Vehicle parking control method, device and equipment, medium and vehicle

Abstract

The invention relates to a vehicle parking control method, device and equipment, a medium and a vehicle, and is applied to the technical field of vehicle parking. The vehicle parking control method comprises the steps that gear information of a vehicle and information of the slope where the vehicle is located are obtained; when it is determined that the triggering condition for entering the parking mode of the four-wheel-drive system of the vehicle is met based on the gear information and the gradient information, the four-wheel-drive system of the vehicle is controlled to enter the parking mode, and the target torque used for braking the target axle is determined based on the gradient information; and controlling the four-wheel-drive system to compress the friction group based on the target torque so as to brake the target axle, thereby controlling the four-wheel-drive system of the vehicle to enter the parking mode when the vehicle is determined to be in the ramp parking working condition, and applying the target torque to the target axle corresponding to the target wheel which is not in the locking state so as to brake the target axle. Therefore, the adhesive force of the four tires is fully utilized to brake the vehicle, the vehicle is prevented from sliding on a slope, and the parking safety is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a vehicle parking control method, device, equipment, medium and vehicle. Background Art

[0002] Currently, with the improvement of people's living standards, the demand for vehicle use is no longer limited to commuting between cities and towns, but extends to the exploration of outdoor scenes such as mountains, rivers and lakes. Along with the improvement of user needs, a vehicle with four-wheel drive system that combines urban commuting and the ability to cross complex outdoor road conditions has emerged.

[0003] When a vehicle equipped with a four-wheel drive system is parked, the transmission gear enters the P gear, and the rear-wheel electronic parking system is activated. If the vehicle is on a slope at this time, the gravity of the vehicle on the slope will be decomposed into the pressure on the road surface and the downward sliding force along the slope. In order for the vehicle to remain stationary, a resistance is required to offset the sliding force. At this time, one of the front tires or rear tires of the vehicle has been locked by the electronic parking system, and the friction between this tire and the ground offsets the sliding force of the vehicle. However, if the vehicle is parked on a road surface with low adhesion (such as an ice and snow road surface) at this time, the problem of vehicle slipping will occur, and there are potential parking hazards. Summary of the Invention

[0004] To solve the above technical problems, the present disclosure provides a vehicle parking control method, device, equipment, medium and vehicle.

[0005] The first aspect of the embodiments of the present disclosure provides a vehicle parking control method, including:

[0006] Obtain the gear information of the vehicle and the slope information of the vehicle's location;

[0007] Determine whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system;

[0008] When it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, control the vehicle four-wheel drive system to enter the parking mode, and determine the target torque for braking the target axle based on the slope information. In the parking mode, the corresponding front wheel or rear wheel of the vehicle is in a locked state, and the target axle is the axle corresponding to the target wheel that is not in the locked state;

[0009] Control the vehicle four-wheel drive system to press the friction group based on the target torque to brake the target axle.

[0010] In some embodiments of the present disclosure, determining whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system includes:

[0011] When the gear information is the target gear information and the slope corresponding to the slope information is greater than the preset slope value, it is determined that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is satisfied, where the target gear information is the P gear.

[0012] In some embodiments of the present disclosure, determining the target torque for braking the target axle based on the slope information includes:

[0013] Determining the torque corresponding to the slope based on the preset correspondence between the slope and the torque, and determining the torque as the target torque;

[0014] Or;

[0015] Determining the adhesion corresponding to the road surface where the vehicle is located;

[0016] Based on the slope information and the adhesion, and the preset correspondence between the slope, the adhesion and the torque, determining the target torque.

[0017] In some embodiments of the present disclosure, controlling the vehicle four-wheel drive system to press the friction group based on the target torque to brake the target axle includes:

[0018] Calculating the pressing force for pressing the friction group based on the target torque;

[0019] Controlling the transfer case of the vehicle four-wheel drive system to press the friction group based on the pressing force to brake the target axle.

[0020] In some embodiments of the present disclosure, after controlling the vehicle four-wheel drive system to enter the parking mode, the method further includes:

[0021] In response to the vehicle powering off, controlling the braking torque applied by the transfer case of the vehicle four-wheel drive system to the target axle to be maintained at the target torque;

[0022] After the vehicle is powered on, obtaining the vehicle's overall vehicle state; determining whether to control the vehicle four-wheel drive system to exit the parking mode based on the overall vehicle state;

[0023] If so, controlling the vehicle four-wheel drive system to exit the parking mode and releasing the target torque.

[0024] In some embodiments of the present disclosure, controlling the vehicle four-wheel drive system to exit the parking mode and releasing the target torque includes:

[0025] Setting the parking mode signal corresponding to the vehicle four-wheel drive system to the non-parking mode position and determining the torque release rate;

[0026] Controlling the transfer case of the vehicle four-wheel drive system to perform the release operation of the target torque based on the torque release rate.

[0027] A second aspect of the embodiments of the present disclosure provides a vehicle parking control device, including:

[0028] An information acquisition module, configured to acquire the gear information of the vehicle and the slope information where the vehicle is located;

[0029] A mode determination module, configured to determine whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system;

[0030] A torque determination module, configured to, when it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, control the vehicle four-wheel drive system to enter the parking mode, and determine a target torque for braking the target axle based on the slope information. In the parking mode, the corresponding front wheels or rear wheels of the vehicle are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in the locked state;

[0031] A vehicle parking control module, configured to control the vehicle four-wheel drive system to press the friction group based on the target torque to brake the target axle.

[0032] In some embodiments of the present disclosure, the mode determination module is specifically configured to determine that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met when the gear information is the target gear information and the slope corresponding to the slope information is greater than the preset slope value, where the target gear information is the P gear.

[0033] In some embodiments of the present disclosure, the torque determination module is specifically configured to determine the torque corresponding to the slope based on the preset correspondence between the slope and the torque, and determine the torque as the target torque; or, determine the adhesion corresponding to the road surface where the vehicle is located; determine the target torque based on the slope information and the adhesion, and the preset correspondence between the slope, the adhesion and the torque.

[0034] In some embodiments of the present disclosure, the vehicle parking control module is specifically configured to calculate the pressing force for pressing the friction group based on the target torque;

[0035] Control the transfer case of the vehicle four-wheel drive system to press the friction group based on the pressing force to brake the target axle.

[0036] In some embodiments of the present disclosure, the vehicle parking control device further includes a torque control module.

[0037] The torque control module is configured to, after controlling the vehicle four-wheel drive system to enter the parking mode, in response to the vehicle powering off, control the braking torque applied by the transfer case of the vehicle four-wheel drive system to the target axle to be maintained at the target torque;

[0038] After the vehicle is powered on, acquire the vehicle's overall state; determine whether to control the vehicle four-wheel drive system to exit the parking mode based on the overall state;

[0039] If so, control the vehicle four-wheel drive system to exit the parking mode and release the target torque.

[0040] In some embodiments of the present disclosure, the torque control module is specifically configured to set the parking mode signal corresponding to the vehicle four-wheel drive system to the non-parking mode position and determine the torque release rate;

[0041] Control the transfer case of the vehicle four-wheel drive system to perform the release operation of the target torque based on the torque release rate.

[0042] A third aspect of the embodiments of the present disclosure provides an electronic device, including:

[0043] A processor;

[0044] A memory for storing executable instructions;

[0045] Wherein, the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the vehicle parking control method provided in the first aspect above.

[0046] A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, enables the processor to implement the vehicle parking control method provided in the first aspect above.

[0047] A fifth aspect of the embodiments of the present disclosure provides a vehicle, which includes the electronic device provided in the third aspect.

[0048] The technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art:

[0049] The vehicle parking control method, device, equipment, medium and vehicle provided by the embodiments of the present disclosure can obtain the gear information of the vehicle and the slope information where the vehicle is located. After obtaining the gear information and the slope information, it is determined whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system; if it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, the vehicle four-wheel drive system is controlled to enter the parking mode, and the target torque for braking the target axle is determined based on the slope information, where at least one of the front wheels and the rear wheels corresponding to the vehicle in the parking mode is in a locked state, that is, the front wheels are in a locked state or the rear wheels are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in a locked state; the vehicle four-wheel drive system is controlled to compress the friction group based on the target torque to brake the target axle. Thus, when it is determined that the vehicle is in the slope parking condition, the vehicle four-wheel drive system can be controlled to enter the parking mode, the target torque for braking the target axle corresponding to the target wheels that are not in a locked state can be determined, and the target torque can be applied to the target axle by compressing the friction group, thereby connecting the front and rear axles, so as to make full use of the adhesion of the four tires to brake the vehicle, avoid vehicle slipping, and improve parking safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0052] Figure 1 is a flowchart of a vehicle parking control method provided by an embodiment of the present disclosure;

[0053] Figure 2 is a schematic diagram of the main function execution strategy of a four-wheel drive system of a vehicle provided by an embodiment of the present disclosure;

[0054] Figure 3 is a flowchart of another vehicle parking control method provided by an embodiment of the present disclosure;

[0055] Figure 4 is a schematic structural diagram of a vehicle parking control device provided by an embodiment of the present disclosure;

[0056] Figure 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] In order to more clearly understand the above-mentioned objects, features, and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0058] In the following description, many specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0059] It should be understood that the various steps recited in the method embodiments of the present disclosure may be executed in a different order and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article, or device including the said element.

[0061] It should be noted that the modifiers "a" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise clearly specified in the context, it should be understood as "one or more".

[0062] Generally, with the improvement of people's living standards, the demand for vehicle use will no longer be limited to commuting between cities and towns, but will expand to the exploration of outdoor scenes such as mountains, rivers, and lakes. Along with the improvement of user needs, a vehicle that combines urban commuting and the ability to cross complex outdoor road conditions and is equipped with a four-wheel drive system has emerged.

[0063] The four-wheel drive system of the vehicle consists of a transfer case and a controller. As Figure 2As shown in the figure, a schematic diagram of the main function execution strategy of a four-wheel drive system of a vehicle is provided. The four-wheel drive system can receive signals such as the accelerator pedal signal, steering wheel angle signal, wheel speed sensor signal, rotational speed signal, Anti-lock Braking System (ABS) / Electronic Stability Program (ESP) signal, and driving mode signal sent by the whole vehicle. After receiving these signals, the controller calculates in real time the torque required by the front axle or rear axle of the vehicle by identifying the signals sent by the whole vehicle. When the vehicle slips or has a tendency to slip, the controller controls the engagement of the friction plates inside the transfer case according to the result of the torque calculation. The degree of engagement represents how much torque is transmitted to the front axle or rear axle, and then four-wheel drive torque is output to the whole vehicle. When the vehicle stops, is put into the P gear, or shuts down, the four-wheel drive system monitors that the vehicle has no acceleration request and is in a parked state, and will return the torque to the position of 0 N·m. At this time, there is no constraint between the front and rear axles, and it is in a free state.

[0064] When a vehicle equipped with a four-wheel drive system is parked, the transmission gear is put into the P gear, and the rear-wheel electronic parking system is activated. If the vehicle is on a slope at this time, the gravity of the vehicle on the slope will be decomposed into the pressure on the road surface and the downward sliding force along the slope. In order for the vehicle to remain stationary, a resistance is needed to offset the sliding force. Since one of the front tires or rear tires of the vehicle has been locked by the electronic parking system at this time, the friction between this tire and the ground offsets the sliding force of the vehicle. However, if the vehicle is parked on a road surface with low adhesion (such as an ice and snow road surface) at this time, the problem of vehicle slipping will occur, and there is a potential hazard in parking. In view of this problem, the embodiments of the present disclosure provide a vehicle parking control method, which will be introduced below in combination with specific embodiments.

[0065] Figure 1 It is a flowchart of a vehicle parking control method provided by the embodiments of the present disclosure. This method can be executed by a vehicle parking control device. The vehicle parking control device can be implemented in a software and / or hardware manner. The vehicle parking control device can be configured in an electronic device, such as a server or a terminal. Among them, the terminal specifically includes an in-vehicle terminal, a computer, or a tablet computer, etc.

[0066] As Figure 1 shown, the vehicle parking control method provided in this embodiment includes the following steps.

[0067] S110. Obtain the gear information of the vehicle and the slope information of the vehicle's location.

[0068] In an embodiment of the present disclosure, the electronic device may monitor the state of the transmission through sensors based on the vehicle electronic control unit, and then obtain the gear information of the vehicle in real time; when a gear sensor is installed inside the vehicle transmission, the electronic device may detect the current gear based on the gear sensor in real time, and then obtain the gear information of the vehicle.

[0069] In an embodiment of the present disclosure, the electronic device may measure the angle between the vehicle and the horizontal plane based on a slope sensor, and then calculate the slope information of the vehicle; the electronic device may also calculate the slope information of the location where the vehicle is located based on the position information of the vehicle and the digital elevation model, and then obtain the slope information of the vehicle; the electronic device may also capture a road surface image through an in-vehicle camera, identify the road surface image based on an image processing algorithm, and obtain the slope information of the vehicle.

[0070] S120. Determine whether the gear information and the slope information meet the trigger condition for entering the parking mode of the vehicle four-wheel drive system.

[0071] In an embodiment of the present disclosure, the trigger condition for entering the parking mode of the vehicle four-wheel drive system is that the gear information of the vehicle is in the target gear information, and the slope where the vehicle is located is greater than a preset slope value. Among them, the target gear information may be that the gear is in the P gear; the preset slope value may be a slope value pre-set for determining whether the vehicle is on a slope. Specifically, it may be calibrated based on information such as vehicle model and application scenario. With different vehicle models and application scenarios, the preset slope value may be different, and no limitation is made here. Exemplarily, the preset slope value may be 3°.

[0072] Specifically, after the electronic device obtains the gear information of the vehicle and the slope information of the vehicle, it compares the gear information and the slope information with the trigger condition for the parking mode of the vehicle four-wheel drive system, and determines whether the current gear information and slope information meet the parking mode of the vehicle four-wheel drive system according to the comparison result.

[0073] S130. When it is determined that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is met, control the vehicle four-wheel drive system to enter the parking mode, and determine the target torque for braking the target axle based on the slope information. In the parking mode, the corresponding front wheels or rear wheels of the vehicle are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in the locked state.

[0074] In some embodiments of the present disclosure, when the vehicle enters the parking mode and the corresponding rear wheels of the vehicle are in a locked state, at this time, the target axle is the front axle corresponding to the front wheels that are not in the locked state. Furthermore, determine the target torque for braking the front axle based on the slope information.

[0075] The front axle is a support structure at the front of the vehicle, connecting the left and right front wheels, bearing the weight of the front part of the vehicle body. At the same time, it can cooperate with the steering system (such as steering knuckles and tie rods) to achieve wheel steering and control the driving direction of the vehicle. It also has the functions of load bearing and shock absorption, absorbing road surface impacts through the suspension system (such as double wishbone type, etc.) to improve driving comfort.

[0076] In some other embodiments of the present disclosure, when the vehicle enters the parking mode and the corresponding front wheels of the vehicle are in a locked state, at this time, the target axle is the rear axle corresponding to the rear wheels that are not in a locked state. Furthermore, based on the slope information, the target torque for braking the rear axle is determined.

[0077] The rear axle is a support structure at the rear of the vehicle, connecting the left and right rear wheels, bearing the weight of the rear part of the vehicle body. At the same time, it distributes power to the left and right rear wheels through a differential, allowing the left and right rear wheels to rotate at different speeds to meet the driving requirements during timely turning.

[0078] Specifically, when the electronic device determines that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is met based on the gear information and slope information, it can control the vehicle four-wheel drive system to enter the parking mode by sending an instruction to the vehicle four-wheel drive system, and determine the target torque for braking the target axle according to the slope information.

[0079] S140. Control the vehicle four-wheel drive system to compress the friction group based on the target torque to brake the target axle.

[0080] In the embodiments of the present disclosure, the friction group can be understood as a key component for the transfer case to achieve torque distribution and transmission. Through the friction group, the engagement and transmission of power can be realized.

[0081] Specifically, after the electronic device obtains the target torque for braking the target axle, it controls the transfer case of the vehicle four-wheel drive system to compress the friction group based on the target torque, thereby achieving the connection between the front and rear axles, applying the target torque to the target axle, and then braking the vehicle through the adhesion of the four tires.

[0082] In the embodiments of the present disclosure, the gear information of the vehicle and the slope information of the vehicle can be obtained. After obtaining the gear information and the slope information, it is determined whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system; if it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, the vehicle four-wheel drive system is controlled to enter the parking mode, and the target torque for braking the target axle is determined based on the slope information, where at least one of the front wheels and the rear wheels corresponding to the vehicle in the parking mode is in a locked state, that is, the front wheels are in a locked state or the rear wheels are in a locked state, and the target axle is the axle corresponding to the target wheel that is not in a locked state; the vehicle four-wheel drive system is controlled to press the friction group based on the target torque to brake the target axle. Thus, when it is determined that the vehicle is in the ramp parking condition, the vehicle four-wheel drive system can be controlled to enter the parking mode, the target torque for braking the target axle corresponding to the target wheel that is not in a locked state can be determined, and the target torque can be applied to the target axle by pressing the friction group, thereby connecting the front and rear axles, so as to make full use of the adhesion of the four tires to brake the vehicle, avoid vehicle rollback, and improve parking safety.

[0083] The following takes the example that the rear wheels of the vehicle are in a locked state after the vehicle enters the parking mode for illustration:

[0084] First, when the vehicle is parking, that is, the gear of the vehicle is in the parking gear (P gear) position and the vehicle is on a ramp, in response to the user's handbrake operation or parking operation, the caliper is driven to press the brake pads to brake the rear wheels, where the braking force of the rear wheels is greater than or much greater than the downhill force of the vehicle. Then, according to the slope information of the vehicle, the braking force of the front wheels is determined, that is, the torque corresponding to the front axle corresponding to the front wheels is determined, so as to brake the front wheels by loading torque on the front axle, and thus the four-wheel drive torque of the vehicle is loaded.

[0085] Based on the above embodiments of the present disclosure, determining whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system may specifically include: when the gear information is the target gear information and the slope corresponding to the slope information is greater than the preset slope value, it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, where the target gear information is the P gear; when the gear information is non-target gear information, and / or, the slope corresponding to the slope information is less than or equal to the preset slope value, it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are not met.

[0086] The non-target gear information may be any gear when the vehicle is in a non-parking state, for example, it may be any one of the D gear, N gear, R gear, and M gear.

[0087] In the embodiments of the present disclosure, the slope information may be a slope angle signal; the gear position information may be a transmission gear lever position signal.

[0088] Exemplarily, the slope angle signal may be a signal for characterizing the slope angle.

[0089] The transmission gear lever position signal may include a signal for characterizing the position of the parking gear (P gear), a signal for characterizing the position of the drive gear (D gear), a signal for characterizing the position of the neutral gear (N gear), a signal for characterizing the position of the reverse gear (R gear), a signal for characterizing the position of the climbing gear (M gear), and so on.

[0090] The four-wheel drive mode signal may include a signal for characterizing the failure to recognize or determine the current drive mode, a signal for system failure, a signal for two-wheel drive mode, a signal for four-wheel drive mode lock, a signal for full-time four-wheel drive mode, a signal for four-wheel drive low-speed gear mode, a signal for parking mode, and so on.

[0091] In the embodiments of the present disclosure, when the electronic device determines that the transmission gear lever position signal corresponding to the gear position information is a signal for characterizing that the vehicle is in the parking gear position, that is, the gear position information of the vehicle is P gear, and the slope corresponding to the slope angle signal corresponding to the slope information is greater than a preset slope value, it is determined that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is satisfied.

[0092] In some embodiments of the present disclosure, when the electronic device determines that the transmission gear lever position signal corresponding to the gear position information is any one of the signals for characterizing the position of the drive gear (D gear), the neutral gear (N gear), the reverse gear (R gear), and the climbing gear (M gear), it is determined that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is not satisfied, and the vehicle four-wheel drive system is not controlled to enter the parking mode.

[0093] In other embodiments of the present disclosure, when the electronic device determines that the transmission gear lever position signal corresponding to the gear position information is any one of the signals for characterizing the position of the drive gear (D gear), the neutral gear (N gear), the reverse gear (R gear), and the climbing gear (M gear), and the slope corresponding to the slope angle signal corresponding to the slope information is less than or equal to the preset slope value, it is determined that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is not satisfied, and the vehicle four-wheel drive system is not controlled to enter the parking mode.

[0094] In still other embodiments of the present disclosure, when the electronic device determines that the slope corresponding to the slope angle signal corresponding to the slope information is less than or equal to the preset slope value, it is determined that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is not satisfied, and the vehicle four-wheel drive system is not controlled to enter the parking mode.

[0095] In the embodiments of the present disclosure, when the gear position is the first gear position, i.e., the P gear, and the slope is greater than a preset slope value, the four-wheel drive system of the vehicle can be controlled to enter the parking mode, otherwise vice versa. That is, by formulating the entry trigger conditions and exit conditions for the parking mode of the four-wheel drive system of the vehicle, the ramp parking condition of the vehicle can be effectively identified, and the four-wheel drive system of the vehicle can be controlled to enter the parking mode to make full use of the adhesion of the four tires and prevent the vehicle from slipping.

[0096] In some embodiments of the present disclosure, determining a target torque for braking a target axle based on slope information may specifically include: determining a torque corresponding to the slope based on a preset correspondence between the slope and the torque, and determining the torque as the target torque.

[0097] In the embodiments of the present disclosure, the preset correspondence between the slope and the torque can be understood as a corresponding relationship preset for determining the torque values corresponding to different slopes. Specifically, it can be calibrated according to the vehicle model, performance, application scenario, etc., and is not limited herein.

[0098] In some examples of the present disclosure, the preset correspondence between the slope and the torque may be a one-to-one correspondence between the slope and the torque, and the slope and the torque are in a direct proportional relationship, and the torque increases as the slope increases.

[0099] In other examples of the present disclosure, the preset correspondence between the slope and the torque may be that the same torque value corresponds within a preset slope range. Within the slope range corresponding to the preset slope, the slope and the torque are in a direct proportional relationship. The larger the slope corresponding to the slope range, the greater the torque, so as to adapt to different slopes and perform different torque loading according to different slopes.

[0100] Exemplarily, when the slope is greater than 3° and less than or equal to 5°, the corresponding torque value is a first torque value such as 500 N·m; when the slope is greater than 5° and less than or equal to 8°, the corresponding torque value is a second torque value such as 800 N·m; when the slope is greater than 8° and less than or equal to 10°, the corresponding torque value is a third torque value such as 1000 N·m; when the slope is greater than 10°, the corresponding torque value is a fourth torque value such as 1500 N·m.

[0101] Specifically, after the electronic device controls the four-wheel drive system of the vehicle to enter the parking mode, it obtains the preset correspondence between the slope and the torque, determines the torque value corresponding to the slope corresponding to the slope information, and determines the torque value as the target torque for braking the target axle.

[0102] In the embodiments of the present disclosure, the target torque for braking the target axle can be determined by setting the corresponding relationship between the slope and the torque, and different torque loading values are executed according to different slopes, so as to adapt to different ramp parking conditions and improve the safety of ramp parking.

[0103] In some other embodiments of the present disclosure, determining the target torque for braking the target axle based on the slope information may specifically include: determining the adhesion of the road surface where the vehicle is located; determining the target torque based on the slope information, the adhesion, and the preset corresponding relationship between the slope, the adhesion, and the torque.

[0104] Specifically, after the electronic device controls the vehicle's four-wheel drive system to enter the parking mode, it can control the image sensor outside the vehicle to obtain the road surface image of the vehicle, identify the road surface image to determine the road surface information, that is, determine the material characteristics of the road surface, whether there is ice, snow, etc. on the road surface, determine the road surface grade according to the road surface information, where the road surface grade involves the range interval of the adhesion coefficient, determine the road surface adhesion coefficient corresponding to the road surface grade based on the range interval, then determine the adhesion corresponding to the road surface information based on the weight of the vehicle and the road surface adhesion coefficient, and determine the torque corresponding to the slope information and the adhesion according to the preset corresponding relationship between the slope, the adhesion, and the torque, and determine it as the target torque.

[0105] In the embodiments of the present disclosure, the electronic device may determine the adhesion as the product of the weight of the vehicle and the road surface adhesion coefficient.

[0106] Exemplarily, when the road surface grade is a high-grade road surface and there is no ice, snow, etc., the range interval of the adhesion coefficient corresponding to the high-grade road surface is generally from value A to value B. When performing calculations and analyses, usually, the range interval of the adhesion coefficient corresponding to each road surface grade is represented by a specific adhesion coefficient value. For example, value B is determined as the adhesion coefficient corresponding to the high-grade road surface.

[0107] It should be noted that determining the adhesion of the road surface where the vehicle is located may also be any existing method for determining road surface adhesion, which will not be elaborated here.

[0108] In the embodiments of the present disclosure, the target torque corresponding to the target axle can be determined by combining the slope and the road surface condition of the vehicle, considering the influence of different road surface conditions on the axle torque under the same slope, and improving the accuracy of target torque determination.

[0109] In an embodiment of the present disclosure, based on a target torque, the four-wheel drive system of the vehicle is controlled to compress a friction group to brake a target axle. Specifically, it may include: calculating a compression force for compressing the friction group based on the target torque; controlling the transfer case of the four-wheel drive system of the vehicle to compress the friction group based on the compression force to brake the target axle.

[0110] In some embodiments of the present disclosure, the electronic device may control the transfer case of the four-wheel drive system of the vehicle to compress the friction group by means of a hydraulic piston.

[0111] In some other embodiments of the present disclosure, the electronic device may control the transfer case of the four-wheel drive system of the vehicle to compress the friction group by means of an electric rotation.

[0112] Specifically, after obtaining the target torque, based on the identification information of the vehicle, the electronic device obtains the friction coefficient and friction radius corresponding to the vehicle from a preset database, and then calculates the compression force for compressing the friction group based on the friction coefficient, friction radius, and a preset compression force calculation formula. After obtaining the compression force, the electronic device controls the transfer case of the four-wheel drive system of the vehicle to compress the friction group based on the compression force to brake the target axle.

[0113] In an embodiment of the present disclosure, the preset compression force calculation formula is as follows:

[0114]

[0115] Among them, F represents the compression force; T represents the target torque; r represents the friction radius; μ represents the friction coefficient.

[0116] In an embodiment of the present disclosure, after obtaining the target torque, the compression force for compressing the friction group can be calculated through the target torque, and then an instruction is sent to the four-wheel drive system of the vehicle. After receiving the instruction, the vehicle four-wheel drive system controls the transfer case to compress the friction group based on the compression force to brake the target axle. By calculating the compression force, different friction radii and friction coefficients corresponding to different vehicles are comprehensively considered, improving the accuracy of the compression control of the friction group, and further improving the accuracy of the target axle braking.

[0117] In an embodiment of the present disclosure, before the electronic device controls the transfer case of the four-wheel drive system of the vehicle to compress the friction group based on the compression force to brake the target axle, the vehicle braking control method may further include: obtaining the torque loading rate of the vehicle; controlling the transfer case of the four-wheel drive system of the vehicle to compress the friction group based on the compression force and the torque loading rate to brake the target axle.

[0118] In an embodiment of the present disclosure, when torque loading is performed, a torque loading rate matching the vehicle can be obtained based on vehicle identification information, and the friction group can be tightened based on the torque loading rate, and then torque loading can be performed, avoiding the problem of vehicle jerk caused by an inappropriate torque loading rate and improving the user experience.

[0119] In an embodiment of the present disclosure, after controlling the vehicle four-wheel drive system to enter the parking mode, the vehicle parking control method may further include: in response to vehicle power-off, controlling the braking torque applied by the transfer case of the vehicle four-wheel drive system to the target axle to be maintained at the target torque; after the vehicle is powered on, obtaining the vehicle's overall vehicle state; determining whether to control the vehicle four-wheel drive system to exit the parking mode based on the overall vehicle state; if so, controlling the vehicle four-wheel drive system to exit the parking mode and releasing the target torque.

[0120] In an embodiment of the present disclosure, the overall vehicle state can be understood as the state information corresponding to the vehicle. Exemplarily, the overall vehicle state may include the gear information of the vehicle, the slope information where the vehicle is located, and so on.

[0121] In an embodiment of the present disclosure, the conditions for the vehicle four-wheel drive system to exit the parking mode include: any one of the transmission gear lever position signals corresponding to the gear information being a signal in the forward gear (D gear) position, a signal in the neutral gear (N gear) position, a signal in the reverse gear (R gear) position, and a signal in the climbing gear (M gear) position, and / or the slope angle signal corresponding to the slope information corresponding to a slope less than or equal to a preset slope value.

[0122] Specifically, after the electronic device controls the vehicle four-wheel drive system to enter the parking mode, it monitors the power-on and power-off conditions of the vehicle in real time. When it detects that the vehicle is powered off, it controls the torque retention of the transfer case of the vehicle four-wheel drive system, that is, always maintains the braking torque applied to the target axle at the target torque, avoiding the vehicle from slipping or sliding after power-off and enhancing the vehicle's stability and safety. After the vehicle is powered on, all systems of the vehicle are in a self-check state. During the self-check process, it obtains the sensor information of each part of the vehicle, monitors the overall vehicle state based on the sensor information, and determines whether the overall vehicle state meets the conditions of the parking mode. If it meets, it continues to keep the vehicle four-wheel drive system in the parking mode. If it does not meet, it controls the vehicle four-wheel drive system to exit the parking mode in a timely manner and controls the transfer case of the vehicle four-wheel drive system to release the target torque.

[0123] In the embodiments of the present disclosure, when the vehicle is powered off, the braking torque applied to the target axle can always be maintained at the target torque, avoiding the vehicle from rolling or sliding after the vehicle is powered off, and enhancing the stability and safety of the vehicle. At the same time, after the vehicle is powered on, it can be determined whether to exit the parking mode of the vehicle four-wheel drive system. When it is determined that the triggering condition of the parking mode of the vehicle four-wheel drive system is not met, the parking mode of the vehicle four-wheel drive system is exited in a timely manner, and the target torque is released, avoiding the problem of affecting the normal driving of the vehicle due to the failure to exit the parking mode and release the target torque in a timely manner, and improving the flexibility of vehicle control.

[0124] In the embodiments of the present disclosure, controlling the vehicle four-wheel drive system to exit the parking mode and release the target torque includes: setting the parking mode signal corresponding to the vehicle four-wheel drive system to a non-parking mode position, and determining the torque release rate; controlling the transfer case of the vehicle four-wheel drive system to perform the release operation of the target torque based on the torque release rate.

[0125] In the embodiments of the present disclosure, the non-parking mode position can be understood as a mode position that matches the current state of the vehicle except for the parking mode. For example, the four-wheel drive mode signal is any one of the two-wheel drive mode signal, four-wheel drive mode lock signal, full-time four-wheel drive mode signal, four-wheel drive low gear mode signal, etc.

[0126] In the embodiments of the present disclosure, the torque release rate can be a pre-calibrated release rate that matches the vehicle parameters.

[0127] Specifically, when the electronic device determines that the triggering condition of the parking mode of the vehicle four-wheel drive system is not met, it controls the vehicle four-wheel drive system to exit the parking mode in a timely manner, and sets the parking mode signal to the mode signal position that matches the current state of the vehicle. At the same time, based on the identification information of the vehicle, the torque release rate that matches the vehicle is obtained, and a torque release instruction is sent to the vehicle four-wheel drive system, so that the vehicle four-wheel drive system controller controls the transfer case to perform the release operation of the target torque based on the torque release rate.

[0128] In the embodiments of the present disclosure, when it is determined that the triggering condition of the parking mode of the vehicle four-wheel drive system is not met, the vehicle four-wheel drive system can be controlled to exit the parking mode in a timely manner, and the mode signal is set to mark the vehicle four-wheel drive system mode. At the same time, the torque release rate is obtained, and the transfer case is controlled to perform the release operation of the target torque based on the torque release rate, preventing the vehicle from experiencing jerks during the torque release process and improving the user experience.

[0129] Figure 3 is a flowchart of another vehicle parking control method provided by the embodiments of the present disclosure. As Figure 3 shown, the vehicle parking control method may specifically include the following steps:

[0130] S310. Obtain the gear information of the vehicle and the slope information of the vehicle's location.

[0131] In the embodiments of the present disclosure, the electronic device can monitor the state of the transmission based on the vehicle electronic control unit through sensors, and / or detect the current gear in real time based on the gear sensor, so as to obtain the gear information of the vehicle in real time.

[0132] S320. Determine whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system.

[0133] In the embodiments of the present disclosure, after the electronic device obtains the gear information and the slope information of the vehicle, it compares the gear information and the slope information with the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system, and determines whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system according to the comparison result. When the comparison result is that the gear information and the slope information match the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system, it is determined to control the vehicle's four-wheel drive system to enter the parking mode; when the comparison result is that the gear information and the slope information do not match the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system, it is determined that the conditions for the vehicle's four-wheel drive system to enter the parking mode are not met.

[0134] In the embodiments of the present disclosure, when it is determined that the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system are met, steps S330 - S370 are executed; when it is determined that the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system are not met, step S380 is executed.

[0135] S330. When it is determined that the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system are met, control the vehicle's four-wheel drive system to enter the parking mode, and determine the target torque for braking the target axle based on the slope information.

[0136] In some embodiments of the present disclosure, when the electronic device determines that the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system are met, it controls the vehicle's four-wheel drive system to enter the parking mode, obtains the corresponding relationship between the preset slope and the torque, determines the torque value corresponding to the slope information according to the corresponding relationship between the preset slope and the torque, and determines the torque value as the target torque for braking the target axle. Thus, different torque loading values can be executed according to different slopes to adapt to different ramp parking conditions and improve the safety of ramp parking.

[0137] In other embodiments of the present disclosure, when the electronic device determines that the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system are met, it controls the vehicle's four-wheel drive system to enter the parking mode, obtains the adhesion of the road surface where the vehicle is located, and determines the target torque according to the slope information and the adhesion.

[0138] S340. Based on the target torque, control the four-wheel drive system of the vehicle to compress the friction group to brake the target axle.

[0139] In the embodiment of the present disclosure, after the electronic device obtains the target torque, it obtains the friction coefficient and friction radius corresponding to the vehicle identifier, calculates the pressing force based on the friction coefficient, friction radius and the preset pressing force calculation formula, and obtains the pressing force for compressing the friction group. After obtaining the pressing force, control the transfer case of the vehicle four-wheel drive system to compress the friction group based on the pressing force to brake the target axle. Thus, it is possible to calculate the pressing force in combination with different vehicle parameters, improve the accuracy of the pressing control of the friction group, and further improve the accuracy of the target axle braking.

[0140] S350. In response to the vehicle powering off, control the transfer case of the vehicle four-wheel drive system to maintain the braking torque applied to the target axle at the target torque.

[0141] In the embodiment of the present disclosure, after the electronic device controls the vehicle four-wheel drive system to enter the parking mode, it monitors the power-on and power-off conditions of the vehicle in real time. When responding to the vehicle powering off, it still maintains the braking torque applied to the target axle at the target torque, avoiding the situation of vehicle slipping or sliding caused by the release of vehicle torque after the vehicle powers off, and enhancing the vehicle stability and safety.

[0142] S360. After the vehicle powers on, obtain the vehicle's overall state; determine whether to control the vehicle four-wheel drive system to exit the parking mode based on the overall state.

[0143] In the embodiment of the present disclosure, after the electronic device controls the vehicle four-wheel drive system to enter the parking mode, in response to the vehicle powering off and then powering on again, it obtains the information of each sensor of the vehicle, monitors the overall state of the vehicle based on the information of each sensor, and determines whether the overall state meets the trigger condition of the vehicle four-wheel drive system parking mode, so as to determine whether to control the vehicle four-wheel drive system to exit the parking mode. Thus, it is possible to adjust the entry and exit of the vehicle four-wheel drive system parking mode in real time after monitoring the vehicle power-on and power-off, so as to avoid vehicle slipping while ensuring the normal operation of the vehicle after power-on, and improve the flexibility of vehicle control.

[0144] S370. If so, control the vehicle four-wheel drive system to exit the parking mode and release the target torque.

[0145] In an embodiment of the present disclosure, when it is determined that the triggering condition for the parking mode of the vehicle four-wheel drive system is not met, the electronic device can timely control the vehicle four-wheel drive system to exit the parking mode and set the parking mode signal to the mode signal position matching the current state of the vehicle. At the same time, based on the identification information of the vehicle, the torque release rate matching the vehicle is obtained, and a torque release instruction is sent to the vehicle four-wheel drive system, so that the vehicle four-wheel drive system controller controls the transfer case to perform the release operation of the target torque based on the torque release rate, ensuring the normal operation of the vehicle while preventing the vehicle from jerking during the torque release process and improving the user experience.

[0146] S380. When it is determined that the triggering condition for entering the parking mode of the vehicle four-wheel drive system is not met, the process terminates, or the vehicle four-wheel drive system is controlled to exit the parking mode.

[0147] In an embodiment of the present disclosure, when the electronic device determines that the triggering condition for entering the parking mode of the vehicle four-wheel drive system is not met, when it is determined that the vehicle four-wheel drive system is not in the parking mode, the current judgment process terminates and continues to execute the judgment process for entering the parking mode of the vehicle four-wheel drive system after a preset time interval or receiving a user instruction; when it is determined that the vehicle four-wheel drive system is in the parking mode, the vehicle four-wheel drive system is controlled to exit the parking mode.

[0148] In an embodiment of the present disclosure, the gear information of the vehicle and the slope information of the vehicle can be obtained, and it is determined whether to control the vehicle four-wheel drive system to enter the parking mode according to the gear information and the slope information. If so, the vehicle four-wheel drive system is controlled to enter the parking mode, and the target torque for braking the target axle is determined based on the slope information, and the vehicle four-wheel drive system is controlled to compress the friction group based on the target torque to brake the target axle. By compressing the friction group, the front and rear axles are connected, and the target torque is applied to the target axle, so as to make full use of the adhesion of the four tires for vehicle braking, avoid vehicle slipping, and improve parking safety. After the vehicle four-wheel drive system enters the parking mode, if it responds to vehicle power-off, the braking torque applied by the transfer case of the vehicle four-wheel drive system to the target axle is maintained at the target torque, avoiding the slipping or sliding caused by the torque release of the vehicle after power-off, enhancing vehicle stability and safety. After the vehicle is powered on, the vehicle's overall state is obtained. When it is determined based on the overall state that the vehicle four-wheel drive system needs to be controlled to exit the parking mode, the vehicle four-wheel drive system is controlled to exit the parking mode, and the target torque is released based on the torque release rate. Thus, while ensuring the normal operation of the vehicle, the vehicle jerking problem during the torque release process is prevented, and the user experience is improved.

[0149] Figure 4 It is a schematic structural diagram of a vehicle parking control device provided by an embodiment of the present disclosure.

[0150] In an embodiment of the present disclosure, the vehicle parking control device may be disposed in an electronic device and is understood as a partial functional module in the above-mentioned electronic device. Specifically, the electronic device may be a server or a terminal. Among them, the terminal specifically includes an in-vehicle terminal, a computer, a tablet computer, etc., which are not limited herein.

[0151] As Figure 4 shown, the vehicle parking control device 400 may include an information acquisition module 410, a mode determination module 420, a torque determination module 430, and a vehicle parking control module 440.

[0152] The information acquisition module 410 may be configured to acquire the gear information of the vehicle and the slope information of the vehicle's location.

[0153] The mode determination module 420 may be configured to determine whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system.

[0154] When it is determined that the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system are met, the torque determination module 430 may control the vehicle's four-wheel drive system to enter the parking mode and determine the target torque for braking the target axle based on the slope information. In the parking mode, the corresponding front wheels or rear wheels of the vehicle are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in the locked state.

[0155] The vehicle parking control module 440 may be configured to control the vehicle's four-wheel drive system to press the friction group based on the target torque to brake the target axle.

[0156] In an embodiment of the present disclosure, it is possible to acquire the gear information of the vehicle and the slope information of the vehicle's location. After acquiring the gear information and the slope information, it is determined whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system; if it is determined that the trigger conditions for entering the parking mode of the vehicle's four-wheel drive system are met, the vehicle's four-wheel drive system is controlled to enter the parking mode, and the target torque for braking the target axle is determined based on the slope information. Among them, at least one of the corresponding front wheels and rear wheels of the vehicle is in a locked state in the parking mode, that is, the front wheels are in a locked state or the rear wheels are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in the locked state; the vehicle's four-wheel drive system is controlled to press the friction group based on the target torque to brake the target axle. Thus, when it is determined that the vehicle is in the parking condition on a slope, the vehicle's four-wheel drive system can be controlled to enter the parking mode, the target torque for braking the target axle corresponding to the target wheels that are not in the locked state can be determined, and the target torque is applied to the target axle by pressing the friction group, thereby connecting the front and rear axles, so as to make full use of the adhesion of the four tires for vehicle braking, avoiding vehicle slipping and improving parking safety.

[0157] In some embodiments of the present disclosure, the mode determination module 420 may be specifically configured to determine that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is satisfied when the gear information is the target gear information and the slope corresponding to the slope information is greater than the preset slope value, where the target gear information is the P gear.

[0158] In some embodiments of the present disclosure, the torque determination module 430 may be specifically configured to determine the torque corresponding to the slope based on the corresponding relationship between the preset slope and torque, and determine the torque as the target torque; or; determine the adhesion corresponding to the road surface where the vehicle is located; and determine the target torque based on the slope information and adhesion, and the corresponding relationship between the preset slope, adhesion and torque.

[0159] In some embodiments of the present disclosure, the vehicle parking control module 440 may be specifically configured to calculate the pressing force for pressing the friction group based on the target torque; and control the transfer case of the vehicle four-wheel drive system to press the friction group based on the pressing force to brake the target axle.

[0160] In some embodiments of the present disclosure, the vehicle parking control device 400 may further include a torque control module.

[0161] The torque control module may be configured to, after controlling the vehicle four-wheel drive system to enter the parking mode, in response to the vehicle powering off, control the braking torque applied by the transfer case of the vehicle four-wheel drive system to the target axle to remain at the target torque; after the vehicle powers on, obtain the overall vehicle state of the vehicle; determine whether to control the vehicle four-wheel drive system to exit the parking mode based on the overall vehicle state; if so, control the vehicle four-wheel drive system to exit the parking mode and release the target torque.

[0162] In some embodiments of the present disclosure, the torque control module may be specifically configured to set the parking mode signal corresponding to the vehicle four-wheel drive system to the non-parking mode position and determine the torque release rate; and control the transfer case of the vehicle four-wheel drive system to perform the release operation of the target torque based on the torque release rate.

[0163] It should be noted that Figure 4 The illustrated vehicle parking control device 400 may execute each step in the above method embodiments, and implement each process and effect in the above method embodiments, which will not be elaborated herein.

[0164] Figure 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.

[0165] In an embodiment of the present disclosure, Figure 5 The illustrated electronic device may be a server or a terminal. Among them, the terminal specifically includes an in-vehicle terminal, a computer, a tablet computer, etc., which are not limited herein.

[0166] Such as Figure 5As shown, the electronic device may include a processor 510 and a memory 520 storing computer program instructions.

[0167] Specifically, the processor 510 may include 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 disclosure.

[0168] The memory 520 may include a mass storage for information or instructions. By way of example and not limitation, the memory 520 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 520 may include a removable or non-removable (or fixed) medium. In a suitable case, the memory 520 may be internal or external to the integrated gateway device. In a specific embodiment, the memory 520 is a non-volatile solid state memory. In a specific embodiment, the memory 520 includes a read-only memory (ROM). In a suitable case, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0169] The processor 510 reads and executes the computer program instructions stored in the memory 520 to perform the steps of the vehicle parking control method provided by the embodiments of the present disclosure.

[0170] In one example, the electronic device may further include a transceiver 530 and a bus 540. Among them, as Figure 5 shown, the processor 510, the memory 520, and the transceiver 530 are connected through the bus 540 and complete communication with each other.

[0171] The bus 540 includes hardware, software, or both. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side BUS (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 540 may include one or more buses.

[0172] It should be noted that Figure 5 The structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the electronic device to which the solution of this application is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0173] The embodiments of the present disclosure also provide a computer-readable storage medium that may store a computer program. When the computer program is executed by a processor, the processor is caused to implement the vehicle parking control method provided by the embodiments of the present disclosure.

[0174] Wherein, when the computer program is executed by a processor, the following steps are implemented: obtaining gear information of the vehicle and slope information of the vehicle; determining whether the gear information and the slope information meet the trigger condition for entering the parking mode of the vehicle four-wheel drive system; when it is determined that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is met, controlling the vehicle four-wheel drive system to enter the parking mode, and determining a target torque for braking a target axle based on the slope information, wherein in the parking mode, the front wheels or the rear wheels corresponding to the vehicle are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in the locked state; controlling the vehicle four-wheel drive system to press the friction group based on the target torque to brake the target axle.

[0175] Thus, it is possible to obtain the gear information of the vehicle and the slope information of the vehicle. After obtaining the gear information and the slope information, it is determined whether the gear information and the slope information meet the trigger condition for entering the parking mode of the vehicle four-wheel drive system; if it is determined that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is met, then control the vehicle four-wheel drive system to enter the parking mode, and determine a target torque for braking the target axle based on the slope information, wherein in the parking mode, at least one of the front wheels and the rear wheels corresponding to the vehicle is in a locked state, that is, the front wheels are in a locked state or the rear wheels are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in the locked state; controlling the vehicle four-wheel drive system to press the friction group based on the target torque to brake the target axle. Thus, when it is determined that the vehicle is in a ramp parking condition, it is possible to control the vehicle four-wheel drive system to enter the parking mode, determine a target torque for braking the target axle corresponding to the target wheels that are not in the locked state, and apply the target torque to the target axle by pressing the friction group, thereby connecting the front and rear axles, so as to make full use of the adhesion of the four tires for vehicle braking, avoid vehicle slipping, and improve parking safety.

[0176] In some embodiments of the present disclosure, determining whether the gear information and the slope information meet the trigger condition for entering the parking mode of the vehicle four-wheel drive system includes: when the gear information is the target gear information and the slope corresponding to the slope information is greater than the preset slope value, determining that the trigger condition for entering the parking mode of the vehicle four-wheel drive system is met, wherein the target gear information is the P gear.

[0177] In some embodiments of the present disclosure, determining a target torque for braking a target axle based on the slope information includes: determining a torque corresponding to the slope based on a preset correspondence between the slope and the torque, and determining the torque as the target torque; or; determining the adhesion corresponding to the road surface where the vehicle is located; determining the target torque based on the slope information and the adhesion, and a preset correspondence between the slope, the adhesion and the torque.

[0178] In some embodiments of the present disclosure, the four-wheel drive system of the vehicle is controlled based on a target torque to compress a friction group to brake a target axle, including: calculating a compression force for compressing the friction group based on the target torque; controlling the transfer case of the four-wheel drive system of the vehicle to compress the friction group based on the compression force to brake the target axle.

[0179] In some embodiments of the present disclosure, after controlling the four-wheel drive system of the vehicle to enter the parking mode, the method further includes: in response to the vehicle powering off, controlling the braking torque applied by the transfer case of the four-wheel drive system of the vehicle to the target axle to be maintained at the target torque; after the vehicle powers on, obtaining the overall vehicle state; determining whether to control the four-wheel drive system of the vehicle to exit the parking mode based on the overall vehicle state; if so, controlling the four-wheel drive system of the vehicle to exit the parking mode and releasing the target torque.

[0180] In some embodiments of the present disclosure, controlling the four-wheel drive system of the vehicle to exit the parking mode and releasing the target torque includes: setting the parking mode signal corresponding to the four-wheel drive system of the vehicle to the non-parking mode position and determining the torque release rate; controlling the transfer case of the four-wheel drive system of the vehicle to perform the release operation of the target torque based on the torque release rate.

[0181] The above storage medium may include, for example, a memory 520 storing computer program instructions, and the above instructions may be executed by a processor 510 of the electronic device to complete the vehicle parking control method provided by the embodiments of the present disclosure. Optionally, the storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), an external cache memory, a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, a flash memory, and an optical data storage device, etc. By way of illustration and not limitation, RAM is available in various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM), etc.

[0182] Embodiments of the present disclosure further provide a vehicle, which includes an electronic device and can implement each process and effect in the above embodiments of the present disclosure.

[0183] Specifically, the electronic device can obtain the gear information of the vehicle and the slope information of the vehicle; determine whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system; when it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, control the vehicle four-wheel drive system to enter the parking mode, and determine the target torque for braking the target axle based on the slope information. In the parking mode, the corresponding front or rear wheels of the vehicle are in a locked state, and the target axle is the axle corresponding to the target wheel that is not in the locked state; control the vehicle four-wheel drive system to press the friction group based on the target torque to brake the target axle.

[0184] Thus, it is possible to obtain the gear information of the vehicle and the slope information of the vehicle. After obtaining the gear information and the slope information, determine whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system; if it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, then control the vehicle four-wheel drive system to enter the parking mode, and determine the target torque for braking the target axle based on the slope information. Among them, in the parking mode, at least one of the corresponding front and rear wheels of the vehicle is in a locked state, that is, the front wheels are in a locked state or the rear wheels are in a locked state, and the target axle is the axle corresponding to the target wheel that is not in the locked state; control the vehicle four-wheel drive system to press the friction group based on the target torque to brake the target axle. Thus, when it is determined that the vehicle is in the ramp parking condition, it is possible to control the vehicle four-wheel drive system to enter the parking mode, determine the target torque for braking the target axle corresponding to the target wheel that is not in the locked state, and apply the target torque to the target axle by pressing the friction group, thereby connecting the front and rear axles, so as to make full use of the adhesion of the four tires for vehicle braking, avoid vehicle slipping, and improve parking safety.

[0185] In some embodiments of the present disclosure, determining whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system includes: when the gear information is the target gear information and the slope corresponding to the slope information is greater than the preset slope value, it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, where the target gear information is the P gear.

[0186] In some embodiments of the present disclosure, determining the target torque for braking the target axle based on the slope information includes: determining the torque corresponding to the slope based on the preset correspondence between the slope and the torque, and determining the torque as the target torque; or; determining the adhesion corresponding to the road surface where the vehicle is located; determining the target torque based on the slope information and the adhesion, and the preset correspondence between the slope, the adhesion and the torque.

[0187] In some embodiments of the present disclosure, based on a target torque, the four-wheel drive system of a vehicle is controlled to compress a friction group to brake a target axle, including: calculating a pressing force for compressing the friction group based on the target torque; controlling a transfer case of the four-wheel drive system of the vehicle to compress the friction group based on the pressing force to brake the target axle.

[0188] In some embodiments of the present disclosure, after controlling the four-wheel drive system of the vehicle to enter a parking mode, the method further includes: in response to the vehicle being powered off, controlling the braking torque applied by the transfer case of the four-wheel drive system of the vehicle to the target axle to be maintained at the target torque; after the vehicle is powered on, obtaining the overall vehicle state of the vehicle; determining whether to control the four-wheel drive system of the vehicle to exit the parking mode based on the overall vehicle state; if so, controlling the four-wheel drive system of the vehicle to exit the parking mode and releasing the target torque.

[0189] In some embodiments of the present disclosure, controlling the four-wheel drive system of the vehicle to exit the parking mode and releasing the target torque includes: setting a parking mode signal corresponding to the four-wheel drive system of the vehicle to a non-parking mode position and determining a torque release rate; controlling the transfer case of the four-wheel drive system of the vehicle to perform a release operation of the target torque based on the torque release rate.

[0190] The embodiments of the present disclosure further provide a computer program product, which includes a computer program or instruction. When the computer program or instruction is executed by a processor, it implements the vehicle parking control method provided by the embodiments of the present disclosure, and can achieve each process and effect in the above embodiments of the present disclosure, which will not be elaborated herein.

[0191] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle parking control method, characterized in that, Including: Obtain the gear information of the vehicle and the slope information of the vehicle; Determine whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system; When it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, control the vehicle four-wheel drive system to enter the parking mode, and determine the target torque for braking the target axle based on the slope information. In the parking mode, the front wheels or rear wheels corresponding to the vehicle are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in the locked state; Based on the target torque, control the vehicle four-wheel drive system to compress the friction group to brake the target axle.

2. The method according to claim 1, wherein The determining whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system includes: When the gear information is the target gear information and the slope corresponding to the slope information is greater than the preset slope value, it is determined that the trigger conditions for entering the parking mode of the vehicle four-wheel drive system are met, where the target gear information is the P gear.

3. The method according to claim 1, characterized in that, The determining the target torque for braking the target axle based on the slope information includes: Determine the torque corresponding to the slope based on the corresponding relationship between the preset slope and torque, and determine the torque as the target torque; Or; Determine the adhesion of the road surface corresponding to the vehicle; Based on the slope information and the adhesion, and the corresponding relationship between the preset slope, adhesion and torque, determine the target torque.

4. The method according to claim 1, wherein The controlling the vehicle four-wheel drive system to compress the friction group to brake the target axle based on the target torque includes: Calculate the pressing force for compressing the friction group based on the target torque; Control the transfer case of the vehicle four-wheel drive system to compress the friction group based on the pressing force to brake the target axle.

5. The method according to claim 1, wherein After controlling the vehicle four-wheel drive system to enter the parking mode, the method further includes: In response to the vehicle powering off, control the braking torque applied by the transfer case of the vehicle four-wheel drive system to the target axle to be maintained at the target torque; After the vehicle is powered on, obtain the vehicle's overall state; based on the overall state, determine whether to control the vehicle four-wheel drive system to exit the parking mode; If so, control the vehicle four-wheel drive system to exit the parking mode and release the target torque.

6. The method according to claim 5, wherein The controlling the vehicle four-wheel drive system to exit the parking mode and release the target torque includes: Set the parking mode signal corresponding to the vehicle four-wheel drive system to the non-parking mode position and determine the torque release rate; Control the transfer case of the vehicle four-wheel drive system to perform the release operation of the target torque based on the torque release rate.

7. A vehicle parking control device, characterized in that, Including: An information acquisition module for acquiring the gear information of the vehicle and the slope information of the vehicle; A mode judgment module for determining whether the gear information and the slope information meet the trigger conditions for entering the parking mode of the vehicle four-wheel drive system; A torque determination module, configured to control the vehicle four-wheel drive system to enter a parking mode when it is determined that a trigger condition for entering the parking mode of the vehicle four-wheel drive system is satisfied, and determine a target torque for braking a target axle based on the slope information. In the parking mode, the front wheels or the rear wheels corresponding to the vehicle are in a locked state, and the target axle is the axle corresponding to the target wheels that are not in a locked state; A vehicle parking control module, configured to control the vehicle four-wheel drive system to press a friction group based on the target torque to brake the target axle.

8. An electronic device, characterized in that, Comprising: A processor; A memory for storing executable instructions; Wherein, the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the vehicle parking control method according to any one of claims 1-6 above.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, causes the processor to implement the vehicle parking control method according to any one of claims 1-6 above.

10. A vehicle, characterized in that, Including the electronic device according to claim 8.

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