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; driving a corresponding parking mechanism to park based on a preset parking strategy of the parking chip, and judging whether another parking chip has a parking fault or not; and under the condition that the parking fault occurs in the other parking chip, the parking mechanism corresponding to the other parking chip is driven to park according to the pre-stored redundant parking strategy. According to the method, under the condition that another parking chip breaks down, the corresponding parking mechanism can be driven to park through the redundant parking strategy, it is guaranteed that all the parking mechanisms of the vehicle can participate in the parking action, vehicle body unbalance caused by parking only depending on part of the parking mechanisms is prevented, and therefore the vehicle body stability of the vehicle under the condition that the parking chip breaks down is improved, and the service life of the vehicle is prolonged. And the parking safety is improved.

Description

Technical Field

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

[0002] In the related art, by adopting an electronic parking system, i.e., 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 has high requirements for the main chip. The main chip affects whether the vehicle can complete the parking braking action. Once a failure occurs, it will be difficult to ensure the safety of parking braking, and thus it needs to be improved urgently. Summary of the Invention

[0004] The present application provides a parking method, a vehicle, and a storage medium. The method can, according to a parking signal, while driving a corresponding parking mechanism to park by using a preset parking strategy, determine whether another parking chip is faulty. Thus, in the case where another parking chip is faulty, drive the parking mechanism corresponding to another parking chip to park by using a pre-stored redundant parking strategy, that is, replace the faulty another parking chip, ensure that all parking mechanisms of the vehicle can execute the parking action, prevent the vehicle body from being unbalanced caused by only relying on partial parking mechanisms to park, and thus effectively improve the vehicle body stability of the vehicle in the case of a parking chip failure and improve parking safety.

[0005] In a first aspect, a parking method is provided. The vehicle includes a first parking device and a second parking device respectively corresponding to the front wheels and the rear wheels, 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 method is applied to any one of the parking chips, and the method includes the following steps:

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

[0007] Based on the preset parking strategy of this parking chip, drive the corresponding parking mechanism to park, and determine whether another parking chip has a parking fault; and

[0008] In the case where the other parking chip has a parking fault, drive the parking mechanism corresponding to the other parking chip to park according to the pre-stored redundant parking strategy.

[0009] Through the above technical means, while being able to drive the corresponding parking mechanism to park according to the parking signal using the preset parking strategy, it is possible to determine whether another parking chip is faulty. Thus, in the case where the other parking chip is faulty, use the pre-stored redundant parking strategy to drive the parking mechanism corresponding to the other parking chip to park, that is, replace the faulty other parking chip, ensuring that all the parking mechanisms of the vehicle can perform the parking action, preventing the vehicle body from being unbalanced due to only some parking mechanisms parking, and thus effectively improving the vehicle body stability and parking safety in the case of a parking chip fault.

[0010] In a first aspect, a parking method is provided. Before driving the corresponding parking mechanism to park based on the preset parking strategy of this parking chip, it further includes:

[0011] Detect whether this parking chip has a parking fault;

[0012] In the case where it is detected that this parking chip has a parking fault, send a parking fault signal to the other parking chip to use the other parking chip to drive the parking mechanism corresponding to this parking chip to park.

[0013] Through the above technical means, it is possible to first detect whether the parking chip that interacts with the communication device by signals is faulty before driving the corresponding parking mechanism to park using the preset parking strategy. Thus, in the case where this parking chip is faulty, send the parking fault signal to the other parking chip, so that the other parking chip can drive the parking mechanism corresponding to this parking chip to park, ensuring that all the parking mechanisms of the vehicle can perform the parking action, preventing the vehicle body from being unbalanced due to only some parking mechanisms parking, and thus effectively improving the vehicle body stability and parking safety in the case of a parking chip fault.

[0014] In a first aspect, a parking method is provided. Before driving the parking mechanism corresponding to the other parking chip to park, it further includes:

[0015] Obtain the preset parking strategy of the other parking chip;

[0016] Generate the redundant parking strategy of this parking chip according to the mapping relationship with the other parking chip and the preset parking strategy of the other parking chip, and store it.

[0017] Through the above technical means, based on the mapping relationship between this parking chip and another parking chip, that is, the mapping relationships between this parking chip and another parking chip and the parking mechanism respectively, and the preset parking strategy of another parking chip, the redundant parking strategy of this parking chip can be generated and stored. Thus, when another parking chip fails, the redundant parking strategy can be used to drive the parking mechanism mapped to another parking chip to park the vehicle.

[0018] In a first aspect, a parking method is provided. Before driving the corresponding parking mechanism to park based on the preset parking strategy of this parking chip, it further includes:

[0019] Obtain the parking preference of the driver;

[0020] While adjusting the preset parking strategy according to the parking preference, adjust the pre-stored redundant parking strategy according to the parking preference.

[0021] Through the above technical means, the preset parking strategy and the pre-stored redundant parking strategy can be adjusted according to the parking preference of the driver, so that the parking action is more in line with the driver's preference.

[0022] In a first aspect, a parking method is provided. Before driving the parking mechanism corresponding to another parking chip to park according to the pre-stored redundant parking strategy, it further includes:

[0023] Obtain the current environment where the vehicle is located;

[0024] Based on the current environment where the vehicle is located, update the control parameters of the redundant parking strategy to obtain the redundant parking strategy corresponding to the current environment where the vehicle is located.

[0025] Through the above technical means, the control parameters of the redundant parking strategy can be adjusted and updated according to the current environment where the vehicle is located, so that when another parking chip fails, the vehicle can achieve smooth parking based on the updated redundant parking strategy.

[0026] In a first aspect, a parking method is provided. Before driving the parking mechanism corresponding to another parking chip to park according to the pre-stored redundant parking strategy, it further includes:

[0027] Detect whether the vehicle and / or the parking mechanism corresponding to another parking chip meet the preset redundant control conditions;

[0028] In the case where it is detected that the preset redundant control conditions are not met, control the vehicle to give a parking fault reminder.

[0029] Through the above technical means, it is possible to detect whether the parking mechanism mapped by another parking chip for the parking function and / or failure can execute a redundant parking strategy, so as to give a parking failure reminder when the redundant parking strategy cannot be executed, and avoid parking accidents.

[0030] In a first aspect, a parking method is provided. While controlling the vehicle to give a parking failure reminder, it further includes:

[0031] Driving the parking mechanism corresponding to the other parking chip and / or the parking mechanism corresponding to this parking chip to park with a preset safe parking strategy.

[0032] Through the above technical means, when the redundant parking strategy cannot be executed, it is possible to drive the parking mechanism corresponding to the faulty parking chip and / or all the parking mechanisms of the vehicle to park with a preset safe parking strategy, so as to further increase parking safety.

[0033] In a first aspect, a parking method is provided. While controlling the vehicle to give a parking failure reminder, it further includes:

[0034] Generating a parking failure signal of the vehicle;

[0035] Sending the parking failure signal to a preset terminal.

[0036] Through the above technical means, when the redundant parking strategy cannot be executed, it is possible to notify the corresponding terminal in time so that the driver can be rescued in time.

[0037] 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 method is applied to any parking chip, and the device includes:

[0038] A receiving module, configured to receive the parking signal sent by the communication device;

[0039] A judging module, configured to drive the corresponding parking mechanism to park based on the preset parking strategy of the present parking chip, and judge whether the other parking chip has a parking failure; and

[0040] A parking module, configured to drive the parking mechanism corresponding to the other parking chip to park according to a pre-stored redundant parking strategy when a parking failure occurs in the other parking chip.

[0041] In a second aspect, a parking device is provided, further comprising:

[0042] A first detection module, configured to detect whether a parking failure occurs in the local parking chip;

[0043] A sending module, configured to send a parking failure signal to the other parking chip when it is detected that a parking failure occurs in the local parking chip, so as to drive the parking mechanism corresponding to the local parking chip to park by using the other parking chip.

[0044] In a second aspect, a parking device is provided, further comprising:

[0045] A first acquisition module, configured to acquire a preset parking strategy of the other parking chip;

[0046] A storage module, configured to generate a redundant parking strategy for the local parking chip according to the mapping relationship with the other parking chip and the preset parking strategy of the other parking chip, and store the redundant parking strategy.

[0047] In a second aspect, a parking device is provided, further comprising:

[0048] A second acquisition module, configured to acquire the parking preference of the driver;

[0049] An adjustment module, configured to adjust the preset parking strategy according to the parking preference, and simultaneously adjust the pre-stored redundant parking strategy according to the parking preference.

[0050] In a second aspect, a parking device is provided, further comprising:

[0051] A third acquisition module, configured to acquire the current environment where the vehicle is located;

[0052] An update module, configured to update the control parameters of the redundant parking strategy based on the current environment where the vehicle is located, so as to obtain a redundant parking strategy corresponding to the current environment where the vehicle is located.

[0053] In a second aspect, a parking device is provided, further comprising:

[0054] A second detection module, configured to detect whether the parking mechanism corresponding to the vehicle and / or the other parking chip meets a preset redundant control condition;

[0055] A control module, configured to control the vehicle to give a parking failure reminder when it is detected that the preset redundant control condition is not met.

[0056] In a second aspect, a parking method is provided. The control module is further configured to drive the parking mechanism corresponding to the other parking chip and / or the parking mechanism corresponding to the present parking chip to park according to a preset safe parking strategy.

[0057] In a second aspect, a parking device is provided. The control module is further configured to generate a parking fault signal of the vehicle; and send the parking fault signal to a preset terminal.

[0058] 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 method in the first aspect or any possible implementation manner of the first aspect as described above.

[0059] In a fourth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores computer program code. 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 as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1a Schematic diagram of the system architecture of a parking method according to an embodiment of the present application;

[0061] Figure 1b Schematic diagram of the system architecture of a parking method according to another embodiment of the present application;

[0062] Figure 2 Schematic diagram of the system architecture of a parking method according to still another embodiment of the present application;

[0063] Figure 3 Schematic diagram of the system architecture of a parking method according to yet another embodiment of the present application;

[0064] Figure 4 Flowchart of a parking method provided according to an embodiment of the present application;

[0065] Figure 5 Schematic diagram of the force on a wheel according to an embodiment of the present application;

[0066] Figure 6 Schematic diagram of the force on a wheel according to another embodiment of the present application;

[0067] Figure 7 Schematic diagram of the principle of driving preference analysis according to an embodiment of the present application;

[0068] Figure 8 Schematic diagram of the principle of parking force analysis on a low-adhesion road surface according to an embodiment of the present application;

[0069] Figure 9 FIG. 3 is a schematic structural diagram of a parking device according to an embodiment of the present application;

[0070] Figure 10 FIG. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0071] The technical solutions in the present application will be clearly and elaborately described below with reference to the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0072] 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.

[0073] The traditional parking brake system is in the form of a mechanical parking brake handle. It can lock the drive shaft or the rear wheels 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, bring the brake plate into contact with the wheels 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 driver's intervention, it cannot be compatible with autonomous driving technology, which has imposed certain restrictions on the future development of automobiles.

[0074] Based on the improvement of the traditional parking brake system, related technologies can achieve electronic parking brake through an EPB (Electrical Park Brake) with higher precision and control performance, thereby reducing the driver's intervention, reducing the influence of terrain factors on the braking effect, improving the safety of parking brake, and providing an auxiliary basis for braking and parking in autonomous driving technology. However, the EPB needs to achieve vehicle deceleration and parking control through a parking mechanism. When the parking chip that drives the parking mechanism fails, it often leads to the failure of the parking brake, thus causing a large safety accident, making it difficult to ensure the safety of the parking brake and being unfavorable for improving the driver's driving experience.

[0075] Meanwhile, for the parking chip that drives the parking mechanism, when the parking chip fails, it often leads to the failure of vehicle parking and causes traffic accidents. For vehicles with multiple parking chips, when any one of the parking chips fails, it is likely to cause uneven distribution of parking force, thus resulting in accidents such as vehicle rollover.

[0076] Before explaining the parking method provided by the embodiments of the present application, the system architecture involved in the embodiments of the present application will be described first.

[0077] 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 。

[0078] Combined with Figure 1a 、 Figure 1b and Figure 2 As shown in, 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.

[0079] 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;

[0080] 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;

[0081] 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.

[0082] For example, the structure of type II is described as follows:

[0083] The first parking device 100 is arranged corresponding to the two front wheels of the vehicle, and the second parking device 200 is arranged corresponding to the two rear wheels of the vehicle;

[0084] Or, the first parking device 100 is arranged corresponding to the two rear wheels of the vehicle, and the second parking device 200 is arranged corresponding to the two front wheels of the vehicle.

[0085] Based on the above structure of type II, the type II parking control of the vehicle is realized.

[0086] The structure of type II is described as follows:

[0087] 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;

[0088] 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.

[0089] Based on the above Type-II structure, the Type-II parking control of the vehicle is realized.

[0090] The structure of the X-type is described as follows:

[0091] 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;

[0092] 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.

[0093] Based on the above X-type structure, the X-type parking control of the vehicle is realized.

[0094] In addition, the first control component 300 includes a first parking chip 301;

[0095] The second control component 400 includes a second parking chip 401;

[0096] The first control component 300 can drive the first parking device 100 to park;

[0097] The second control component 400 can drive the second parking device 200 to park;

[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 can also respectively include corresponding actuators, corresponding drive units and other structures to realize 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 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.

[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 respectively arranged corresponding to the wheels, 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 to work 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, receive the parking signal sent by the communication device.

[0107] 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 assist the vehicle to complete the parking action.

[0108] In step S402, drive the corresponding parking mechanism to park based on the preset parking strategy of this parking chip, and judge whether there is a parking failure in the other parking chip.

[0109] Further, embodiments of the present application can determine a preset parking strategy corresponding to the present parking chip according to a parking signal, and while driving the parking mechanism corresponding to the present parking chip that interacts with the communication device to park, determine whether another parking chip has a parking fault, where the cause of the fault can be an internal logic fault caused by external or internal factors of the parking chip, such as being unable to calculate and generate a parking strategy, etc.

[0110] For example, the preset parking strategy can be obtained by calculating the sensed data of the vehicle wheel speed sensor. For example, the slip rate and deceleration are calculated based on the wheel speed signal in the sensed data, and then the road condition information and the braking force required for vehicle braking are determined through the slip rate and deceleration, and the parking force of the vehicle is further determined based on the braking force, so as to determine the preset parking strategy based on the parking force.

[0111] In the actual execution process, based on the above-mentioned cause of the fault, embodiments of the present application can determine whether another parking chip has a parking fault. For example, it is determined whether a feedback signal from another parking chip can be received when the present parking chip forwards the parking signal to another parking chip, or it is determined whether the corresponding parking mechanism of another parking chip executes the corresponding preset parking strategy within a preset time threshold after receiving the parking signal, etc. Among them, the parking mechanism can be one included in the first parking device or the second parking device.

[0112] It should be noted that the parking fault can be a signal transmission fault of another parking chip, a wear fault of another parking chip, a short circuit fault of another parking chip, etc.

[0113] In step S403, in the case where another parking chip has a parking fault, drive the parking mechanism corresponding to another parking chip to park according to the pre-stored redundant parking strategy.

[0114] In some embodiments, when another parking chip has a parking fault, the present parking chip of embodiments of the present application can directly drive the parking mechanism corresponding to another parking chip to park by using the pre-stored redundant parking strategy, ensuring that all parking mechanisms of the vehicle can execute the parking action, preventing the vehicle body from being unbalanced caused by only relying on partial parking mechanisms, thereby effectively improving the vehicle body stability in the case of a parking chip fault and improving parking safety.

[0115] Optionally, in an embodiment of the present application, before driving the parking mechanism corresponding to another parking chip to park, it further includes: obtaining the preset parking strategy of another parking chip; generating and storing the redundant parking strategy of the present parking chip according to the mapping relationship with another parking chip and the preset parking strategy of another parking chip.

[0116] In some embodiments, the mapping relationship between the parking chip and the parking mechanism can include various types. Two parking chips can be redundant to each other and serve as backups for each other. When a parking signal is received, the two parking chips respectively back up their preset parking strategies. After any one of the parking chips fails, the embodiments of the present application can obtain the preset parking strategy of the faulty parking chip through the backup record, and park the parking mechanism corresponding to the faulty chip through the redundant parking strategy calculated through the mapping relationship.

[0117] In some other embodiments, after any one of the parking chips fails, it can send its own preset parking strategy to the other parking chip, so that the other parking chip can generate a redundant parking strategy according to the received preset parking strategy and the mapping relationship.

[0118] It should be noted that the preset parking strategies of the two parking chips can be the same or different. For example, when the vehicle parks on a flat ground, the parking forces of the four wheels can be the same. At this time, the preset parking strategies of the two parking chips are the same; when the vehicle parks on a slope, if the mapping relationship is that any one parking chip corresponds to the parking mechanism of the two front wheels of the vehicle, and the other parking chip corresponds to the parking mechanism of the two rear wheels of the vehicle, then the preset parking strategies of the two parking chips are different.

[0119] Therefore, the present parking chip can adjust the parking strategy of the present parking chip in real time on the premise of maintaining the vehicle stability based on the parking force in the preset parking strategy of the parking mechanism corresponding to the other parking chip. Among them, for different connection methods between the parking chip and the parking mechanism, in order to ensure the smooth parking of the vehicle, the adjustment of the parking force for the wheels corresponding to the present parking chip during parking is different.

[0120] As Figure 5 and Figure 6 shown, 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 Xb is 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.

[0121] Among them, F Xb = T u / r.

[0122] For example, when the setting relationship between the parking mechanism and the wheels is of Type II, the parking mechanism corresponding to this parking chip can be connected to two front wheels of the vehicle, and the parking mechanism corresponding to another parking chip can be connected to two rear wheels of the vehicle. After the other parking chip fails, the parking force provided by the rear wheels is the parking force in the preset parking strategy of the other parking chip. At this time, the embodiments of the present application can adjust the parking strategy of this parking chip in real time based on the parking force required by the vehicle currently and the parking force in the preset parking strategy. When the parking force of the rear wheels in the preset parking strategy of the other parking chip is too small under the current parking condition, the parking strategy of this parking chip can increase the T of the front wheels u , so as to increase the parking force of the front wheels, thereby increasing the overall parking force of the vehicle and ensuring smooth parking of the vehicle;

[0123] When the setting relationship between the parking mechanism and the wheels is of Type II, for another example, the parking mechanism corresponding to this parking chip can be connected to two left wheels of the vehicle, and the parking mechanism corresponding to another parking chip can be connected to two right wheels of the vehicle. After the parking chips corresponding to the two right wheels fail, at this time, if the parking force of the two right wheels of the vehicle in the preset parking strategy does not meet the vehicle's demand for parking force under the current parking condition, the embodiments of the present application can adjust the parking strategy of this parking chip to make the inequality degree of the braking forces of the two left wheels at the front axle △F ur less than or equal to 20%, and the inequality degree of the braking forces of the two left wheels at the rear axle △F ur less than or equal to 24%, △F ur =(F μb -F μ1 ) / F μb ×100%, where F μb is the larger parking force value between the left and right wheels, and F μ1 is the smaller parking force value between the left and right wheels, thereby ensuring smooth parking of the vehicle and ensuring that the vehicle does not deviate.

[0124] When the setting relationship between the parking mechanism and the wheels is of Type X, due to the failure of another parking chip, when the parking force in the preset parking strategy of the other parking chip does not meet the vehicle's demand for parking force under the current parking condition, the embodiments of the present application can adjust the parking strategy of this parking chip to increase the parking forces of the corresponding two wheels in a certain proportion to ensure smooth parking of the vehicle.

[0125] It should be noted that the above is only an example, and the actual mapping relationship can include multiple options. The specific redundant parking strategy can be generated accordingly according to the actual mapping relationship.

[0126] Through the above technical means, based on the mapping relationship between this parking chip and another parking chip, that is, the mapping relationships between this parking chip and another parking chip and the parking mechanism respectively, and the preset parking strategy of the other parking chip, the redundant parking strategy of this parking chip can be generated and stored. Thus, when the other parking chip fails, the redundant parking strategy can be used to drive the parking mechanism mapped to the other parking chip to park the vehicle.

[0127] Optionally, in an embodiment of the present application, before driving the corresponding parking mechanism to park based on the preset parking strategy of this parking chip, it further includes: obtaining the parking preference of the driver; while adjusting the preset parking strategy according to the parking preference, adjusting the pre-stored redundant parking strategy according to the parking preference.

[0128] As a possible implementation manner, the embodiments of the present application can pre-store the preset parking strategy and the redundant parking strategy to cope with the situation of the parking chip failure, thereby improving the parking safety.

[0129] Among them, the preset parking strategy and the redundant parking strategy can be obtained based on the parking preference of the driver.

[0130] For example, as Figure 7 shown, the embodiments of the present application can determine the parking 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 and comfortable parking pedal stroke, and Sport is the deceleration corresponding to the fast brake pedal stroke.

[0131] For example, the embodiments of the present application can obtain the parking parameters manually adjusted by the driver each time when parking, the frequency and signal wavelength of identifying the parking signal, etc., to determine the parking preference of the driver, so as to adjust the preset parking strategy and the pre-stored redundant parking strategy, making the parking action more in line with the driver's preference.

[0132] Among them, the relationship between the parking signal frequency and wavelength and the parking preference can be as shown in Table 1, and Table 1 is the relationship table of the parking signal frequency and wavelength and the parking preference.

[0133] Table 1

[0134] Parking preference Parking signal frequency Parking signal wavelength Aggressive preference <![CDATA[< 1.5 s -1 > ≥40ms Smoothing preference <![CDATA[≥1.5s -1 > <40ms

[0135] 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;

[0136] When the driver prefers a smooth driving style, the wavelength of the parking signal is smaller and the frequency of the parking signal is larger. When the parking chip recognizes that the wavelength of the parking signal is greater than a certain limit value, the parking chip defaults it to a mis-touch situation.

[0137] Optionally, in an embodiment of the present application, before driving the parking mechanism corresponding to another parking chip to park according to the pre-stored redundant parking strategy, it further includes: obtaining the current environment where the vehicle is located; updating the control parameters of the redundant parking strategy based on the current environment to obtain a redundant parking strategy corresponding to the current environment.

[0138] In the actual execution process, the embodiment of the present application can also infer the parking environment information by using at least one wheel speed sensor of the vehicle, or collect the environment information by using an additional environment sensor provided in the vehicle to obtain the current environment where the vehicle is located. The embodiment of the present application can update the control parameters of the redundant parking strategy according to the road surface state signal of the vehicle (such as high adhesion, low adhesion, oncoming road surface, etc.) and the environment signal of the vehicle (such as high cold, high temperature, high humidity, etc.), so as 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 parameters for the wheel state at different temperatures to keep the vehicle body stable; it can use a humidity sensor to determine the slipping probability of the wheels for different humidities, such as judging whether there is water accumulation on the current driving road of the wheels, and then based on the different frictions at different humidities, provide corresponding control parameters to achieve vehicle body stability.

[0139] In some embodiments, when the vehicle is in a parked state and the vehicle body slides due to an external force impact, if the surrounding environment is different from when the vehicle is parked, such as water accumulation, icing, sand and gravel on the ground, etc., when the vehicle still controls the wheels according to the parking force when parked, it is difficult to ensure that the vehicle can park stably. At this time, the embodiment of the present application can update the control parameters of the redundant parking strategy based on the environment information, so as to adjust the parking force of the vehicle by using the updated redundant parking parameters to ensure that the vehicle can park smoothly again.

[0140] In other embodiments, the parking force and the parking response time of the vehicle can be determined based on the braking process before the vehicle parks.

[0141] Taking the road surface state signal as an example, as Figure 8 shown, it is a schematic diagram of the correspondence between the deceleration and the pedal stroke when the state signal is low adhesion (ice road surface, snow road surface, ceramic tile road surface). For a low adhesion road surface, the corresponding adjustment of the parking strategy can be that the deceleration increases faster and the braking pedal stroke is shorter, that is, the parking mechanism requires a shorter parking response time and a faster response speed to obtain a redundant parking strategy corresponding to the current environment, so that the vehicle can complete the parking action after braking on a low adhesion road surface and prevent the vehicle from slipping.

[0142] Through the above technical means, the control parameters of the redundant parking strategy can be adjusted and updated according to the current environment of the vehicle, so that when another parking chip fails, the vehicle can achieve smooth parking based on the updated redundant parking strategy.

[0143] Optionally, in an embodiment of the present application, before driving the parking mechanism corresponding to another parking chip to park according to the pre-stored redundant parking strategy, it further includes: detecting whether the vehicle and / or the parking mechanism corresponding to another parking chip meet the preset redundant control conditions; in the case of detecting that the preset redundant control conditions are not met, controlling the vehicle to give a parking fault reminder.

[0144] Furthermore, the embodiment of the present application can detect whether the parking mechanism mapped by the parking function and / or the faulty another parking chip can execute the redundant parking strategy, that is, whether the redundant parking strategy can drive the vehicle or the parking mechanism to execute the parking action. When it is detected that the vehicle and / or the parking mechanism corresponding to another parking chip meet the preset redundant control conditions, the embodiment of the present application can use the redundant parking strategy to drive the parking mechanism to complete the vehicle parking action; when it is detected that the vehicle and / or the parking mechanism corresponding to another parking chip do not meet the preset redundant control conditions, the embodiment of the present application can control the vehicle to give a parking fault reminder to avoid a parking accident. Among them, the preset redundant control condition can be to judge whether the hardware part of the parking mechanism can achieve normal parking.

[0145] Among them, the parking fault reminder can be an acoustic reminder and / or an optical reminder. The acoustic reminder can be a voice broadcast reminder or a prompt tone reminder, and the optical reminder can be a text reminder on the center console or an icon reminder on the instrument panel.

[0146] After giving the acoustic and / or optical reminder, the embodiment of the present application can also push reservation maintenance information or repair station navigation information, etc., so that the driver can send the vehicle for repair in time.

[0147] Optionally, in an embodiment of the present application, while controlling the vehicle to give a parking fault reminder, it further includes: driving the parking mechanism corresponding to another parking chip and / or the parking mechanism corresponding to this parking chip to park with a preset safe parking strategy.

[0148] While controlling the vehicle to give a parking fault reminder, the embodiment of the present application can also use the preset safe parking strategy to drive the parking mechanism corresponding to another parking chip and / or the parking mechanism corresponding to this parking chip to park, so as to use the preset safe parking strategy to cope with the situation where the redundant parking strategy cannot be executed, and further increase parking safety.

[0149] Among them, the preset safe parking strategy can be that the non-faulty parking chip parks the parking mechanism corresponding to the faulty parking chip; or when the parking mechanism cannot execute the redundant parking strategy, the safety structure of the parking mechanism is mobilized to park the vehicle, etc.

[0150] Among them, the safety structure can be an emergency parking mechanism additionally configured for the vehicle. When the parking mechanism cannot execute the redundant parking strategy, that is, when the vehicle cannot ensure smooth parking, the emergency parking mechanism is triggered to achieve the emergency parking of the vehicle, thereby ensuring the parking safety of the vehicle.

[0151] Optionally, in an embodiment of the present application, while controlling the vehicle to perform a parking fault reminder, it further includes: generating a parking fault signal of the vehicle; sending the parking fault signal to a preset terminal.

[0152] In the actual execution process, the embodiment of the present application can, while controlling the vehicle to perform a parking fault reminder, generate a parking fault signal based on the fault information of the vehicle and send it to a preset terminal, such as the vehicle enterprise logistics terminal, the road rescue terminal, the remote maintenance guidance terminal, etc., so that when the vehicle cannot move after parking, the rescue personnel can carry out rescue according to the parking fault signal, and can also provide remote guidance in time when the driver has difficulty manually controlling the vehicle to park, so that the driver can be rescued in time.

[0153] Optionally, in an embodiment of the present application, before driving the corresponding parking mechanism to park based on the preset parking strategy of the present parking chip, it further includes: detecting whether the present parking chip has a parking fault; in the case of detecting that the present parking chip has a parking fault, sending a parking fault signal to another parking chip to drive the parking mechanism corresponding to the present parking chip to park by using the other parking chip.

[0154] It can be understood that in addition to the other parking chip possibly having a fault, the present parking chip may also have a fault. When the present parking chip has a fault, it will be unable to forward the parking signal to the other parking chip, making it difficult for the parking mechanism to execute the corresponding parking action, thus causing the vehicle to get out of control.

[0155] Therefore, before the embodiment of the present application drives the corresponding parking mechanism to park based on the preset parking strategy of the present parking chip, it can determine whether the present parking chip has a parking failure. When the present parking chip does not have a parking failure, while driving the corresponding parking mechanism to complete the parking action, it forwards the parking signal to another parking chip; when the present parking chip has a parking failure, the present parking chip can generate and send a parking failure signal to another parking chip, so that the other parking chip can receive the parking signal forwarded by any parking chip, or directly receive the parking signal from the communication device, to avoid the failure or incorrect content of the parking signal forwarding caused by the failure of any parking chip, and drive the parking mechanism corresponding to the present parking chip to park using the pre-stored redundant parking strategy, or when it is determined that the present parking chip does not meet the preset redundant control conditions, control the vehicle to give a fault reminder, and drive the parking mechanism corresponding to the present parking chip and / or the parking mechanism corresponding to another parking chip to park with a preset safe parking strategy.

[0156] Through the above technical means, before driving the corresponding parking mechanism to park using the preset parking strategy, it can first detect whether the present parking chip that interacts with the communication device has a fault, so that in the case of a fault of the present parking chip, a parking failure signal can be sent to another parking chip, so that the other parking chip can drive the parking mechanism corresponding to the present parking chip to park, ensuring that all parking mechanisms of the vehicle can perform the parking action, preventing the vehicle body imbalance caused by only relying on some parking mechanisms to park, and thus effectively improving the vehicle body stability in the case of a parking chip failure and improving the parking safety.

[0157] In summary, the present application can, while driving the corresponding parking mechanism to park using the preset parking strategy according to the parking signal, determine whether another parking chip has a fault, so that in the case of a fault of another parking chip, drive the parking mechanism corresponding to the other parking chip to park using the pre-stored redundant parking strategy, that is, replace the faulty other parking chip, ensure that all parking mechanisms of the vehicle can perform the parking action, prevent the vehicle body imbalance caused by only relying on some parking mechanisms to park, and thus effectively improve the vehicle body stability in the case of a parking chip failure and improve the parking safety.

[0158] Figure 9 It is a schematic structural diagram of a parking device provided by an embodiment of the present application.

[0159] Exemplarily, as Figure 9 shown, the device 90 includes: a receiving module 91, a judging module 92, and a parking module 93.

[0160] Specifically, the receiving module 91 is configured to receive the parking signal sent by the communication device.

[0161] A judgment module 92, configured to drive a corresponding parking mechanism to park based on a preset parking strategy of the present parking chip, and judge whether another parking chip has a parking failure.

[0162] A parking module 93, configured to drive a parking mechanism corresponding to another parking chip to park according to a pre-stored redundant parking strategy when the other parking chip has a parking failure.

[0163] Optionally, in an embodiment of the present application, the device 90 further includes: a first detection module and a sending module.

[0164] Wherein, the first detection module is configured to detect whether the present parking chip has a parking failure.

[0165] The sending module is configured to send a parking failure signal to another parking chip when it is detected that the present parking chip has a parking failure, so as to drive a parking mechanism corresponding to the present parking chip to park by using the other parking chip.

[0166] Optionally, in an embodiment of the present application, the device 90 further includes: a first acquisition module and a storage module.

[0167] Wherein, the first acquisition module is configured to acquire a preset parking strategy of another parking chip.

[0168] The storage module is configured to generate a redundant parking strategy of the present parking chip according to a mapping relationship with the other parking chip and the preset parking strategy of the other parking chip, and store it.

[0169] Optionally, in an embodiment of the present application, the device 90 further includes: a second acquisition module and an adjustment module.

[0170] Wherein, the second acquisition module is configured to acquire a parking preference of a driver.

[0171] The adjustment module is configured to adjust the preset parking strategy according to the parking preference, and at the same time adjust the pre-stored redundant parking strategy according to the parking preference.

[0172] Optionally, in an embodiment of the present application, the device 90 further includes: a third acquisition module and an update module.

[0173] Wherein, the third acquisition module is configured to acquire a current environment where the vehicle is located.

[0174] The update module is configured to update control parameters of the redundant parking strategy based on the current environment where the vehicle is located, so as to obtain a redundant parking strategy corresponding to the current environment where the vehicle is located.

[0175] Optionally, in an embodiment of the present application, the device 90 further includes: a second detection module and a control module.

[0176] Among them, the second detection module is used to detect whether the parking mechanism corresponding to the vehicle and / or another parking chip meets the preset redundancy control condition.

[0177] The control module is used to control the vehicle to give a parking fault reminder when it is detected that the preset redundancy control condition is not met.

[0178] Optionally, in an embodiment of the present application, the control module is further used to drive the parking mechanism corresponding to another parking chip and / or the parking mechanism corresponding to this parking chip to park with a preset safe parking strategy.

[0179] Optionally, in an embodiment of the present application, the control module is further used to generate a parking fault signal of the vehicle; send the parking fault signal to a preset terminal.

[0180] In summary, the present application can, according to the parking signal, drive the corresponding parking mechanism to park by using the preset parking strategy, while judging whether another parking chip is faulty. Thus, in the case of a fault in another parking chip, the parking mechanism corresponding to another parking chip is driven to park by using the pre-stored redundant parking strategy, that is, replacing the faulty another parking chip, ensuring that all the parking mechanisms of the vehicle can perform the parking action, preventing the vehicle body from losing balance caused by only relying on some parking mechanisms to park, and effectively improving the vehicle body stability of the vehicle in the case of a parking chip fault and improving the parking safety.

[0181] Figure 10 The following is a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle may include:

[0182] A memory 1001, a processor 1002, and a computer program stored on the memory 1001 and executable on the processor 1002.

[0183] When the processor 1002 executes the program, it implements the parking method provided in the above embodiment.

[0184] Furthermore, the vehicle further includes:

[0185] A communication interface 1003 for communication between the memory 1001 and the processor 1002.

[0186] The memory 1001 is used to store a computer program executable on the processor 1002.

[0187] 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.

[0188] 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 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 10 only a thick line is used to represent it in Figure 10 , but it does not mean that there is only one bus or one type of bus.

[0189] Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002, and the communication interface 1003 can communicate with each other through an internal interface.

[0190] 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.

[0191] This embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above parking method is implemented.

[0192] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or N embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0193] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0194] Any process or method description represented in a flowchart or described otherwise herein may be understood to represent a module, segment, or portion of code including one or more N executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where functions may be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0195] The logic and / or steps represented in a flowchart or described otherwise herein, for example, may be considered a sequenced list of executable instructions for implementing a logical function and may be embodied specifically in any computer-readable medium for use by or in connection with 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. 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 connection 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 portion having one or more N wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.

[0196] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0197] Those of ordinary skill in the art can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program, 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.

[0198] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0199] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A parking method, characterized in that, the vehicle includes a first parking device and a second parking device respectively corresponding to the front wheels and the rear wheels, 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: Receiving a parking signal sent by the communication device; Based on the preset parking strategy of the present parking chip, driving the corresponding parking mechanism to park, and determining whether the other parking chip has a parking failure; and In the case that the other parking chip has a parking failure, driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored redundant parking strategy.

2. The method according to claim 1, characterized in that, before driving the corresponding parking mechanism to park based on the preset parking strategy of the present parking chip, further including: Detecting whether the present parking chip has a parking failure; In the case that it is detected that the present parking chip has a parking failure, sending a parking failure signal to the other parking chip to drive the parking mechanism corresponding to the present parking chip to park by using the other parking chip.

3. The method according to claim 1, characterized in that, before driving the parking mechanism corresponding to the other parking chip to park, further including: Obtaining the preset parking strategy of the other parking chip; Generating and storing the redundant parking strategy of the present parking chip according to the mapping relationship with the other parking chip and the preset parking strategy of the other parking chip.

4. The method according to claim 1, characterized in that, before driving the corresponding parking mechanism to park based on the preset parking strategy of the parking signal of the present parking chip, further including: Obtaining the parking preference of the driver; While adjusting the preset parking strategy according to the parking preference, adjusting the pre-stored redundant parking strategy according to the parking preference.

5. The method according to claim 1, characterized in that, before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored redundant parking strategy, further including: Obtaining the current environment where the vehicle is located; Updating the control parameters of the redundant parking strategy based on the current environment where the vehicle is located to obtain the redundant parking strategy corresponding to the current environment where the vehicle is located.

6. The method according to claim 1, characterized in that, before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored redundant parking strategy, further including: Detect whether the parking mechanism corresponding to the vehicle and / or the other parking chip meets the preset redundancy control condition; When it is detected that the preset redundancy control condition is not met, control the vehicle to give a parking fault reminder.

7. The method according to claim 6, wherein, while controlling the vehicle to give a parking fault reminder, it further includes: Drive the parking mechanism corresponding to the other parking chip and / or the parking mechanism corresponding to the present parking chip to park according to a preset safe parking strategy.

8. The method according to claim 6, wherein, while controlling the vehicle to give a parking fault reminder, it further includes: Generate a parking fault signal of the vehicle; Send the parking fault signal to a preset 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 1-8.

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

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