to drive the other parking chip to perform parking control based on the failure mode, realizing redundant parking while reducing the impact of the failure of some parking devices on vehicle parking, improving the smoothness and safety of vehicle parking, and enhancing the driving experience of the driver.

[0010] Combined with the first aspect, in some possible implementation manners, before collecting the actual working condition parameters of the parking device corresponding to the present parking chip, it further includes:

[0011] Detect the validity of the data signal of the parking device corresponding to the present parking chip;

[0012] When it is detected that the validity meets the preset failure condition, stop controlling the failed parking device, and / or send the failure signal to the other parking chip, so that the other parking chip enters the failure mode.

[0013] Through the above technical means, it is possible to confirm the validity of the data signal of the parking device corresponding to the present parking chip, thereby improving the accuracy of failure judgment and avoiding false failure judgments caused by invalid data signals.

[0014] Combined with the first aspect, in some possible implementation manners, before judging whether the parking device corresponding to the present parking chip meets the preset failure condition, it further includes:

[0015] Collect the current environment where the vehicle is located;

[0016] Optimize the initial failure condition of the vehicle according to the current environment where the vehicle is located to obtain the preset failure condition.

[0017] Through the above technical means, it is possible to optimize the initial failure condition according to the current environment where the vehicle is located, making the failure determination of the parking chip more accurate and avoiding false judgments caused by environmental factors.

[0018] In combination with the first aspect, in some possible implementation manners, before determining whether the parking device corresponding to the present parking chip meets the preset failure condition, it further includes:

[0019] Identifying the actual driving style of the driver and / or the current working condition of the vehicle;

[0020] Optimizing the initial failure condition of the vehicle according to the actual driving style and / or the current working condition to obtain the preset failure condition.

[0021] Through the above technical means, it is possible to optimize the initial failure condition according to the actual driving style and / or the current working condition, making the failure determination of the parking chip more accurate and avoiding misjudgment caused by different driving styles and / or different working conditions.

[0022] In combination with the first aspect, in some possible implementation manners, before determining whether the parking device corresponding to the present parking chip meets the preset failure condition, it further includes:

[0023] Obtaining the actual parking type of the vehicle;

[0024] Determining the preset failure condition according to the actual parking type and the control mode of the present parking chip.

[0025] Through the above technical means, it is possible to optimize the initial failure condition according to the actual parking type and the control mode of the parking chip, making the failure determination of the parking chip more accurate and avoiding misjudgment caused by different parking types.

[0026] In combination with the first aspect, in some possible implementation manners, after determining that the parking device corresponding to the present parking chip fails, it further includes:

[0027] Sending a verification control signal to the failed parking device;

[0028] Determining the authenticity of the failed parking device according to the feedback result sent by the failed parking device based on the verification control signal and / or the feedback duration of the feedback result;

[0029] If the authenticity is true, allowing to stop controlling the failed parking device and / or sending the failure signal to the other parking chip, otherwise determining a failure diagnosis fault and performing a fault reminder.

[0030] Through the above technical means, it is possible to verify the authenticity of the failure of the parking device, thereby avoiding misjudgment from affecting the normal parking of the vehicle.

[0031] In combination with the first aspect, in some possible implementation manners, the stopping controlling the failed parking device and / or sending the failure signal to the other parking chip includes:

[0032] Send a failure warning to the driver;

[0033] Receive the failure control instruction input by the driver, stop controlling the failed parking device according to the failure control instruction, and / or send the failure signal to the other parking chip.

[0034] Through the above technical means, it is possible to perform parking control after the failure of any parking chip according to the driver's failure control instruction, so that the parking action can meet the driver's needs.

[0035] Combined with the first aspect, in some possible implementation manners, after stopping controlling the failed parking device according to the failure control instruction and / or sending the failure signal to the other parking chip, it further includes:

[0036] Generate a fault alarm signal based on the failure signal and send the fault alarm signal to a preset alarm terminal.

[0037] Through the above technical means, the failure information can be sent to a preset alarm terminal, which is convenient for vehicle fault rescue.

[0038] In a second aspect, a parking device is provided. The vehicle includes a first parking device and a second parking device respectively corresponding to the front wheels and the rear wheels, 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:

[0039] A first acquisition module for acquiring the actual working condition parameters of the parking device corresponding to the present parking chip;

[0040] A judgment module for judging whether the parking device corresponding to the present parking chip meets a preset failure condition according to the actual working condition parameters; and

[0041] The first control module is configured to determine that the parking device corresponding to the present parking chip fails when the parking device corresponding to the present parking chip meets the preset failure condition, stop controlling the failed parking device, and / or send a failure signal to another parking chip, so that the another parking chip enters the failure mode.

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

[0043] The detection module is configured to detect the validity of the data signal of the parking device corresponding to the present parking chip;

[0044] The second control module is configured to stop controlling the failed parking device and / or send the failure signal to the another parking chip when it is detected that the validity meets the preset failure condition, so that the another parking chip enters the failure mode.

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

[0046] The second acquisition module is configured to acquire the current environment where the vehicle is located;

[0047] The first optimization module is configured to optimize the initial failure condition of the vehicle according to the current environment where the vehicle is located to obtain the preset failure condition.

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

[0049] The recognition module is configured to recognize the actual driving style of the driver and / or the current working condition of the vehicle;

[0050] The second optimization module is configured to optimize the initial failure condition of the vehicle according to the actual driving style and / or the current working condition to obtain the preset failure condition.

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

[0052] The acquisition module is configured to acquire the actual parking type of the vehicle;

[0053] The first determination module is configured to determine the preset failure condition according to the actual parking type and the control mode of the present parking chip.

[0054] In combination with the second aspect, in some possible implementation manners, it further includes:

[0055] The sending module is configured to send a verification control signal to the failed parking device;

[0056] A second determination module, configured to determine the authenticity of the failed parking device according to the feedback result sent based on the verification control signal by the failed parking device and / or the feedback duration of the feedback result;

[0057] A third control module, configured to, when the authenticity is true, allow to stop controlling the failed parking device and / or send the failure signal to the other parking chip, otherwise determine a failure diagnosis fault and perform a fault reminder.

[0058] Combined with the second aspect, in some possible implementation manners, the first control module includes:

[0059] A first sending unit, configured to send a failure warning to a driver;

[0060] A control unit, configured to receive the failure control instruction input by the driver, stop controlling the failed parking device according to the failure control instruction, and / or send the failure signal to the other parking chip.

[0061] Combined with the second aspect, in some possible implementation manners, the first control module further includes:

[0062] A second sending unit, configured to generate a fault alarm signal based on the failure signal and send the fault alarm signal to a preset alarm terminal.

[0063] A third aspect provides a vehicle, 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 according to the first aspect or any possible parking method in the first aspect.

[0064] A fourth aspect provides a computer-readable storage medium, which stores computer program code, and when the computer program code runs on a computer, enables the computer to execute the method in the first aspect or any possible implementation manner in the first aspect. Description of the Drawings

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

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

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

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

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

[0070] Figure 5 Schematic diagram of the structure of a parking device provided according to an embodiment of the present application;

[0071] Figure 6 Schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. Detailed implementation manners

[0072] Hereinafter, 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 represent A or B. The "and / or" in the text is merely a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may 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" means two or more than two.

[0073] 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.

[0074] The traditional parking brake system is in the form of a mechanical parking brake handle, which can lock the drive shaft or the rear wheels of the parking brake through a lever and a cable to implement braking. When the driver needs to park the vehicle, the driver can manually pull up the parking brake lever to contact the brake plate with the wheel and prevent the vehicle from moving forward. This 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 limitations on the future development of automobiles.

[0075] 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 driver intervention, reducing the impact of terrain factors on 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 driving 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 driving experience of drivers.

[0076] Meanwhile, 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 likely to result in uneven distribution of parking force, thus causing accidents such as vehicle rollover.

[0077] Before explaining the parking method provided in the embodiments of the present application, the system architecture involved in the embodiments of the present application will be described first.

[0078] Next, the applicable scenarios or system architecture of the embodiments of the present application will be exemplarily described. Refer to Figure 1a 、 Figure 1b 、 Figure 2 and Figure 3 。

[0079] Combined with Figure 1a 、 Figure 1b and Figure 2 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.

[0080] 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;

[0081] Or, the first parking device 100 is arranged corresponding to one of the front wheels of the vehicle and one of the rear wheels of the vehicle, and the second parking device 200 is arranged corresponding to the other front wheel of the vehicle and the other rear wheel of the vehicle;

[0082] Among them, each parking device controls the wheels by driving the corresponding parking mechanism, and each parking mechanism is arranged corresponding to a wheel of the vehicle. The corresponding relationship between the parking device and the wheel can be divided into three types: Type II, Type II, and Type X.

[0083] For example, the structure of Type II is described as follows:

[0084] The first parking device 100 is correspondingly arranged with the two front wheels of the vehicle, and the second parking device 200 is correspondingly arranged with the two rear wheels of the vehicle;

[0085] Or, the first parking device 100 is correspondingly arranged with the two rear wheels of the vehicle, and the second parking device 200 is correspondingly arranged with the two front wheels of the vehicle.

[0086] Based on the above-mentioned type-II structure, the type-II parking control of the vehicle is realized.

[0087] The description of the type-II structure is as follows:

[0088] 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;

[0089] 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 wheels on the left side of the vehicle.

[0090] Based on the above-mentioned type-II structure, the type-II parking control of the vehicle is realized.

[0091] The description of the type-X structure is as follows:

[0092] 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;

[0093] 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.

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

[0095] In addition, the first control component 300 includes a first parking chip 301;

[0096] The second control component 400 includes a second parking chip 401;

[0097] The first control component 300 and the second control component 400 can respectively drive the first parking device 100 and the second parking device 200;

[0098] On this basis, the first parking chip 301 and the second parking chip 401 can determine a parking strategy matching the corresponding relationship based on the corresponding relationship between the parking device and the wheel to ensure the smoothness of vehicle parking.

[0099] 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 may also respectively include corresponding actuators, corresponding drive units and other structures to achieve parking through combined linkage.

[0100] The communication device 500 can communicate with the first control component 300 or the second control component 400. After the communication device 500 sends a parking signal to any one of the control components, the parking signal is forwarded by any one of the control components to the other control component to realize the transmission of the parking signal. Among them, the first control component 300 and the second control component 400 can communicate with each other, and the first parking chip 301 and the second parking chip 401 can communicate with each other.

[0101] 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, and based on the relationship between the first parking device 100 and the second parking device 200 and the wheels respectively, control the corresponding parking mechanism, such as an EMB (Electromechanical Brake System) actuator.

[0102] 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.

[0103] 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 due to the failure of a certain power supply.

[0104] Figure 4 It is a schematic flowchart of a parking method provided by an embodiment of the present application.

[0105] Exemplarily, as Figure 4 shown, this method is applied to any parking chip, and the method includes the following steps:

[0106] In step S401, the actual working condition parameters of the parking device corresponding to the present parking chip are collected.

[0107] In the actual execution process, embodiments of the present application can use a vehicle controller, an electronic control unit to collect the actual working condition parameters of the parking device corresponding to this parking chip through a communication chip or a hard wire. Among them, the actual working condition parameters can include an EPB status signal (judging the status of the wheel-end parking device through this signal, such as locking / releasing), the solenoid valve push rod position of the parking mechanism (reflecting whether the parking status changes and whether the parking device fails through displacement), or the caliper and solenoid valve current magnitude of the parking mechanism (judging whether the parking device fails according to the target current and the actual current), data acquisition frequency, signal transmission rate, etc., and judge the status by comparing design parameters. For example, communication parameters, feedback signals of parking components controlled by the parking device, control parameters of the parking device based on the current working condition, etc.

[0108] In step S402, it is judged whether the parking device corresponding to this parking chip meets the preset failure condition according to the actual working condition parameters.

[0109] As a possible implementation manner, embodiments of the present application can judge whether the parking device corresponding to this parking chip, which can be a first parking device or a second parking device, fails based on the actual working condition parameters, so as to perform subsequent responses based on the judgment result and complete the parking action. The preset failure condition can be electrical information such as current, voltage, resistance, or other types of data information such as data acquisition frequency, signal transmission rate, etc., and compare design parameters to judge the status (such as current > design parameter, that is, judged as a failure state). For example, whether the working condition parameters related to communication are faulty, whether the working condition parameters of real-time signal feedback are faulty, whether the hardware working condition parameters are faulty, etc.

[0110] In step S403, if the parking device corresponding to this parking chip meets the preset failure condition, it is determined that the parking device corresponding to this parking chip fails, the control of the failed parking device is stopped, and / or a failure signal is sent to another parking chip, so that the other parking chip enters the failure mode.

[0111] In some embodiments, after judging that the parking device corresponding to this parking chip fails, embodiments of the present application can stop the parking control of the failed parking device, that is, no longer send a control signal to the failed parking device or send a stop signal to the failed parking device, so that the failed parking device stops the parking action and avoids the increase in vehicle instability caused by the failure.

[0112] In other embodiments, after judging that the parking device corresponding to this parking chip fails, embodiments of the present application can send the failure signal of this parking chip to another parking chip, so that the other parking chip enters the failure mode and changes the original parking strategy, so that in the case of one parking device failing, the other parking device can increase the parking stability by adjusting the parking strategy.

[0113] In addition, embodiments of the present application can also simultaneously stop the parking control of the failed parking device and send a failure signal of any parking chip to another parking chip, thereby further increasing the parking stability.

[0114] Optionally, in an embodiment of the present application, before collecting the actual operating condition parameters of the parking device corresponding to this parking chip, it further includes: detecting the validity of the data signal of the parking device corresponding to this parking chip; when it is detected that the validity meets the preset failure condition, stopping the control of the failed parking device and / or sending a failure signal to another parking chip, so that the other parking chip enters the failure mode.

[0115] It can be understood that judging whether the parking device fails only based on the actual operating condition parameters may lead to inaccurate judgment results due to factors such as data acquisition failure and signal transmission failure.

[0116] Therefore, embodiments of the present application can detect the validity of the data signal of the parking device corresponding to this parking chip before collecting the actual operating condition parameters of the parking device corresponding to this parking chip. For example, embodiments of the present application can use validity judgment tools such as multi-channel signal verification and single-channel signal encryption / verification, or can also use methods such as sending analog signals and comparing predicted values with actual values to verify whether it is valid), to determine that the data signal is valid, so that embodiments of the present application can perform the failure judgment of the parking device on the premise that the data signal is valid, improving the accuracy of the failure judgment.

[0117] When the detection result is failure, embodiments of the present application can judge that the actual operating condition parameters to be collected subsequently do not have judgment value, thereby stopping the control of the failed parking device and / or sending a failure signal to another parking chip, so that the other parking chip enters the failure mode.

[0118] Through the above technical means, it is possible to confirm the validity of the data signal of the parking device corresponding to this parking chip, thereby improving the accuracy of the failure judgment and avoiding false failure judgments caused by invalid data signals.

[0119] Optionally, in an embodiment of the present application, before judging whether the parking device corresponding to this parking chip meets the preset failure condition, it further includes: collecting the current environment where the vehicle is located; optimizing the initial failure condition of the vehicle according to the current environment where it is located to obtain the preset failure condition.

[0120] In the actual execution process, embodiments of the present application can also optimize the initial failure condition according to the current environment where the vehicle is located, so as to optimize and adjust the failure condition according to the environment, so that the preset failure condition can more accurately judge whether the parking device fails.

[0121] For example, when the current environment of the vehicle is a slippery environment such as an icy environment, the embodiments of the present application can compensate the actual acceleration threshold, and the compensation formula can be as follows:

[0122] Actual ax = Sensor ax + Compensation offset;

[0123] When the current environment of the vehicle is an environment such as a plateau environment that affects the tire pressure of the vehicle, the embodiments of the present application can compensate the actual tire rolling radius threshold, and the compensation formula can be as follows:

[0124] Actual tire rolling radius R = Default tire rolling radius R + Compensation offset.

[0125] Furthermore, the embodiments of the present application can determine the compensation value of the parking chip when calculating the parking strategy based on the environment, so as to determine the corresponding parameters of the corresponding parking device when normally performing the parking action based on the compensation value, and further obtain the preset failure condition of the parking device.

[0126] Through the above technical means, the initial failure condition can be optimized according to the current environment of the vehicle, so that the failure determination of the parking chip is more accurate, and misjudgment caused by environmental factors can be avoided.

[0127] Optionally, in an embodiment of the present application, before determining whether the parking device corresponding to the present parking chip meets the preset failure condition, it further includes: identifying the actual driving style of the driver and / or the current working condition of the vehicle; optimizing the initial failure condition of the vehicle according to the actual driving style and / or the current working condition to obtain the preset failure condition.

[0128] In some embodiments, the embodiments of the present application can also identify the actual driving style of the driver, so as to optimize the initial failure condition of the vehicle according to the actual driving style. Among them, the embodiments of the present application can identify the actual driving style of the driver, such as an aggressive driving style or a smooth driving style, by obtaining the historical driving data of the vehicle, such as the relationship between the accelerator pedal slope and the vehicle speed of the driver under different working conditions, and combining other control parameters of the vehicle.

[0129] For example, when the actual driving style is an aggressive driving style, since the driver is used to making sudden stops and the parking response time is greatly shortened, the vehicle preferentially performs friction-parking force calculation and increases the acquisition frequency of parking device data (such as the parking force executed by the parking mechanism, the clamping force of the caliper in the parking mechanism, the clamping angle of the caliper, etc.). Therefore, the embodiments of the present application can narrow the parking response time range in the initial failure condition and increase the data feedback frequency in the initial failure condition;

[0130] When the actual driving style is a smooth driving style, the parking response time is within the normal range, and in order to keep the vehicle stable, the parking chip can adjust the parking strategy in a timely manner according to the data transmitted back by the parking device. Embodiments of the present application can determine the optimal ratio among functions such as data reception, order issuance, and data upload of the parking device based on the actual parameters of the parking device, such as signal transmission speed, etc., so as to optimize the initial failure condition based on the optimal ratio. Among them, the optimal ratio can be set by those skilled in the art according to the actual parameters of the parking device, and no specific limitation is made here.

[0131] In some other embodiments, embodiments of the present application can also identify the current working condition of the vehicle, such as the ramp parking condition, the roadside parking condition, etc., so as to optimize the initial failure condition of the vehicle according to the current working condition.

[0132] For example, when the current working condition of the vehicle is a ramp parking condition where the parking forces borne by different wheels are different, etc., embodiments of the present application can increase the parking response speed and shorten the parking response time in the initial failure condition.

[0133] Through the above technical means, the initial failure condition can be optimized according to the actual driving style and / or the current working condition, making the failure determination of the parking chip more accurate and avoiding misjudgment caused by the driving style and / or different working conditions.

[0134] Optionally, in an embodiment of the present application, before determining whether the parking device corresponding to the present parking chip meets the preset failure condition, it further includes: obtaining the actual parking type of the vehicle; determining the preset failure condition according to the actual parking type and the control mode of the present parking chip.

[0135] Furthermore, embodiments of the present application can also determine the preset failure condition according to the actual parking type of the vehicle and the control mode of the present parking chip.

[0136] It can be understood that the actual parking type of the vehicle can include various types, such as type II, II type, and X type.

[0137] For example, in a type II structure, the parking mechanism corresponding to any parking device 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. At this time, the preset failure condition can be to determine whether the wheel speeds of the two front wheels are numerically the same, whether the wheel speeds of the two rear wheels are numerically the same, etc. (such as whether one of the front wheels has completed parking and is in a stationary state while the other wheel still has a moving tendency). Specifically, it can be set accordingly according to the actual structure of the vehicle, and no specific limitation is made here.

[0138] The control mode of the parking chip of the vehicle can also include various types, such as an aggressive control mode, a smooth control mode, etc.

[0139] In the radical control mode, the parking response speed of the vehicle will increase. At this time, the preset failure condition can be to determine whether the response time of the parking mechanism corresponding to the parking device of the vehicle is shortened to the preset range, etc. Specifically, it can be set accordingly according to the parameters in the actual control mode of the parking chip of the vehicle, and no specific limitation is made here.

[0140] Through the above technical means, the initial failure condition can be optimized according to the actual parking type and the control mode of the present parking chip, so that the failure determination of the parking chip is more accurate, and misjudgment caused by different parking types can be avoided.

[0141] Optionally, in an embodiment of the present application, after determining that the parking device corresponding to the present parking chip fails, it further includes: sending a verification control signal to the failed parking device; determining the authenticity of the failed parking device according to the feedback result sent by the failed parking device based on the verification control signal and / or the feedback duration of the feedback result; if the authenticity is true, allowing to stop controlling the failed parking device, and / or sending a failure signal to another parking chip, otherwise determining a failure diagnosis fault and performing a fault reminder.

[0142] In the actual execution process, the embodiment of the present application can also verify the parking device determined to be failed, so as to determine the authenticity of the failed parking device according to the feedback result and / or the feedback duration of the feedback result, further reducing the impact of misjudgment on the parking action.

[0143] When the feedback result and / or the feedback duration of the feedback result meet the design rationality (for example: <2s is qualified, otherwise it is unqualified), the authenticity can be determined to be true, and then allowing to stop controlling the failed parking device, and / or sending a failure signal to another parking chip, where the design rationality is the design parameters that can meet the vehicle safety parking requirements when there is no failure of the parking device in the vehicle;

[0144] When the feedback result and / or the feedback duration of the feedback result do not meet the design rationality, the authenticity can be determined to be false, so that a failure diagnosis fault can be determined and a fault reminder can be performed to remind the driver to perform maintenance in time.

[0145] Through the above technical means, the authenticity of the failure of the parking device can be verified, thus avoiding misjudgment from affecting the normal parking of the vehicle.

[0146] Optionally, in an embodiment of the present application, stopping controlling the failed parking device and / or sending a failure signal to another parking chip includes: sending a failure warning to the driver; receiving a failure control instruction input by the driver, and stopping controlling the failed parking device and / or sending a failure signal to another parking chip according to the failure control instruction.

[0147] As a possible implementation manner, the embodiments of the present application may send a failure warning to the driver in ways such as acoustic, optical, and / or vibration reminders, and receive a failure control instruction input by the driver. For example, a parking assistance exit instruction, a parking parameter adjustment instruction, etc.

[0148] The embodiments of the present application may stop controlling the failed parking device according to the failure control instruction, and / or send a failure signal to another parking chip, so that the parking action can meet the driver's needs.

[0149] Optionally, in an embodiment of the present application, after stopping controlling the failed parking device according to the failure control instruction, and / or sending the failure signal to the another parking chip, it further includes: generating a fault alarm signal based on the failure signal, and sending the fault alarm signal to a preset alarm terminal.

[0150] During the actual execution process, the embodiments of the present application may also send the failure information to a preset alarm terminal, such as a vehicle enterprise terminal, a maintenance terminal, a traffic police terminal, etc., so that when the vehicle cannot achieve safe parking, or the parking location is dangerous, timely rescue can be obtained.

[0151] Through the above technical means, the failure information can be sent to the preset alarm terminal, which is convenient for fault rescue of the vehicle.

[0152] In summary, the present application can determine whether the parking device fails based on the actual working condition parameters of the parking device as a parking execution mechanism. Furthermore, when it is determined that the parking device fails, the failure signal of the parking chip corresponding to the parking device is sent to another parking chip to drive the another parking chip to perform parking control based on the failure mode. While realizing redundant parking, the impact of the failure of some parking devices on vehicle parking is reduced, the smoothness and safety of vehicle parking are improved, and the driving experience of the driver is improved.

[0153] Figure 5 It is a schematic structural diagram of a parking device provided by the embodiments of the present application.

[0154] Exemplarily, as Figure 5 shown, the parking device 50 includes: a first acquisition module 51, a judgment module 52, and a first control module 53.

[0155] Specifically, the first acquisition module 51 is used to acquire the actual working condition parameters of the parking device corresponding to the present parking chip.

[0156] The judgment module 52 is used to judge whether the parking device corresponding to the present parking chip meets the preset failure condition according to the actual working condition parameters.

[0157] The first control module 53 is configured to determine that the parking device corresponding to this parking chip fails when the parking device corresponding to this parking chip meets the preset failure condition, stop controlling the failed parking device, and / or send a failure signal to another parking chip, so that the other parking chip enters the failure mode.

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

[0159] Wherein, the detection module is configured to detect the validity of the data signal of the parking device corresponding to this parking chip.

[0160] The second control module is configured to stop controlling the failed parking device and / or send a failure signal to another parking chip, so that the other parking chip enters the failure mode when it is detected that the validity meets the preset failure condition.

[0161] Optionally, in an embodiment of the present application, the parking device 50 further includes: a second acquisition module and a first optimization module.

[0162] Wherein, the second acquisition module is configured to acquire the current environment where the vehicle is located.

[0163] The first optimization module is configured to optimize the initial failure condition of the vehicle according to the current environment where it is located to obtain the preset failure condition.

[0164] Optionally, in an embodiment of the present application, the parking device 50 further includes: an identification module and a second optimization module.

[0165] Wherein, the identification module is configured to identify the actual driving style of the driver and / or the current working condition of the vehicle.

[0166] The second optimization module is configured to optimize the initial failure condition of the vehicle according to the actual driving style and / or the current working condition to obtain the preset failure condition.

[0167] Optionally, in an embodiment of the present application, the parking device 50 further includes: an acquisition module and a first determination module.

[0168] Wherein, the acquisition module is configured to acquire the actual parking type of the vehicle.

[0169] The first determination module is configured to determine the preset failure condition according to the actual parking type and the control mode of this parking chip.

[0170] Optionally, in an embodiment of the present application, the parking device 50 further includes: a sending module, a second determination module, and a third control module.

[0171] Wherein, the sending module is configured to send a verification control signal to the failed parking device.

[0172] A second determination module, configured to determine the authenticity of the failed parking device based on the feedback result of the verification control signal sent by the failed parking device and / or the feedback duration of the feedback result.

[0173] A third control module, configured to, when the authenticity is true, allow stopping the control of the failed parking device and / or sending a failure signal to another parking chip; otherwise, determine a failure diagnosis fault and perform a fault reminder.

[0174] Optionally, in an embodiment of the present application, the first control module 53 includes: a first sending unit and a control unit.

[0175] Wherein, the first sending unit is configured to send a failure warning to the driver.

[0176] The control unit is configured to receive a failure control instruction input by the driver, stop controlling the failed parking device according to the failure control instruction, and / or send a failure signal to another parking chip.

[0177] Optionally, in an embodiment of the present application, the first control module 53 further includes: a second sending unit.

[0178] Wherein, the second sending unit is configured to generate a fault alarm signal based on the failure signal and send the fault alarm signal to a preset alarm terminal.

[0179] In summary, the present application can determine whether a parking device fails based on the actual working condition parameters of the parking device serving as a parking actuator. Furthermore, when it is determined that the parking device fails, the failure signal of the parking chip corresponding to the parking device is sent to another parking chip to drive the other parking chip to perform parking control based on the failure mode, so as to achieve redundant parking, reduce the impact of the failure of some parking devices on vehicle parking, improve the smoothness and safety of vehicle parking, and improve the driving experience of the driver.

[0180] Figure 6 The structural schematic diagram of the vehicle provided by the embodiment of the present application. The 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] Furthermore, the vehicle further includes:

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

[0185] A memory 601 for storing a computer program that can run on a 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 through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 6 only a thick line is used to represent it 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 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, and when the program is executed by a processor, the above-mentioned parking method is implemented.

[0191] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", 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 this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0192] In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0193] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more N executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can 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 this application pertain.

[0194] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, 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 used in conjunction with these 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 (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 appropriate processing as necessary, and then stored in a computer memory.

[0195] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described 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 appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0196] 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 a program instructing relevant hardware, 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.

[0197] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, may exist separately as individual physical units, 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.

[0198] 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, 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, 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 and a second control component for driving the second parking device to park, and a communication device communicating with the first control component or the second control component. Wherein, the first control component includes a first parking chip, 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. Wherein, the method is applied to any one of the parking chips, and the method includes the following steps: Collect the actual working condition parameters of the parking device corresponding to this parking chip; Judge whether the parking device corresponding to this parking chip meets the preset failure condition according to the actual working condition parameters; and If the parking device corresponding to this parking chip meets the preset failure condition, it is determined that the parking device corresponding to this parking chip fails, stop controlling the failed parking device, and / or send a failure signal to another parking chip, so that the another parking chip enters the failure mode.

2. The method according to claim 1, characterized in that, before collecting the actual working condition parameters of the parking device corresponding to this parking chip, it further includes: Detect the validity of the data signal of the parking device corresponding to this parking chip; When it is detected that the validity meets the preset failure condition, stop controlling the failed parking device, and / or send the failure signal to the another parking chip, so that the another parking chip enters the failure mode.

3. The method according to claim 1, characterized in that, before judging whether the parking device corresponding to this parking chip meets the preset failure condition, it further includes: Collect the current environment where the vehicle is located; Optimize the initial failure condition of the vehicle according to the current environment where the vehicle is located to obtain the preset failure condition.

4. The method according to claim 1, characterized in that, before judging whether the parking device corresponding to this parking chip meets the preset failure condition, it further includes: Identify the actual driving style of the driver and / or the current working condition of the vehicle; Optimize the initial failure condition of the vehicle according to the actual driving style and / or the current working condition to obtain the preset failure condition.

5. The method according to claim 1, characterized in that, before judging whether the parking device corresponding to this parking chip meets the preset failure condition, it further includes: Obtain the actual parking type of the vehicle; Determine the preset failure condition according to the actual parking type and the control mode of this parking chip.

6. The method according to claim 1, characterized in that, after determining that the parking device corresponding to this parking chip fails, it further includes: Send a verification control signal to the failed parking device; Determine the authenticity of the failed parking device according to the feedback result sent by the failed parking device based on the verification control signal and / or the feedback duration of the feedback result; If the authenticity is true, allow stopping the control of the failed parking device and / or sending the failure signal to the other parking chip, otherwise determine a failure diagnosis fault and give a fault reminder.

7. The method according to claim 1, wherein, The stopping the control of the failed parking device and / or sending the failure signal to the other parking chip includes: Sending a failure warning to the driver; Receiving the failure control instruction input by the driver, and stopping the control of the failed parking device and / or sending the failure signal to the other parking chip according to the failure control instruction.

8. The method according to claim 7, wherein, After stopping the control of the failed parking device and / or sending the failure signal to the other parking chip according to the failure control instruction, it further includes: Generating a fault alarm signal based on the failure signal and sending the fault alarm signal to a preset alarm terminal.

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

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