Vehicle parking control method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle parking control method and device, equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the following steps: acquiring vehicle state information of a vehicle; wherein the vehicle state information comprises the accelerator state of the vehicle and the driving road condition information of the vehicle; under the condition that the accelerator state of the vehicle is an idle state and the driving road condition information of the vehicle is an uphill road, the vehicle is controlled to enter an automatic parking mode; and in the automatic parking mode, a motor of the vehicle is controlled through the position loop control module to provide first driving force consistent with the running speed of the vehicle for the vehicle, so that parking of the vehicle is achieved. According to the method, automatic parking of the vehicle can be controlled in time, backward sliding of the vehicle is prevented, and therefore the safety of the vehicle and user experience are improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a parking control method, device, equipment and storage medium for a vehicle. Background Art

[0002] With the rapid development of vehicle technologies (such as electric two-wheel vehicles), the electronic parking system has gradually replaced the traditional mechanical parking device and become a key technology for improving vehicle safety and convenience.

[0003] In the prior art, a user can trigger the parking mode by pressing a button. In the parking mode, the vehicle locks the rear wheels to make the vehicle stationary. There are also individual technologies that attempt to achieve automatic parking and determine whether to take parking measures by judging whether the vehicle slips backward.

[0004] However, the parking control method in the prior art has at least the following technical problems: In case of an emergency stop or in complex road conditions (for example, when temporarily parking on a steep slope), it is difficult for the user to trigger the parking mode in time due to panic or operation delay, and the vehicle is likely to slip backward significantly, resulting in poor vehicle safety. In addition, the user experience is not good when parking measures are taken after the vehicle has slipped backward. Summary of the Invention

[0005] The present application provides a parking control method, device, equipment and storage medium for a vehicle, which can achieve automatic parking when the vehicle is going uphill, prevent slipping backward, and improve vehicle safety and user experience.

[0006] In a first aspect, the present application provides a parking control method for a vehicle, the method comprising:

[0007] Obtain vehicle state information of the vehicle; wherein the vehicle state information includes the throttle state of the vehicle and the driving road condition information of the vehicle;

[0008] When the throttle state of the vehicle is in an idle state and the driving road condition information of the vehicle is an uphill road, control the vehicle to enter an automatic parking mode;

[0009] In the automatic parking mode, through a position loop control module, control the motor of the vehicle to provide a first driving force for the vehicle in the same direction as the driving speed of the vehicle to achieve parking of the vehicle.

[0010] Optionally, obtaining the vehicle state information of the vehicle includes: determining a motor load value of the vehicle according to a driving speed of the vehicle and a motor current of the vehicle by a torque sensor, and determining driving road condition information of the vehicle according to the motor load value of the vehicle; wherein, the driving road condition information of the vehicle includes a flat road or an uphill road; and, obtaining an accelerator opening signal of the vehicle by a motor controller, and determining an accelerator state of the vehicle according to the accelerator opening signal; wherein, the accelerator state of the vehicle includes an idle state or a non-idle state.

[0011] Optionally, the vehicle state information further includes a pitch angle of the vehicle; determining the driving road condition information of the vehicle according to the motor load value of the vehicle includes: if the motor load value of the vehicle is greater than or equal to a preset load threshold, determining that the driving road condition information of the vehicle is an uphill road, and if the motor load value of the vehicle is less than the preset load threshold, determining that the driving road condition information of the vehicle is a flat road; or, if the motor load value of the vehicle is greater than or equal to the preset load threshold and the pitch angle of the vehicle is greater than or equal to a preset angle threshold, determining that the driving road condition information of the vehicle is an uphill road; if the motor load value of the vehicle is less than the preset load threshold and the pitch angle of the vehicle is less than the preset angle threshold, determining that the driving road condition information of the vehicle is a flat road.

[0012] Optionally, the vehicle state information further includes a driving speed of the vehicle; correspondingly, in a case where the accelerator state of the vehicle is an idle state and the driving road condition information of the vehicle is an uphill road, controlling the vehicle to enter an automatic parking mode includes: in a case where the accelerator state of the vehicle is an idle state and the driving road condition information of the vehicle is an uphill road, if the driving speed of the vehicle is less than or equal to a preset parking slope speed threshold, controlling the vehicle to enter an automatic parking slope mode.

[0013] Optionally, the vehicle state information further includes a driving state of the vehicle; the method further includes: in a case where the driving state of the vehicle is a riding state, if the driving speed of the vehicle increases to a first driving speed greater than the preset parking slope speed threshold, controlling the vehicle to exit the automatic parking slope mode; in a case where the driving state of the vehicle is a pushing state, if the driving speed of the vehicle increases to a first driving speed greater than the preset parking slope speed threshold, controlling, by a position loop control module, a motor of the vehicle to provide a second driving force for the vehicle in a direction consistent with the driving speed of the vehicle, so that the vehicle maintains the first driving speed.

[0014] Optionally, the method further includes: in the automatic hill-holding mode, determining a feedforward current provided by the power supply module to the motor according to the pitch angle of the vehicle, and controlling the motor of the vehicle to provide a third driving force for the vehicle in the same direction as the driving speed of the vehicle, so as to realize parking of the vehicle.

[0015] Optionally, the method further includes: in the automatic hill-holding mode, if the throttle opening value of the vehicle is greater than a preset hill-holding opening threshold, or a brake signal and a trigger signal of a first preset button are received, controlling the vehicle to exit the automatic hill-holding mode; wherein, when the throttle opening value of the vehicle is the preset hill-holding opening threshold, the driving force provided by the motor of the vehicle for the vehicle is greater than or equal to the first driving force.

[0016] Optionally, the method further includes: if a brake signal is received and the duration exceeds a first preset duration or a trigger signal of a second preset button is received, controlling the vehicle to enter a manual hill-holding mode; in the manual parking mode, if the throttle opening value of the vehicle is greater than the preset hill-holding opening threshold, or if a trigger signal of the second preset button is received, controlling the vehicle to exit the manual hill-holding mode; wherein, when the throttle opening value of the vehicle is the preset hill-holding opening threshold, the driving force provided by the motor of the vehicle for the vehicle is greater than or equal to the first driving force.

[0017] In a second aspect, the present application provides a parking control device for a vehicle, the device includes:

[0018] An acquisition unit, configured to acquire vehicle state information of the vehicle; wherein the vehicle state information includes the throttle state of the vehicle and the driving road condition information of the vehicle;

[0019] A first control unit, configured to control the vehicle to enter an automatic parking mode when the throttle state of the vehicle is an idle state and the driving road condition information of the vehicle is an uphill road;

[0020] A second control unit, configured to, in the automatic parking mode, control the motor of the vehicle to provide a first driving force for the vehicle in the same direction as the driving speed of the vehicle through a position loop control module, so as to realize parking of the vehicle.

[0021] Optionally, the device is a motor controller of the vehicle.

[0022] In a third aspect, the present application provides an electronic device, including: a processor, a communication interface, and a memory, the processor is communicatively connected to the communication interface and the memory respectively;

[0023] The memory stores computer-executable instructions;

[0024] The communication interface communicates with external devices;

[0025] The processor executes the computer-executable instructions stored in the memory to implement the parking control method of the vehicle as described in any one of the first aspects.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the parking control method of the vehicle as described in any one of the first aspects when executed by a processor.

[0027] In a fifth aspect, the present application provides a computer program product including a computer program, which is used to implement the parking control method of the vehicle as described in any one of the first aspects when executed by a processor.

[0028] The parking control method, device, equipment and storage medium of the vehicle provided by the present application, the method includes: obtaining the vehicle state information of the vehicle; wherein the vehicle state information includes the throttle state of the vehicle and the driving road condition information of the vehicle; when the throttle state of the vehicle is in an idle state and the driving road condition information of the vehicle is an uphill road, controlling the vehicle to enter the automatic parking mode; in the automatic parking mode, through the position loop control module, controlling the motor of the vehicle to provide a first driving force for the vehicle in the same direction as the driving speed of the vehicle, which can timely control the vehicle from slipping backward and improve the parking experience on the slope. In the embodiment of the present application, since when the vehicle is on an uphill road and the throttle state of the vehicle is in an idle state, the vehicle is controlled to enter the automatic parking mode, the vehicle can be controlled to stop before it slips backward, and since the position loop control module can control the motor of the vehicle to provide a first driving force for the vehicle in the same direction as the driving speed of the vehicle, the vehicle can be timely controlled from slipping backward, so the safety of the vehicle is improved. Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0030] Figure 1 It is a schematic diagram of the application scenario of a parking control method for a vehicle provided by an embodiment of the present application;

[0031] Figure 2 It is a flowchart of a parking control method for a vehicle provided by an embodiment of the present application;

[0032] Figure 3A schematic diagram of the structure of a parking control device for a vehicle provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0034] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0035] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0036] With the rapid development of vehicle (such as electric two-wheeled vehicle) technology, electronic parking systems have gradually replaced traditional mechanical parking devices and become a key technology to improve vehicle safety and convenience.

[0037] In the prior art, users can trigger the parking mode by pressing a button. In the parking mode, the rear wheels of the vehicle are locked to stop the vehicle. There are also some technologies that attempt to achieve automatic parking, which determine whether to take parking measures by judging whether the vehicle is rolling backwards. However, in emergency parking or complex road conditions (for example, when temporarily stopping on a steep slope), users may find it difficult to trigger the parking mode in time by pressing a button due to panic or delayed operation, and the vehicle is prone to rolling backwards significantly, resulting in poor safety. In addition, taking parking measures after the vehicle has rolled backwards will result in a poor user experience.

[0038] It can be seen that how to improve the safety of the vehicle when the vehicle is traveling uphill is a technical problem that needs to be solved urgently.

[0039] In response to the above technical problems, the inventors have proposed the following technical concept: combining the pitch and roll angles provided by the gyroscope to more intelligently enter and exit parking, avoiding the user forgetting to start the parking function due to panic, thereby improving the safety of the vehicle.

[0040] Correspondingly, the specific steps may include: First, obtain the vehicle status information of the vehicle; the vehicle status information includes the throttle status of the vehicle and the driving road condition information of the vehicle. Then, when the throttle status of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, control the vehicle to enter the automatic parking mode. Finally, in the automatic parking mode, through the position loop control module, control the motor of the vehicle to provide a first driving force consistent with the direction of the driving speed of the vehicle to achieve vehicle parking.

[0041] In the embodiment of the present application, since the vehicle is controlled to enter the automatic parking mode when it is on an uphill road and the throttle status of the vehicle is in the idle state, the vehicle can be controlled to stop before it starts to roll back. And, since the position loop control module can control the motor of the vehicle to provide a first driving force consistent with the direction of the driving speed of the vehicle, the vehicle can be timely controlled not to roll back, thus improving the safety of the vehicle.

[0042] The application scenario of the vehicle parking control method provided by the present application will be described below. Figure 1 It is a schematic diagram of the application scenario of a vehicle parking control method provided by an embodiment of the present application. As Figure 1 shown, this scenario includes: the motor controller of the vehicle, the handlebar throttle, the torque sensor, and the motor. Among them, the motor controller determines the throttle status of the vehicle according to the throttle opening signal uploaded by the handlebar throttle. Determine the driving road condition information of the vehicle according to the motor load value uploaded by the torque sensor. When the throttle status of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, control the vehicle to enter the automatic parking mode. Since the vehicle is controlled to enter the automatic parking mode when it is on an uphill road and the throttle status of the vehicle is in the idle state, the vehicle can be controlled to stop before it starts to roll back. And, since the position loop control module can control the motor of the vehicle to provide a first driving force consistent with the direction of the driving speed of the vehicle, the vehicle can be timely controlled not to roll back, thus improving the safety of the vehicle.

[0043] The technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. These specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0044] Figure 2 It is a flowchart of a vehicle parking control method provided by an embodiment of the present application. This method can be applied to the controller in the vehicle. This controller can be a motor controller. Correspondingly, this method includes the following steps S201 to S203:

[0045] S201. Obtain the vehicle status information of the vehicle; the vehicle status information includes the throttle status of the vehicle and the driving road condition information of the vehicle.

[0046] In the embodiments of the present application, the above vehicle may be an electric vehicle. For example, an electric two-wheeler, an electric three-wheeler, etc.

[0047] Optionally, a torque sensor and a motor controller are installed in the vehicle. The driving road condition information of the vehicle can be obtained through the torque sensor, and the throttle status of the vehicle can be obtained through the motor controller. Correspondingly, this step may include: determining the motor load value of the vehicle according to the driving speed and the motor current of the vehicle through the torque sensor, and determining the driving road condition information of the vehicle according to the motor load value of the vehicle; wherein, the driving road condition information of the vehicle includes a flat road or an uphill road; and, obtaining the throttle opening signal of the vehicle through the motor controller, and determining the throttle status of the vehicle according to the throttle opening signal; wherein, the throttle status of the vehicle includes an idle state or a non-idle state.

[0048] Among them, the driving speed of the vehicle can be obtained through a speed sensor. Among them, the motor current of the vehicle can be obtained through a current sensor. The motor load value of the vehicle can be detected through a torque observer, such as a Luenberger observer.

[0049] In some embodiments, determining the driving road condition information of the vehicle according to the motor load value of the vehicle includes: if the motor load value of the vehicle is greater than or equal to a preset load threshold, it is determined that the driving road condition information of the vehicle is an uphill road, and if the motor load value of the vehicle is less than the preset load threshold, it is determined that the driving road condition information of the vehicle is a flat road.

[0050] In the embodiments of the present application, since the driving road condition information of the vehicle is determined according to the motor load value determined by the torque sensor, and the motor load value on an uphill road is significantly different from that on a flat road, the accuracy of determining the driving road condition information of the vehicle is improved.

[0051] In other embodiments, the vehicle status information further includes the pitch angle of the vehicle; at this time, the driving road condition information of the vehicle can be determined according to the motor load value and the pitch angle of the vehicle.

[0052] Optionally. Determining the driving road condition information of the vehicle according to the motor load value of the vehicle includes: if the motor load value of the vehicle is greater than or equal to a preset load threshold and the pitch angle of the vehicle is greater than or equal to a preset angle threshold, it is determined that the driving road condition information of the vehicle is an uphill road; if the motor load value of the vehicle is less than the preset load threshold and the pitch angle of the vehicle is less than the preset angle threshold, it is determined that the driving road condition information of the vehicle is a flat road.

[0053] In the embodiments of the present application, the values of the above-mentioned preset load threshold and preset angle threshold are not specifically limited and can be set and modified as needed. Exemplarily, the preset angle threshold is 5 degrees, 8 degrees, 10 degrees, etc.

[0054] In some embodiments, the pitch angle of the vehicle can be determined by a pitch angle sensor of the vehicle. Optionally, the pitch angle sensor can be a gyroscope or an IMU (Inertial Measurement Unit). Exemplarily, as Figure 1 shown, the pitch angle sensor can be an inertial measurement unit.

[0055] In the embodiments of the present application, since the driving road condition information of the vehicle is determined by the information in two dimensions of the motor load value and the pitch angle, the accuracy of determining the driving road condition information of the vehicle is further improved.

[0056] S202. When the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, control the vehicle to enter the automatic parking mode.

[0057] In some embodiments, when the vehicle is on an uphill road and the throttle state is in the idle state, control the vehicle to enter the automatic parking mode. In this case, the driving speed of the vehicle will not decrease rapidly due to going uphill, so the safety of the vehicle is improved.

[0058] In other embodiments, the vehicle state information further includes the driving speed of the vehicle; in order to further improve the safety of the vehicle, the vehicle can also be controlled to enter the automatic slope parking mode in combination with the driving speed of the vehicle. Optionally, when the vehicle is on an uphill road, the throttle state is in the idle state and the speed is low, control the vehicle to enter the automatic parking mode. Correspondingly, this step may include: when the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, if the driving speed of the vehicle is less than or equal to the preset slope parking speed threshold, control the vehicle to enter the automatic slope parking mode.

[0059] In the embodiments of the present application, the value of the above-mentioned preset slope parking speed threshold is not specifically limited and can be set and modified as needed. Exemplarily, the preset slope parking speed threshold can be 0.5 km / h, 1.0 km / h, 1.2 km / h, etc.

[0060] In the embodiments of the present application, since the vehicle is controlled to enter the automatic parking mode when it is on an uphill road, the throttle state is in the idle state and the speed is low, and the vehicle is prevented from frequently switching into and out of the automatic slope parking mode due to the throttle state, so the driving experience of the vehicle is improved.

[0061] In some other embodiments, when the vehicle is on an uphill road, the throttle state is in the idle state, the speed is low and lasts for a period of time, the vehicle is controlled to enter the automatic parking mode. Correspondingly, this step may include: when the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, if the driving speed of the vehicle is less than or equal to the preset slope parking speed threshold and the continuous duration is greater than the preset duration, the vehicle is controlled to enter the automatic slope parking mode.

[0062] In the embodiments of the present application, the value of the above preset duration is not specifically limited and can be set and modified as needed. Exemplarily, the preset duration can be 0.5 seconds, 1 second, 1.5 seconds, etc.

[0063] Here, since when the vehicle is on an uphill road, the throttle state is in the idle state, the speed is low and lasts for a period of time, the vehicle is controlled to enter the automatic parking mode, avoiding frequent switching of the vehicle into and out of the automatic slope parking mode due to speed fluctuations, thus improving the driving experience of the vehicle.

[0064] S203. In the automatic parking mode, through the position loop control module, the motor of the vehicle is controlled to provide a first driving force in the same direction as the driving speed of the vehicle to achieve vehicle parking.

[0065] In the embodiments of the present application, the driving force provided by the position loop control module is in the same direction as the driving speed of the vehicle. The position loop control module can be implemented by, for example, PID (Proportional, Integral, Derivative) control. The position change amount of the vehicle can be calculated based on speed integration, and the output current of the motor can be adjusted based on the position change amount to drive the vehicle motor to achieve the feedback control purpose of zero backward slip distance of the vehicle.

[0066] In some embodiments, the output current value of the motor of the vehicle can be adjusted by the position loop control module according to the position change amount of the vehicle. By adjusting the output current value, the motor is driven to provide assistance of positive torque for the vehicle to keep the vehicle stationary to prevent the vehicle from slipping backward.

[0067] An embodiment of the present application provides a parking control method for a vehicle, including: obtaining vehicle state information of the vehicle; where the vehicle state information includes the throttle state of the vehicle and the driving road condition information of the vehicle. Then, when the throttle state of the vehicle is in an idle state and the driving road condition information of the vehicle is an uphill road, control the vehicle to enter the automatic parking mode. Finally, in the automatic parking mode, through the position loop control module, control the motor of the vehicle to provide a first driving force for the vehicle that is consistent with the direction of the driving speed of the vehicle to achieve vehicle parking. In the embodiment of the present application, since the vehicle is controlled to enter the automatic parking mode when it is on an uphill road and the throttle state of the vehicle is in an idle state, it is possible to control the vehicle to stop before it starts to roll back. Moreover, since the position loop control module can control the motor of the vehicle to provide a first driving force for the vehicle that is consistent with the direction of the driving speed of the vehicle, it is possible to timely control the vehicle from rolling back, thus improving the safety of the vehicle.

[0068] In the embodiment of the present application, the user can increase the driving speed of the vehicle by turning the throttle or applying a thrust to the vehicle, and control the vehicle to exit the automatic parking on slope mode.

[0069] In some embodiments, in the riding state, generally, the driving speed of the vehicle is increased by turning the throttle. At this time, the vehicle can be directly controlled to exit the automatic parking on slope mode.

[0070] Optionally, the vehicle state information further includes the driving state of the vehicle; the method further includes: when the driving state of the vehicle is in the riding state, if the driving speed of the vehicle increases to a first driving speed greater than the preset parking on slope speed threshold, control the vehicle to exit the automatic parking on slope mode.

[0071] In other embodiments, in the pushing state, generally, the driving speed of the vehicle is increased by applying a thrust to the vehicle. At this time, the vehicle can be controlled to exit the automatic parking on slope mode and enter the assisted pushing state to achieve zero-force pushing.

[0072] Optionally, the method further includes: when the driving state of the vehicle is in the pushing state, if the driving speed of the vehicle increases to a first driving speed greater than the preset parking on slope speed threshold, through the position loop control module, control the motor of the vehicle to provide a second driving force for the vehicle that is consistent with the direction of the driving speed of the vehicle, so that the vehicle maintains the first driving speed.

[0073] In some embodiments, the driving state of the vehicle can be determined according to the riding sensing information of the vehicle. Among them, the riding sensing information includes the seat occupancy state and / or the side stand state. Among them, the side stand state of the vehicle includes the raised state and the lowered state. Among them, the seat occupancy state of the vehicle includes the occupied state and the unoccupied state.

[0074] Optionally, the step of determining the driving state of the vehicle according to the riding sensing information of the vehicle may include: if the seat occupancy state is the unoccupied state and / or the side stand state is the lifted state, determining that the driving state of the vehicle is the pushing state; if the seat occupancy state is the occupied state, determining that the driving state of the vehicle is the riding state.

[0075] It should be noted that during zero-force pushing, the user can apply a resistance to the vehicle or reduce the vehicle speed by braking. When the driving speed of the vehicle is less than or equal to the preset slope-holding speed threshold, the vehicle is controlled to re-enter the automatic slope-holding mode.

[0076] In the embodiment of the present application, when pushing the vehicle, when a thrust is applied to the vehicle to increase the driving speed of the vehicle to the first driving speed, at this time, the position loop control module can control the motor of the vehicle to provide a second driving force for the vehicle to keep the vehicle at the first driving speed. In this way, zero-force pushing of the vehicle can be realized, thus improving the user experience of the vehicle.

[0077] In some embodiments, when the vehicle is in the automatic slope-holding mode, a feedforward current can be provided to the motor to control the motor of the vehicle to provide a driving force for the vehicle.

[0078] Optionally, the method further includes: in the automatic slope-holding mode, according to the pitch angle of the vehicle, determining the feedforward current provided by the power supply module to the motor, and controlling the motor of the vehicle to provide a third driving force in the same direction as the driving speed of the vehicle to realize vehicle parking.

[0079] In the embodiment of the present application, the value of the feedforward current is not specifically limited and can be set and modified as needed.

[0080] In the embodiment of the present application, since when the vehicle is in the automatic slope-holding mode, the position of the vehicle has not changed yet, and at this time, the driving force provided by the position loop control module is small. In this case, providing a feedforward current to the motor can control the motor of the vehicle to provide a driving force for the vehicle in time to realize vehicle parking, thus improving the safety of the vehicle.

[0081] In some embodiments, in the automatic slope-holding mode, the user has two ways to exit parking. The first is to twist the throttle. At this time, the target torque required for the motor to output will be calculated according to the depth of the user's twisting of the throttle. When the target output torque is greater than the slope-holding torque, the automatic slope-holding is allowed to exit to avoid slipping due to insufficient depth of twisting the throttle. The second is to hold the preset button and squeeze the brake to exit, and then control the backward-sliding speed through the brake. Once the preset button is released, the vehicle will be locked again, ensuring the safety of backing on a steep slope.

[0082] Optionally, the method further includes: in the automatic hill-holding mode, if the throttle opening value of the vehicle is greater than a preset hill-holding opening threshold, or a brake signal and a trigger signal of a first preset button are received, then control the vehicle to exit the automatic hill-holding mode; wherein, when the throttle opening value of the vehicle is the preset hill-holding opening threshold, the driving force provided by the motor of the vehicle is greater than or equal to a first driving force.

[0083] It should be noted that, in order to improve the safety of the vehicle, once the first preset button is released and the trigger signal of the first preset button is not received, then control the vehicle to enter the automatic hill-holding mode again to prevent the vehicle from rolling backward.

[0084] In the embodiments of the present application, the first preset button is not specifically limited. Among them, the first preset button may be a button with an independent function on the vehicle. For example, the first preset button is a slow roll-down button. Optionally, the first preset button may also be other existing buttons on the vehicle. For example, the first preset button may be a cruise button.

[0085] In some embodiments, the user can manually control the vehicle to enter the hill-holding mode and can also manually control the vehicle to exit the hill-holding mode.

[0086] Optionally, the method further includes: if a brake signal is received and the duration exceeds a first preset duration or a trigger signal of a second preset button is received, then control the vehicle to enter the manual hill-holding mode; in the manual parking mode, if the throttle opening value of the vehicle is greater than the preset hill-holding opening threshold, or if a trigger signal of the second preset button is received, then control the vehicle to exit the manual hill-holding mode; wherein, when the throttle opening value of the vehicle is the preset hill-holding opening threshold, the driving force provided by the motor of the vehicle is greater than or equal to a first driving force.

[0087] In the embodiments of the present application, the second preset button is not specifically limited. Among them, the second preset button may be a button with an independent function on the vehicle. For example, the second preset button is a slow roll-down button. Optionally, the second preset button may also be other existing buttons on the vehicle. For example, the second preset button may be a cruise button.

[0088] Optionally, the first preset duration is not specifically limited and can be set and modified as needed. Exemplarily, the first preset duration may be 1 second, 2 seconds, 3 seconds, etc.

[0089] Exemplarily, the user can manually control the vehicle to enter the manual hill-holding mode by long-pinching the brake for three seconds or short-pressing the cruise button. After manually turning on the parking function, the user can exit the parking function by short-pressing the cruise button or turning the throttle, ensuring the convenience of small-slope operation.

[0090] In the embodiments of the present application, since the parking function is exited by short - pressing the cruise key or turning the throttle, when the slope angle of the vehicle going uphill is relatively low, the vehicle can be manually controlled to enter and exit the slope - parking mode, thus ensuring the convenience of vehicle operation in the small - slope scenario.

[0091] Figure 3 The figure is a schematic structural diagram of a parking control device for a vehicle provided by an embodiment of the present application. As Figure 3 shown, the device includes: an acquisition unit 301, a first control unit 302, and a second control unit 303.

[0092] The acquisition unit 301 is configured to acquire the vehicle state information of the vehicle; wherein the vehicle state information includes the throttle state of the vehicle and the driving road condition information of the vehicle.

[0093] The first control unit 302 is configured to control the vehicle to enter the automatic parking mode when the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road.

[0094] The second control unit 303 is configured to, in the automatic parking mode, control the motor of the vehicle to provide a first driving force in the same direction as the driving speed of the vehicle for the vehicle through a position - loop control module, so as to realize the parking of the vehicle.

[0095] Optionally, the device is the motor controller of the vehicle.

[0096] Optionally, the acquisition unit 301 acquires the vehicle state information of the vehicle, specifically including: determining the motor load value of the vehicle according to the driving speed of the vehicle and the motor current of the vehicle through a torque sensor, and determining the driving road condition information of the vehicle according to the motor load value of the vehicle; wherein the driving road condition information of the vehicle includes a flat road or an uphill road; and acquiring the throttle opening signal of the vehicle through a motor controller, and determining the throttle state of the vehicle according to the throttle opening signal; wherein the throttle state of the vehicle includes an idle state or a non - idle state.

[0097] Optionally, the vehicle state information further includes the pitch angle of the vehicle; the obtaining unit 301 determines the driving road condition information of the vehicle according to the motor load value of the vehicle, specifically including: if the motor load value of the vehicle is greater than or equal to a preset load threshold, it is determined that the driving road condition information of the vehicle is an uphill road; if the motor load value of the vehicle is less than the preset load threshold, it is determined that the driving road condition information of the vehicle is a flat road; or, if the motor load value of the vehicle is greater than or equal to the preset load threshold and the pitch angle of the vehicle is greater than or equal to a preset angle threshold, it is determined that the driving road condition information of the vehicle is an uphill road; if the motor load value of the vehicle is less than the preset load threshold and the pitch angle of the vehicle is less than the preset angle threshold, it is determined that the driving road condition information of the vehicle is a flat road.

[0098] Optionally, the vehicle state information further includes the driving speed of the vehicle; correspondingly, the first control unit 302 controls the vehicle to enter the automatic parking mode when the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, specifically including: when the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, if the driving speed of the vehicle is less than or equal to a preset parking slope speed threshold, the vehicle is controlled to enter the automatic parking slope mode.

[0099] Optionally, the vehicle state information further includes the driving state of the vehicle; the first control unit 302 is further configured to, when the driving state of the vehicle is in the riding state, if the driving speed of the vehicle increases to a first driving speed greater than the preset parking slope speed threshold, control the vehicle to exit the automatic parking slope mode; when the driving state of the vehicle is in the pushing state, if the driving speed of the vehicle increases to a first driving speed greater than the preset parking slope speed threshold, through the position loop control module, control the motor of the vehicle to provide a second driving force for the vehicle in the same direction as the driving speed of the vehicle, so that the vehicle maintains the first driving speed.

[0100] Optionally, the second control unit 303 is further configured to, in the automatic parking slope mode, determine a feedforward current provided by the power supply module to the motor according to the pitch angle of the vehicle, and control the motor of the vehicle to provide a third driving force for the vehicle in the same direction as the driving speed of the vehicle, so as to realize parking of the vehicle.

[0101] Optionally, the first control unit 302 is further configured to, in the automatic slope parking mode, if the throttle opening value of the vehicle is greater than a preset slope parking opening threshold, or a brake signal and a trigger signal of a first preset button are received, control the vehicle to exit the automatic slope parking mode; wherein, when the throttle opening value of the vehicle is the preset slope parking opening threshold, the driving force provided by the motor of the vehicle for the vehicle is greater than or equal to the first driving force.

[0102] Optionally, the first control unit 302 is further configured to, if a brake signal is received and the duration exceeds a first preset duration or a trigger signal of the preset button is received, control the vehicle to enter the manual slope parking mode; in the manual parking mode, if the throttle opening value of the vehicle is greater than the preset slope parking opening threshold, or if a trigger signal of a second preset button is received, control the vehicle to exit the manual slope parking mode; wherein, when the throttle opening value of the vehicle is the preset slope parking opening threshold, the driving force provided by the motor of the vehicle for the vehicle is greater than or equal to the first driving force.

[0103] The present application provides a parking control device for a vehicle. Since when the vehicle is on an uphill road and the throttle state of the vehicle is in an idle state, the vehicle is controlled to enter the automatic parking mode, the vehicle can be controlled to stop before it starts to roll back. Moreover, since the position loop control module can control the motor of the vehicle to provide a first driving force in the same direction as the driving speed of the vehicle, the vehicle can be timely controlled not to roll back, thus improving the safety of the vehicle.

[0104] The parking control device for a vehicle provided in the embodiments of the present application can execute the parking control method for a vehicle in the above method embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0105] Figure 4 This is a schematic structural diagram of an electronic device provided in an embodiment of the present application. The electronic device is used to execute the aforementioned vehicle parking control method. As Figure 4 shown, the electronic device 400 may include: at least one processor 401, a memory 402, and in a possible implementation manner, a communication interface 403 may further be included.

[0106] The memory 402 is used to store a program. Specifically, the program may include program code, and the program code includes computer operation instructions.

[0107] The memory 402 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0108] The processor 401 is configured to execute the computer-executable instructions stored in the memory 402 to implement the method described in the foregoing method embodiments. The processor 401 may be a CPU, or a specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0109] Optionally, the processor 401 can communicate with external devices through the communication interface 403. When the electronic device is a device or a cloud platform for providing operation instructions to intelligent operation devices, the external devices mentioned here may be intelligent operation devices, for example.

[0110] In a specific implementation, if the communication interface 403, the memory 402, and the processor 401 are implemented independently, the communication interface 403, the memory 402, and the processor 401 can be interconnected through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0111] Optionally, in a specific implementation, if the communication interface 403, the memory 402, and the processor 401 are integrated on a chip, the communication interface 403, the memory 402, and the processor 401 can communicate through an internal interface.

[0112] The present application also provides a computer-readable storage medium, which may include: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc, etc. Specifically, the computer-readable storage medium stores program instructions for the method in the foregoing embodiments.

[0113] The present application also provides a program product, which includes execution instructions stored in a readable storage medium. At least one processor of the computing device can read the execution instructions from the readable storage medium, and the at least one processor executes the execution instructions to enable the computing device to implement the parking control method of the vehicle described above.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A parking control method for a vehicle, characterized in that, The method includes: Obtaining vehicle state information of the vehicle; wherein the vehicle state information includes the throttle state of the vehicle and the driving road condition information of the vehicle; When the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, controlling the vehicle to enter the automatic parking mode; In the automatic parking mode, through the position loop control module, controlling the motor of the vehicle to provide a first driving force for the vehicle in the same direction as the driving speed of the vehicle to achieve vehicle parking.

2. The parking control method according to claim 1, wherein The obtaining of the vehicle state information of the vehicle includes: Using a torque sensor to determine the motor load value of the vehicle according to the driving speed of the vehicle and the motor current of the vehicle, and determining the driving road condition information of the vehicle according to the motor load value of the vehicle; wherein, the driving road condition information of the vehicle includes a flat road or an uphill road; and, Obtaining the throttle opening signal of the vehicle through a motor controller, and determining the throttle state of the vehicle according to the throttle opening signal; wherein, the throttle state of the vehicle includes an idle state or a non-idle state.

3. The parking control method according to claim 2, characterized in that The vehicle state information further includes the pitch angle of the vehicle; The determining of the driving road condition information of the vehicle according to the motor load value of the vehicle includes: If the motor load value of the vehicle is greater than or equal to a preset load threshold, it is determined that the driving road condition information of the vehicle is an uphill road; if the motor load value of the vehicle is less than the preset load threshold, it is determined that the driving road condition information of the vehicle is a flat road; or, If the motor load value of the vehicle is greater than or equal to a preset load threshold and the pitch angle of the vehicle is greater than or equal to a preset angle threshold, it is determined that the driving road condition information of the vehicle is an uphill road; if the motor load value of the vehicle is less than the preset load threshold and the pitch angle of the vehicle is less than the preset angle threshold, it is determined that the driving road condition information of the vehicle is a flat road.

4. The parking control method according to claim 1, wherein The vehicle state information further includes the driving speed of the vehicle; Correspondingly, when the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, controlling the vehicle to enter the automatic parking mode includes: When the throttle state of the vehicle is in the idle state and the driving road condition information of the vehicle is an uphill road, if the driving speed of the vehicle is less than or equal to a preset slope parking speed threshold, controlling the vehicle to enter the automatic slope parking mode.

5. The parking control method according to claim 4, characterized in that, The vehicle state information further includes the driving state of the vehicle; the method further includes: When the driving state of the vehicle is in the riding state, if the driving speed of the vehicle increases to a first driving speed greater than the preset slope parking speed threshold, controlling the vehicle to exit the automatic slope parking mode; When the driving state of the vehicle is in the pushing state, if the driving speed of the vehicle increases to a first driving speed greater than the preset slope parking speed threshold, through the position loop control module, controlling the motor of the vehicle to provide a second driving force for the vehicle in the same direction as the driving speed of the vehicle to keep the vehicle at the first driving speed.

6. The parking control method according to claim 1, wherein, The method further includes: In the automatic slope parking mode, according to the pitch angle of the vehicle, a feedforward current provided by a power supply module to a motor is determined, and the motor of the vehicle is controlled to provide a third driving force for the vehicle in a direction consistent with the traveling speed of the vehicle, so as to achieve parking of the vehicle.

7. The parking control method according to claim 1, wherein The method further includes: In the automatic slope parking mode, if the throttle opening value of the vehicle is greater than a preset slope parking opening threshold, or a brake signal and a trigger signal of a first preset button are received, the vehicle is controlled to exit the automatic slope parking mode; Wherein, when the throttle opening value of the vehicle is the preset slope parking opening threshold, the driving force provided by the motor of the vehicle for the vehicle is greater than or equal to the first driving force.

8. The parking control method according to claim 1, wherein The method further includes: If a brake signal is received and the duration exceeds a first preset duration or a trigger signal of a second preset button is received, the vehicle is controlled to enter a manual slope parking mode; In the manual parking mode, if the throttle opening value of the vehicle is greater than the preset slope parking opening threshold, or if a trigger signal of the second preset button is received, the vehicle is controlled to exit the manual slope parking mode; Wherein, when the throttle opening value of the vehicle is the preset slope parking opening threshold, the driving force provided by the motor of the vehicle for the vehicle is greater than or equal to the first driving force.

9. A parking control device for a vehicle, characterized in that, The device includes: An acquisition unit, configured to acquire vehicle state information of the vehicle; wherein the vehicle state information includes the throttle state of the vehicle and the driving road condition information of the vehicle; A first control unit, configured to control the vehicle to enter an automatic parking mode when the throttle state of the vehicle is an idle state and the driving road condition information of the vehicle is an uphill road; A second control unit, configured to, in the automatic parking mode, control the motor of the vehicle to provide a first driving force for the vehicle in a direction consistent with the traveling speed of the vehicle through a position loop control module, so as to achieve slope parking of the vehicle.

10. The parking control device for a vehicle according to claim 9, characterized in that, The device is a motor controller of the vehicle.

11. An electronic device, characterized in that, Including: A processor, a communication interface, and a memory, the processor is communicatively connected to the communication interface and the memory respectively; The memory stores computer execution instructions; The communication interface communicates with external devices; The processor executes the computer execution instructions stored in the memory to implement the vehicle parking control method according to any one of claims 1-8.

12. A computer-readable storage medium, characterized in that, Computer execution instructions are stored in the computer-readable storage medium, and when the computer execution instructions are executed by a processor, they are used to implement the vehicle parking control method according to any one of claims 1 to 8.

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