Vehicle control method, device, equipment, medium and automatic driving vehicle

Abstract

The invention provides a vehicle control method, device and equipment, a medium and an automatic driving vehicle, and relates to the technical field of vehicle control, in particular to the technical field of vehicle brake discs. According to the implementation scheme, the method comprises the steps of obtaining environment information of an environment where a vehicle is located in a parking state and parking duration; based on the environment information and the parking duration, the corrosion adhesion degree of a brake disc and a friction plate of the vehicle is judged; and in response to the judgment that the corrosion adhesion degree is the first corrosion adhesion level, first vehicle control is executed on the vehicle, and the first vehicle control is used for controlling the vehicle to move by a preset distance so that the parking state can be recovered after the contact face of the brake disc and the friction plate is changed.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, in particular to the field of vehicle brake disc technology, and specifically to a vehicle control method, device, electronic device, computer-readable storage medium, and computer program product. Background Art

[0002] The existing Electronic Park Brake (EPB) system consists of a piston, brake caliper, brake caliper bracket, friction pads, brake discs, and a Motor Gear Unit (MGU). The EPB system works as follows: After the vehicle is parked, the driver activates the EPB caliper switch to put the vehicle into parking mode. The EPB caliper clamps the friction pads and brake discs and maintains this position, keeping the vehicle stationary.

[0003] The approaches described in this section are not necessarily approaches that have been previously conceived or employed. Unless otherwise indicated, it should not be assumed that any approach described in this section is prior art simply by virtue of its inclusion in this section. Similarly, unless otherwise indicated, the issues raised in this section should not be considered as having been recognized in any prior art. Summary of the Invention

[0004] The present disclosure provides a vehicle control method, apparatus, electronic device, computer-readable storage medium, and computer program product.

[0005] According to one aspect of the present disclosure, a vehicle control method is provided, comprising: obtaining environmental information of an environment in which a vehicle is located in a parking state and a parking duration, wherein the environmental information includes at least one of an ambient temperature and an ambient humidity; judging a degree of rust and adhesion of a brake disc and a friction plate of the vehicle based on the environmental information and the parking duration; and in response to judging that the degree of rust and adhesion is a first rust and adhesion level, performing a first vehicle control on the vehicle, wherein the first vehicle control is used to control the vehicle to move a preset distance so that the contact surface of the brake disc and the friction plate changes and then the vehicle returns to a parking state.

[0006] According to another aspect of the present disclosure, a vehicle control device is provided, including: a first acquisition unit, configured to acquire environmental information of the environment in which the vehicle is located in a parking state and the parking duration, wherein the environmental information includes at least one of the ambient temperature and the ambient humidity; a first judgment unit, configured to judge the degree of rust and adhesion of the brake disc and friction plate of the vehicle based on the environmental information and the parking duration; and a first execution unit, configured to execute a first vehicle control on the vehicle in response to judging that the degree of rust and adhesion is a first rust and adhesion level, wherein the first vehicle control is used to control the vehicle to move a preset distance to restore the parking state after the contact surface of the brake disc and the friction plate is changed.

[0007] According to another aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle control method of the present disclosure.

[0008] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute the vehicle control method of the present disclosure.

[0009] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein the computer program implements the vehicle control method of the present disclosure when executed by a processor.

[0010] According to another aspect of the present disclosure, an autonomous driving vehicle is provided, comprising the vehicle control device of the present disclosure.

[0011] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings illustrate exemplary embodiments and constitute a part of the specification. Together with the description of the specification, they serve to explain exemplary implementation of the embodiments. The illustrated embodiments are for illustrative purposes only and do not limit the scope of the claims. Throughout the drawings, the same reference numerals designate similar, but not necessarily identical, elements.

[0013] Figure 1 A schematic diagram illustrating an exemplary system in which the various methods described herein may be implemented according to an embodiment of the present disclosure; Figure 2 A flow chart of a vehicle control method according to an embodiment of the present disclosure is shown; Figure 3 A flowchart illustrating a first vehicle control performed on a vehicle according to an embodiment of the present disclosure is shown; Figure 4 A flowchart illustrating a first vehicle control according to an embodiment of the present disclosure is shown; Figure 5 A flowchart illustrating a second vehicle control according to an embodiment of the present disclosure is shown; Figure 6 A flow chart showing a vehicle control method according to an exemplary embodiment of the present disclosure is shown; Figure 7 shows a structural block diagram of a vehicle control device according to an embodiment of the present disclosure; Figure 8 A structural block diagram of an exemplary electronic device that can be used to implement the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0014] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0015] In this disclosure, unless otherwise specified, the use of terms such as "first" and "second" to describe various elements is not intended to limit the positional relationship, temporal relationship, or importance relationship of these elements. Such terms are only used to distinguish one element from another. In some examples, the first element and the second element may refer to the same instance of the element, while in some cases, based on the context of the description, they may also refer to different instances.

[0016] The terms used in the descriptions of the various examples described in this disclosure are for the purpose of describing specific examples only and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element may be one or more. In addition, the term "and / or" used in this disclosure encompasses any one and all possible combinations of the listed items.

[0017] In related technologies, after a vehicle has been parked for a long time, the EPB caliper provides a large clamping force to tightly fit the brake disc and friction plate together. Under the action of high temperature and high humidity for a long time, an electrochemical corrosion effect will occur between the two, causing them to rust and stick together. In severe cases, the vehicle will not be able to start normally at idle speed. If the throttle is forcibly disengaged, the friction plate surface may fall off, resulting in abnormal noise during driving and affecting the safety of the braking function.

[0018] An embodiment of the present disclosure provides a vehicle control method, which determines the degree of rust and adhesion of the brake disc and the friction plate through the parking duration and environmental information. After determining that the rust and adhesion degree is the first rust and adhesion level, the vehicle is controlled to release the parking state and restore the parking state after moving a preset distance, so that the contact surface between the brake disc and the friction surface changes, thereby further improving the anti-rust and adhesion effect and improving the safety of the vehicle.

[0019] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0020] Figure 1 FIG2 is a schematic diagram of an exemplary system 100 in which the various methods and apparatuses described herein may be implemented according to an embodiment of the present disclosure. Figure 1 , the system 100 includes a motor vehicle 110 , a server 120 , and one or more communication networks 130 coupling the motor vehicle 110 to the server 120 .

[0021] In an embodiment of the present disclosure, the motor vehicle 110 may include a computing device according to an embodiment of the present disclosure and / or be configured to perform a method according to an embodiment of the present disclosure.

[0022] The server 120 may run one or more services or software applications that enable the vehicle control method of the present disclosure to be executed. In certain embodiments, the server 120 may also provide other services or software applications that may include non-virtual environments and virtual environments. Figure 1 In the configuration shown, the server 120 may include one or more components that implement the functions performed by the server 120. These components may include software components, hardware components, or a combination thereof that can be executed by one or more processors. The user of the motor vehicle 110 may, in turn, utilize one or more client applications to interact with the server 120 to utilize the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from the system 100. Therefore, Figure 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

[0023] Server 120 may include one or more general-purpose computers, specialized server computers (e.g., PC (personal computer) servers, UNIX servers, midrange servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and / or combination. Server 120 may include one or more virtual machines running virtual operating systems, or other computing architectures involving virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain a server's virtual storage device). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

[0024] The computing units in the server 120 may run one or more operating systems including any of the operating systems described above as well as any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and / or middle-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, and the like.

[0025] In some embodiments, server 120 may include one or more applications to analyze and consolidate data feeds and / or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and / or real-time events via one or more display devices of motor vehicle 110.

[0026] The network 130 may be any type of network known to those skilled in the art that can support data communications using any of a variety of available protocols, including, but not limited to, TCP / IP, SNA, IPX, etc. By way of example only, the one or more networks 110 may be a satellite communication network, a local area network (LAN), an Ethernet-based network, a token ring, a wide area network (WAN), the Internet, a virtual network, a virtual private network (VPN), an intranet, an extranet, a blockchain network, a public switched telephone network (PSTN), an infrared network, a wireless network (including, for example, Bluetooth, WiFi), and / or any combination of these and other networks.

[0027] The system 100 may also include one or more databases 150. In some embodiments, these databases can be used to store data and other information. For example, one or more of the databases 150 can be used to store information such as audio files and video files. The data repository 150 can reside in a variety of locations. For example, the data repository used by the server 120 can be local to the server 120, or can be remote from the server 120 and can communicate with the server 120 via a network-based or dedicated connection. The data repository 150 can be of different types. In some embodiments, the data repository used by the server 120 can be a database, such as a relational database. One or more of these databases can store, update, and retrieve data to and from the database in response to commands.

[0028] In some embodiments, one or more of the databases 150 may also be used by applications to store application data. The databases used by the applications may be different types of databases, such as a key-value store, an object store, or a conventional store backed by a file system.

[0029] Motor vehicle 110 may include sensors 111 for sensing its surroundings. Sensors 111 may include one or more of the following: visual cameras, infrared cameras, ultrasonic sensors, millimeter-wave radar, and laser radar (LiDAR). Different sensors offer varying detection accuracy and range. Cameras may be mounted on the front, rear, or other locations of the vehicle. Visual cameras can capture real-time images of the vehicle's interior and exterior and present them to the driver and / or passengers. Furthermore, by analyzing the images captured by the visual cameras, information such as traffic light indications, intersection conditions, and the operating status of other vehicles can be obtained. Infrared cameras can detect objects in night vision conditions. Ultrasonic sensors can be mounted on all sides of the vehicle, utilizing the strong directionality of ultrasonic waves to measure the distance of external objects from the vehicle. Millimeter-wave radars can be mounted on the front, rear, or other locations of the vehicle, utilizing the properties of electromagnetic waves to measure the distance of external objects from the vehicle. LiDARs can be mounted on the front, rear, or other locations of the vehicle, detecting object edges and shapes for object recognition and tracking. Radar devices can also measure changes in the speed of the vehicle and moving objects due to the Doppler effect.

[0030] The motor vehicle 110 may also include a communication device 112. The communication device 112 may include a satellite positioning module capable of receiving satellite positioning signals (e.g., Beidou, GPS, GLONASS, and GALILEO) from satellites 141 and generating coordinates based on these signals. The communication device 112 may also include a module for communicating with a mobile communication base station 142. The mobile communication network may implement any suitable communication technology, such as GSM / GPRS, CDMA, LTE, or other current or evolving wireless communication technologies (e.g., 5G technology). The communication device 112 may also include a vehicle-to-everything (V2X) module configured to facilitate vehicle-to-everything (V2V) communications with other vehicles 143 and vehicle-to-infrastructure (V2I) communications with infrastructure 144. Furthermore, the communication device 112 may also include a module configured to communicate with a user terminal 145 (including but not limited to a smartphone, tablet computer, or wearable device such as a watch) via a wireless local area network (WLAN) or Bluetooth using the IEEE 802.11 standard, for example. The motor vehicle 110 may also access the server 120 via the network 130 using the communication device 112 .

[0031] The motor vehicle 110 may also include a control device 113. The control device 113 may include a processor, such as a central processing unit (CPU) or a graphics processing unit (GPU), or other specialized processor, in communication with various types of computer-readable storage devices or media. The control device 113 may include an autonomous driving system for automatically controlling various actuators in the vehicle. The autonomous driving system is configured to control the powertrain, steering system, and braking system of the motor vehicle 110 (not shown) via multiple actuators in response to input from multiple sensors 111 or other input devices, thereby controlling acceleration, steering, and braking, respectively, without requiring or with limited human intervention. Some processing functions of the control device 113 may be implemented through cloud computing. For example, some processing may be performed using an onboard processor while other processing may be performed using computing resources in the cloud. The control device 113 may be configured to execute the methods according to the present disclosure. Furthermore, the control device 113 may be implemented as an example of a computing device on the motor vehicle side (client) according to the present disclosure. Figure 1 The system 100 may be configured and operated in various ways to enable application of the various methods and apparatuses described in accordance with the present disclosure.

[0032] According to the embodiments of the present disclosure, Figure 2As shown, a vehicle control method is provided, comprising: step S201, obtaining environmental information of the environment in which the vehicle is located in a parking state and the parking duration, wherein the environmental information comprises at least one of the ambient temperature and the ambient humidity; step S202, judging the degree of rust and adhesion of the brake disc and the friction plate of the vehicle based on the environmental information and the parking duration; and step S203, in response to judging that the degree of rust and adhesion is a first rust and adhesion level, executing a first vehicle control on the vehicle, wherein the first vehicle control is used to control the vehicle to move a preset distance to restore the parking state after the contact surface of the brake disc and the friction plate is changed.

[0033] Therefore, the degree of rust and adhesion of the brake disc and the friction pad is determined by the parking time and environmental information. After determining that the degree of rust and adhesion is the first rust and adhesion level, the vehicle is controlled to release the parking state and restore the parking state after moving a preset distance, so that the contact surface between the brake disc and the friction surface changes, thereby avoiding the problem of the contact surface between the brake disc and the friction pad remaining unchanged when the vehicle is parked for a long time, further improving the anti-rust and adhesion effect, and improving the safety of the vehicle.

[0034] In some embodiments, based on environmental information and parking time, determining the degree of rust and adhesion of the vehicle's brake disc and friction plate may include determining whether the ambient temperature is greater than a temperature threshold, whether the ambient humidity is greater than a humidity threshold, and whether the parking time is greater than a first time threshold.

[0035] In some exemplary embodiments, in response to determining that the parking duration is greater than a first duration threshold and at least one of the ambient temperature and the ambient humidity is greater than a corresponding threshold, the rust and adhesion level is determined to be a first rust and adhesion level.

[0036] In some exemplary embodiments, after the vehicle enters the parking state, environmental information can be obtained at preset time intervals, and in response to determining that the parking time is greater than a first time threshold, and at least one of the ambient temperature and ambient humidity is greater than the corresponding threshold during the parking stage, the degree of rust and adhesion is determined to be the first rust and adhesion level.

[0037] In some exemplary embodiments, the parking time and environmental information may be analyzed by a trained neural network model for predicting the degree of rust and adhesion to output a rust and adhesion grade.

[0038] It is understandable that relevant technical personnel can determine the method for determining the degree of rust adhesion and the above-mentioned thresholds on their own, and no limitation is made here.

[0039] In some embodiments, in response to determining that the rust and adhesion level is the first rust and adhesion level, the vehicle may be controlled to move a preset distance and then return to a parked state, so that the contact surface between the brake disc and the friction pad changes. The preset distance may be, for example, 30 cm.

[0040] It is understandable that relevant technical personnel can set the preset distance on their own and there is no limitation here.

[0041] In some embodiments, as Figure 3 As shown, in response to determining that the degree of rust and adhesion is the first rust and adhesion level, executing the first vehicle control on the vehicle may include: step S301, in response to determining that the degree of rust and adhesion is the first rust and adhesion level, obtaining obstacle information around the vehicle; step S302, based on the obstacle information, determining whether there is sufficient space for the vehicle to move; and step S303, in response to determining that there is sufficient space for the vehicle to move, executing the first vehicle control on the vehicle.

[0042] Among them, obstacle information around the vehicle can be obtained through relevant sensors of the vehicle (such as ultrasonic radar, millimeter wave radar, camera, etc.).

[0043] In some exemplary embodiments, if it is determined that there is sufficient space for vehicle movement in front of or behind the vehicle, the vehicle can be controlled to move in the direction with sufficient space for vehicle movement. In some exemplary embodiments, if it is determined that there is sufficient space for vehicle movement in both the front and rear directions of the vehicle, the vehicle can be moved in any direction.

[0044] Therefore, before executing the first vehicle control, it is first determined whether the vehicle has sufficient vehicle movement space, thereby further improving the safety during the execution of the first vehicle control.

[0045] In some embodiments, in response to a determination that there is sufficient space for the vehicle to move, performing a first vehicle control on the vehicle may include: in response to a determination that there is sufficient space for the vehicle to move, sending a confirmation request to a remote terminal, wherein the confirmation request is used to enable the user to confirm whether to perform the first vehicle control, and the confirmation request includes obstacle information; and in response to receiving information sent by the remote terminal confirming the execution of the first vehicle control, performing the first vehicle control on the vehicle.

[0046] After determining that there is sufficient space for vehicle movement in front of or behind the vehicle, a confirmation request may be sent to the user's client terminal (e.g., the vehicle owner's host) via the network to request the user to confirm whether to execute the first vehicle control, and the confirmation information returned by the client terminal may be monitored. The confirmation request may include the acquired obstacle information.

[0047] In some embodiments, the confirmation request may also include prompt information corresponding to the first rust adhesion level to remind the user that the vehicle has been parked for a long time, which may cause the brake disc and friction plate to adhere, and request the user to confirm whether to execute the first vehicle control.

[0048] Therefore, after determining that there is sufficient space for the vehicle to move, by further requesting the user's confirmation, some possible risks (such as the vehicle may deviate too far from the parking space after moving) can be further avoided, further improving the safety of the vehicle.

[0049] In some embodiments, as Figure 4 As shown, the first vehicle control may include: step S401, obtaining the road slope of the vehicle's parking position; step S402, in response to the road slope being greater than a preset slope, determining the required braking pressure according to the road slope and the mass of the vehicle; step S403, performing hydraulic braking according to the braking pressure; step S404, releasing the clamping state of the parking caliper on the brake disc and the friction plate; and step S405, controlling the vehicle to move a preset distance and then restoring the vehicle to the parking state, so that the parking caliper can resume the clamping state.

[0050] In some embodiments, the road slope can be acquired by an inertial measurement unit or an intelligent braking integrated control system of the vehicle.

[0051] In some exemplary embodiments, the preset slope may be 3°. It is understandable that relevant technicians can set the preset slope on their own, and this is not limited here.

[0052] In some embodiments, in response to a road gradient greater than a preset gradient, the required brake pressure can be determined based on the road gradient and the vehicle's total mass. For example, the vehicle's pitch angle can be obtained through an inertial measurement unit and used as the road gradient. Simultaneously, the vehicle's total mass can be calculated using air suspension pressure sensors or motor torque inversion. Based on the road gradient and vehicle mass, the downward component of the vehicle's gravity is calculated and converted into brake pressure.

[0053] In some embodiments, the calculated brake pressure can be used as the initial brake pressure, and hydraulic braking is requested accordingly; in response to the brake pressure of the hydraulic brake reaching the initial brake pressure, the parking caliper is released from the clamping state of the brake disc and friction pad (i.e., the parking state is released); then, the vehicle is requested to provide driving torque and in response to the driving torque exceeding the component of the vehicle's gravity along the downward slope, the hydraulic brake is released and the vehicle starts to move; after the vehicle moves a preset distance, the vehicle is switched back to the parking state, i.e., the parking caliper is restored to the clamping state.

[0054] Therefore, before controlling the movement of the vehicle, it is first determined whether the vehicle is on a slope. If it is on a slope, the required braking pressure is determined according to the slope and the mass of the vehicle. After requesting hydraulic braking, the parking caliper clamping state is released to control the movement of the vehicle, thereby preventing the vehicle from sliding down the slope and improving the safety of the vehicle.

[0055] In some embodiments, the brake pressure of the hydraulic brake can be reduced as the driving torque increases. This can avoid the vehicle from generating a large acceleration due to the large driving torque after the hydraulic brake is released, thereby improving the safety of the vehicle during movement.

[0056] In some embodiments, the first vehicle control may further include: releasing the clamping state in response to the road slope being no greater than a preset slope; and restoring the vehicle to the parking state after controlling the vehicle to move a preset distance, so that the parking caliper returns to the clamping state.

[0057] Therefore, when it is determined that the vehicle is not on a slope, the parking caliper clamping state is directly released and the vehicle movement is controlled, thereby simplifying the control logic and improving the vehicle control efficiency while ensuring the safety of the vehicle.

[0058] In some embodiments, the above-mentioned vehicle control method may further include: obtaining moving direction confirmation information from a remote terminal before controlling the movement of the vehicle; and wherein, controlling the vehicle to move a preset distance may include: controlling the vehicle to move a preset distance according to the moving direction determined by the user.

[0059] Therefore, by further requesting the user's confirmation before controlling the movement of the vehicle, some possible risks (such as the vehicle may deviate too far from the parking space after moving) can be further avoided, further improving the safety of the vehicle.

[0060] In some embodiments, in response to determining that the degree of rust and adhesion is the first rust and adhesion level, executing a first vehicle control on the vehicle may also include: in response to determining that there is insufficient space for the vehicle to move, or in response to receiving information sent by a remote terminal refusing to execute the first vehicle control, executing a second vehicle control on the vehicle, wherein the second vehicle control is used to control the vehicle to release the clamping state of the parking caliper on the brake disc and friction plate without displacement and maintain it for a preset period of time, and then restore the clamping state of the parking caliper.

[0061] Therefore, if it is determined that there is insufficient space for the vehicle to move or the user refuses to execute the first vehicle control, the second vehicle control can be executed on the vehicle so that the vehicle can release the clamping state of the parking caliper for a preset period of time without displacement and then resume clamping. This can prevent the brake disc and friction pad from rusting and adhesion while ensuring safety.

[0062] In some embodiments, the above-mentioned vehicle control method may further include: in response to determining that the degree of rust and adhesion is a second rust and adhesion level, executing a second vehicle control on the vehicle, wherein the degree of rust and adhesion corresponding to the second rust and adhesion level is lower than the degree of rust and adhesion corresponding to the first rust and adhesion level, and the second vehicle control is used to control the vehicle to release the clamping state of the parking caliper on the brake disc and friction plate without displacement and maintain it for a preset period of time, and then restore the clamping state of the parking caliper.

[0063] In some embodiments, determining the degree of rust and adhesion of the brake disc and friction pad of the vehicle based on the environmental information and the parking duration may include determining whether the ambient temperature is greater than a temperature threshold, whether the ambient humidity is greater than a humidity threshold, and whether the parking duration is greater than a second duration threshold, wherein the second duration threshold is less than the first duration threshold.

[0064] In some exemplary embodiments, in response to determining that the parking duration is greater than a second duration threshold and at least one of the ambient temperature and the ambient humidity is greater than a corresponding threshold, the rust and adhesion level is determined to be a second rust and adhesion level.

[0065] In some exemplary embodiments, after the vehicle enters the parking state, environmental information can be obtained at preset time intervals, and in response to determining that the parking time is greater than a second time threshold, and at least one of the ambient temperature and ambient humidity is greater than the corresponding threshold during the parking stage, the degree of rust and adhesion is determined to be the second rust and adhesion level.

[0066] In some exemplary embodiments, the parking time and environmental information may be analyzed by a trained neural network model for predicting the degree of rust and adhesion to output a rust and adhesion grade.

[0067] It is understandable that relevant technical personnel can determine the method for determining the degree of rust adhesion and the above-mentioned thresholds on their own, and no limitation is made here.

[0068] Therefore, when it is judged that the degree of rust and adhesion is relatively minor, the second vehicle control is performed on the vehicle so that the vehicle can release the clamping state of the parking caliper for a preset period of time without displacement and then resume clamping. This simplifies the control logic and improves execution efficiency while ensuring vehicle safety and anti-rust and adhesion properties.

[0069] In some embodiments, the parking caliper can be temporarily replaced by requesting a certain amount of braking pressure to be applied by the hydraulic brake. During this process, while ensuring that the vehicle does not move, the parking caliper can release the clamping state of the brake disc and friction pad and maintain it for a preset period of time. Then, the clamping state of the parking caliper is restored, so that the brake disc and friction pad can be properly separated for a period of time to prevent them from being in close contact for a long time and causing rust and adhesion.

[0070] In some embodiments, as Figure 5 As shown, the second vehicle control may include: step S501, obtaining the road slope at the vehicle's parking position; step S502, in response to the road slope being greater than a preset slope, determining the required brake pressure based on the road slope and the vehicle's mass; step S503, executing hydraulic braking based on the brake pressure; step S504, releasing the clamping state and maintaining it for a preset period of time, then restoring the clamping state; and step S505, releasing the brake pressure of the hydraulic brake. The above-mentioned brake pressure can be determined according to the method described above and will not be further described here.

[0071] Therefore, before releasing the parking caliper clamping state, it is first determined whether the vehicle is on a slope. If it is on a slope, the required braking pressure is determined according to the slope and the mass of the vehicle. After requesting hydraulic braking, the parking caliper clamping state is released, thereby preventing the vehicle from sliding down the slope and improving the safety of the vehicle.

[0072] In some embodiments, the second vehicle control may further include: in response to the road slope being no greater than a preset slope, releasing the clamping state and maintaining the state for a preset time, and then restoring the clamping state.

[0073] Therefore, when it is determined that the vehicle is not on a slope, the parking caliper clamping state is directly released and the vehicle movement is controlled, thereby simplifying the control logic and improving the vehicle control efficiency while ensuring the safety of the vehicle.

[0074] In some exemplary embodiments, the preset time length may be 10 minutes. It is understandable that relevant technicians can set the preset time length on their own, and this is not limited here.

[0075] In some embodiments, the operation of preventing corrosion and adhesion by releasing the clamping state and maintaining it for a predetermined time period before restoring the clamping state can be repeated multiple times. Each time the clamping state is restored, the parking time can be reset to zero and the countdown can be restarted until the parking time again exceeds the second time threshold. The operation of releasing the clamping state and maintaining it for a predetermined time period before restoring the clamping state can then be repeated according to the aforementioned control logic.

[0076] In some embodiments, after the second vehicle control has been executed a preset number of times (i.e., the total parking duration exceeds a first duration threshold, and the ambient temperature and / or humidity remain above corresponding thresholds), the rust and adhesion level can be determined to be the first rust and adhesion level (i.e., severe rust and adhesion may occur), and the anti-rust and adhesion operation can be upgraded to the first vehicle control. Thus, by distinguishing the rust and adhesion levels, different vehicle control strategies can be implemented for situations where mild rust and adhesion may occur and those where severe rust and adhesion may occur, respectively. This improves the effectiveness of anti-rust and adhesion prevention, enhances vehicle safety, simplifies control logic, and increases execution efficiency.

[0077] Figure 6 A flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure is shown.

[0078] In some exemplary embodiments, Figure 6 As shown, a vehicle control method is provided, comprising: step S601, judging the degree of rust and adhesion of the brake disc and friction plate of the vehicle based on environmental information and parking time; step S602, in response to judging that there is no possibility of rust and adhesion, maintaining the parking state of the vehicle; step S603, in response to judging that the degree of rust and adhesion is the second rust and adhesion level (i.e., slight rust and adhesion may occur), judging whether the vehicle is on a slope according to the road slope at the vehicle's location; step S604, in response to judging that the vehicle is not on a slope, releasing the clamping state and maintaining After the preset time, the clamping state is restored; step S605, in response to determining that the vehicle is on a slope, the required brake pressure is determined according to the road slope and the mass of the vehicle; step S606, based on the brake pressure, a request is made to perform hydraulic braking; step S607, after the clamping state is released and maintained for a preset time, the clamping state is restored; step S608, a request is made to release the brake pressure of the hydraulic brake; step S609, in response to determining that the degree of corrosion and adhesion is the first corrosion and adhesion level (i.e., severe corrosion and adhesion may occur), based on the obstacle information, it is determined whether there is sufficient If there is not enough space for the vehicle to move, then step S603 is executed; in step S610, in response to the judgment that there is enough space for the vehicle to move, a confirmation request is sent to the remote terminal to obtain the user's confirmation information; in step S611, it is determined whether the user confirms to execute the second vehicle control. If the user confirms not to execute the first vehicle control, then step S603 is executed; in step S612, if the user confirms to execute the first vehicle control, whether the vehicle is on a slope according to the road slope at the vehicle's location is determined. If it is determined that the vehicle is not on a slope, , then directly execute step S614; step S613, in response to determining that the vehicle is on a slope, determine the required braking pressure according to the road slope and the mass of the vehicle, and then execute step S614; step S614, obtain moving direction confirmation information from the remote terminal; step S615, in response to the user confirming that the moving direction is forward, control the vehicle to move forward a preset distance after releasing the clamping state, and then restore the clamping state; step S616, in response to the user confirming that the moving direction is backward, control the vehicle to move backward a preset distance after releasing the clamping state, and then restore the clamping state.

[0079] In some embodiments, as Figure 7As shown, a vehicle control device 700 is provided, including: a first acquisition unit 710, configured to obtain environmental information of the environment in which the vehicle is located in a parking state and the parking time, wherein the environmental information includes at least one of the ambient temperature and the ambient humidity; a first judgment unit 720, configured to judge the degree of rust and adhesion of the brake disc and the friction plate of the vehicle based on the environmental information and the parking time; and a first execution unit 730, configured to execute a first vehicle control on the vehicle in response to judging that the degree of rust and adhesion is a first rust and adhesion level, wherein the first vehicle control is used to control the vehicle to move a preset distance to restore the parking state after the contact surface of the brake disc and the friction plate is changed.

[0080] Among them, the operations performed by units 710 to 730 in the above-mentioned vehicle control device 700 and the effects that can be achieved are similar to steps S201 to S203 in the above-mentioned vehicle control method, and are not repeated here.

[0081] In some embodiments, the first execution unit may include: a first acquisition subunit, configured to acquire obstacle information around the vehicle in response to judging that the degree of rust and adhesion is a first rust and adhesion level; a first judgment subunit, configured to judge whether there is sufficient space for vehicle movement based on the obstacle information; and a first execution subunit, configured to perform a first vehicle control on the vehicle in response to judging that there is sufficient space for vehicle movement.

[0082] In some embodiments, the first execution sub-unit can be further configured to: in response to determining that there is sufficient space for the vehicle to move, send a confirmation request to the remote terminal, wherein the confirmation request is used to enable the user to confirm whether to execute the first vehicle control, and the confirmation request includes obstacle information; and in response to receiving the information sent by the remote terminal confirming the execution of the first vehicle control, execute the first vehicle control on the vehicle.

[0083] In some embodiments, the first vehicle control may include: obtaining the road slope of the vehicle's parking position; in response to the road slope being greater than a preset slope, determining the required braking pressure based on the road slope and the mass of the vehicle; performing hydraulic braking based on the braking pressure; releasing the parking caliper from clamping the brake disc and friction plate; and controlling the vehicle to move a preset distance to restore the vehicle to a parking state so that the parking caliper returns to a clamping state.

[0084] In some embodiments, the first vehicle control may further include: releasing the clamping state in response to the road slope being no greater than a preset slope; and restoring the vehicle to the parking state after controlling the vehicle to move a preset distance, so that the parking caliper returns to the clamping state.

[0085] In some embodiments, the above-mentioned vehicle control device may further include: a second acquisition unit, configured to obtain moving direction confirmation information from a remote terminal before controlling the movement of the vehicle; and wherein, controlling the vehicle to move a preset distance includes: controlling the vehicle to move a preset distance according to the moving direction determined by the user.

[0086] In some embodiments, the first execution unit may further include: a second control subunit, configured to execute a second vehicle control on the vehicle in response to a determination that there is insufficient space for the vehicle to move, or in response to receiving information sent by a remote terminal refusing to execute the first vehicle control, wherein the second vehicle control is used to control the vehicle to release the clamping state of the parking caliper on the brake disc and friction plate without displacement and maintain the state for a preset period of time, and then restore the clamping state of the parking caliper.

[0087] In some embodiments, the above-mentioned vehicle control device may also include: a second execution unit, configured to execute a second vehicle control on the vehicle in response to judging that the degree of rust and adhesion is a second rust and adhesion level, wherein the degree of rust and adhesion corresponding to the second rust and adhesion level is lower than the degree of rust and adhesion corresponding to the first rust and adhesion level, and the second vehicle control is used to control the vehicle to release the clamping state of the parking caliper on the brake disc and friction plate without displacement and maintain it for a preset period of time, and then restore the clamping state of the parking caliper.

[0088] In some embodiments, the second vehicle control may include: obtaining the road slope of the vehicle's parking position; in response to the road slope being greater than a preset slope, determining the required braking pressure based on the road slope and the mass of the vehicle; performing hydraulic braking based on the braking pressure; releasing the clamping state and maintaining it for a preset period of time, and then restoring the clamping state; and releasing the braking pressure of the hydraulic brake.

[0089] In some embodiments, the second vehicle control may further include: in response to the road slope being no greater than a preset slope, releasing the clamping state and maintaining the state for a preset time, and then restoring the clamping state.

[0090] According to an embodiment of the present disclosure, an electronic device, a readable storage medium, and a computer program product are also provided.

[0091] refer to Figure 8, a block diagram of an electronic device 800 that can serve as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0092] like Figure 8 As shown, electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. RAM 803 may also store various programs and data required for the operation of electronic device 800. Computing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to bus 804.

[0093] Multiple components within electronic device 800 are connected to I / O interface 805, including an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. Input unit 806 can be any type of device capable of inputting information into electronic device 800. Input unit 806 can receive input numeric or character information and generate key signal input related to user settings and / or function control of the electronic device. It may include, but is not limited to, a mouse, keyboard, touch screen, trackpad, trackball, joystick, microphone, and / or remote control. Output unit 807 can be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. Storage unit 808 may include, but is not limited to, a magnetic disk or an optical disk. Communication unit 809 allows electronic device 800 to exchange information / data with other devices via computer networks such as the Internet and / or various telecommunication networks. It may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver and / or chipset, such as a Bluetooth device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0094] The computing unit 801 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as the vehicle control method of the present disclosure. For example, in some embodiments, the vehicle control method of the present disclosure may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the vehicle control method of the present disclosure may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the vehicle control method of the present disclosure via any other suitable means (e.g., via firmware).

[0095] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0096] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0097] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fibers, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0098] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0099] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0100] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0101] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0102] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but is only limited by the claims after authorization and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. In addition, the steps may be performed in an order different from that described in this disclosure. Further, the various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced by equivalent elements that appear after this disclosure.

Claims

1. A vehicle control method, comprising: Acquiring environmental information of the environment in which the vehicle is located in a parking state and a parking duration, wherein the environmental information includes at least one of an ambient temperature and an ambient humidity; Determining the degree of rust and adhesion of the brake disc and friction plate of the vehicle based on the environmental information and the parking duration; and In response to determining that the degree of rust and adhesion is a first rust and adhesion level, a first vehicle control is performed on the vehicle, wherein the first vehicle control is used to control the vehicle to move a preset distance so that the contact surface between the brake disc and the friction plate changes and then restores the parking state.

2. The method according to claim 1, wherein In response to determining that the rust and adhesion level is the first rust and adhesion level, executing the first vehicle control on the vehicle includes: In response to determining that the rust and adhesion degree is the first rust and adhesion level, obtaining obstacle information around the vehicle; Based on the obstacle information, determining whether there is sufficient space for the vehicle to move; and In response to a determination that there is sufficient space for vehicle movement, the first vehicle control is performed on the vehicle.

3. The method according to claim 2, wherein In response to determining that there is sufficient space for vehicle movement, executing the first vehicle control on the vehicle includes: In response to determining that there is sufficient space for the vehicle to move, sending a confirmation request to a remote terminal, wherein the confirmation request is for a user to confirm whether to execute the first vehicle control, and the confirmation request includes the obstacle information; and In response to receiving the information confirming execution of the first vehicle control sent by the remote terminal, the first vehicle control is executed on the vehicle.

4. The method according to claim 3, wherein: The first vehicle control includes: Obtaining the road slope at the parking position of the vehicle; In response to the road surface gradient being greater than a preset gradient, determining a required brake pressure based on the road surface gradient and the mass of the vehicle; performing hydraulic braking according to the brake pressure; releasing the clamping state of the parking caliper on the brake disc and the friction plate; and After the vehicle is controlled to move the preset distance, the vehicle is restored to a parking state, so that the parking caliper is restored to the clamping state.

5. The method according to claim 4, wherein The first vehicle control further includes: In response to the road surface gradient being no greater than a preset gradient, releasing the clamping state; and After the vehicle is controlled to move the preset distance, the vehicle is restored to a parking state, so that the parking caliper is restored to the clamping state.

6. The method according to claim 5, further comprising: Before controlling the movement of the vehicle, obtaining movement direction confirmation information from the remote terminal; And among them, The controlling the vehicle to move the preset distance includes: controlling the vehicle to move the preset distance according to the moving direction determined by the user.

7. The method according to claim 3, wherein: In response to determining that the rust and adhesion level is the first rust and adhesion level, performing the first vehicle control on the vehicle further includes: In response to determining that there is not sufficient space for vehicle movement, or in response to receiving information sent by the remote terminal rejecting execution of the first vehicle control, executing a second vehicle control on the vehicle, wherein, The second vehicle control is used to control the vehicle to release the clamping state of the parking caliper on the brake disc and the friction plate and maintain the state for a preset time without displacement, and then restore the clamping state of the parking caliper.

8. The method according to claim 1, further comprising: In response to determining that the rust and adhesion level is a second rust and adhesion level, a second vehicle control is executed on the vehicle, wherein: The degree of rust and adhesion corresponding to the second rust and adhesion level is lower than the degree of rust and adhesion corresponding to the first rust and adhesion level. The second vehicle control is used to control the vehicle to release the clamping state of the parking caliper on the brake disc and the friction plate and maintain the state for a preset time without displacement, and then restore the clamping state of the parking caliper.

9. The method according to claim 7 or 8, wherein The second vehicle control includes: Obtaining the road slope at the parking position of the vehicle; In response to the road surface gradient being greater than a preset gradient, determining a required brake pressure based on the road surface gradient and the mass of the vehicle; performing hydraulic braking according to the brake pressure; After releasing the clamping state and maintaining it for a preset time, the clamping state is restored; and The brake pressure of the hydraulic brake is released.

10. The method according to claim 9, wherein: The second vehicle control further includes: In response to the road slope being no greater than a preset slope, the clamping state is released and maintained for a preset time period, and then the clamping state is restored.

11. A vehicle control device comprising: a first acquiring unit configured to acquire environmental information of an environment in which the vehicle is parked and a parking duration, wherein the environmental information includes at least one of an ambient temperature and an ambient humidity; a first judgment unit configured to judge the degree of rust and adhesion of the brake disc and friction plate of the vehicle based on the environmental information and the parking duration; and The first execution unit is configured to execute a first vehicle control on the vehicle in response to determining that the degree of rust and adhesion is a first rust and adhesion level, wherein the first vehicle control is used to control the vehicle to move a preset distance so that the contact surface between the brake disc and the friction plate is changed and then the parking state is restored.

12. An electronic device comprising: at least one processor; as well as a memory communicatively coupled to the at least one processor; in The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 10.

13. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to make a computer execute the method according to any one of claims 1-10.

14. A computer program product comprising a computer program, wherein When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

15. An autonomous driving vehicle comprising: The device as claimed in claim 11.

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