Vehicle control method and device, electronic equipment and computer readable storage medium

Abstract

The invention discloses a vehicle control method and device, electronic equipment and a computer readable storage medium, and the method comprises the steps: in the process that a vehicle is parked according to an obtained first parking path, if it is detected that a parking module fails to park and the current working condition of the vehicle meets the parking requirement, controlling a braking module to park the vehicle, the parking requirement is not met; or, the braking module and the driving module are controlled to alternately park the vehicle until the parking requirement is not met. Therefore, when the parking module fails, a backup parking system does not need to be additionally arranged, parking of the vehicle can be controlled by adopting the existing braking module and the existing driving module of the vehicle, and the driving safety of the vehicle is guaranteed with low cost.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle control device, an electronic device, and a computer-readable storage medium. Background Art

[0002] During autonomous driving, the parking module plays a crucial role in keeping the vehicle stationary. Failure of the parking module could result in dangerous situations, such as the vehicle rolling down a slope. Therefore, current autonomous driving systems require a backup parking control system. This dual parking system ensures vehicle safety by enabling the backup system to remain stationary should the primary parking system fail.

[0003] However, the current method of setting up a backup parking system requires an additional fully redundant parking system, which is costly. Especially in automated parking scenarios, if the primary parking system fails, the backup parking system will be activated to control the parking and suspend parking, which may cause the vehicle to be parked on the sidewalk or other traffic arteries, hindering traffic. Summary of the Invention

[0004] The main technical problem solved by this application is to provide a vehicle control method, a vehicle control device, an electronic device and a computer-readable storage medium, which can improve the intelligence of vehicle control.

[0005] To solve the above technical problems, a technical solution adopted in the present application is: providing a vehicle control method, which is applied to a vehicle control device, and the vehicle control device includes a parking module, a driving module and a braking module. The vehicle control method includes: during the parking process of the vehicle in the first parking path obtained, if it is detected that the parking module fails to park and the current operating condition of the vehicle meets the parking requirements, then controlling the braking module to park the vehicle until the parking requirements are no longer met; or, controlling the braking module and the driving module to alternately park the vehicle until the parking requirements are no longer met.

[0006] In some embodiments, the method further includes: if it is detected that the parking module has failed to park and the parking end point in the first parking path meets a preset requirement, replanning the path according to the current position of the vehicle to obtain a second parking path; controlling the vehicle to move along the second parking path; in response to detecting that the current operating condition of the vehicle meets the parking requirement, controlling the braking module to park the vehicle until the parking requirement is no longer met; or, controlling the braking module and the driving module to alternately park the vehicle until the parking requirement is no longer met.

[0007] In some embodiments, the step of controlling the braking module and the driving module to alternately park the vehicle until the parking requirement is no longer met includes: controlling the braking module to park the vehicle; in response to the parking time of the braking module reaching a first preset time, controlling the driving module to park the vehicle until the parking requirement is no longer met.

[0008] In some embodiments, the step of controlling the drive module to park the vehicle until the parking requirement is no longer met includes: controlling the drive module to park the vehicle; in response to the parking time of the drive module reaching a second preset time, controlling the brake module to park the vehicle until the parking requirement is no longer met.

[0009] In some embodiments, the step of controlling the driving module to park the vehicle includes: controlling the motor speed of the driving module to a preset speed to control the vehicle to maintain a parking state.

[0010] In some embodiments, if the parking module is detected to have failed parking and the parking endpoint in the first parking path meets preset requirements, replanning a path based on the parking endpoint in the first parking path and the current position of the vehicle to obtain a second parking path includes: in response to detecting that the parking module has failed parking and the road slope value corresponding to the parking endpoint in the first parking path is greater than a first preset slope value, redetermining a target parking endpoint based on the current position of the vehicle, the road slope value corresponding to the target parking endpoint being less than a second preset slope value, and the first preset slope value being greater than the second preset slope value; and performing path planning based on the current position and the target parking endpoint to obtain the second parking path.

[0011] In some embodiments, the current operating condition includes the vehicle navigation road condition, and if it is detected that the parking module fails to park and the current operating condition of the vehicle meets the parking requirement, the braking module is controlled to park the vehicle until the parking requirement is no longer met; or, the braking module and the driving module are controlled to alternately park the vehicle until the parking requirement is no longer met. The steps include: in response to the vehicle navigation road condition indicating road congestion and a road slope value greater than a first preset slope value, determining that the current operating condition of the vehicle meets the parking requirement; controlling the braking module to park the vehicle until the parking requirement is no longer met; or controlling the braking module and the driving module to alternately park the vehicle until the parking requirement is no longer met.

[0012] To solve the above technical problems, another technical solution adopted in the present application is: a vehicle control device is provided, the vehicle control device also including a first control module and a second control module, the first control module being used to control the braking module to park the vehicle until the parking requirement is no longer met if it is detected that the parking module has failed to park and the current operating condition of the vehicle meets the parking requirement during the process of parking the vehicle in the first parking path acquired by the vehicle; the second control module being used to control the braking module and the driving module to alternately park the vehicle until the parking requirement is no longer met if it is detected that the parking module has failed to park and the current operating condition of the vehicle meets the parking requirement.

[0013] In order to solve the above technical problems, another technical solution adopted in this application is: to provide an electronic device, including a memory and a processor, the memory storing program instructions, and the processor calling the program instructions from the memory to execute the above vehicle control method.

[0014] In order to solve the above technical problems, another technical solution adopted in the present application is: providing a computer-readable storage medium including program data stored therein, and the program data is used to implement the above vehicle control method when executed by a processor.

[0015] The beneficial effects of this application are as follows: During parking in the first parking path acquired by the vehicle, if the parking module is detected to have failed and the vehicle's current operating conditions meet the parking requirements, the braking module is controlled to park the vehicle until the parking requirements are no longer met; alternatively, the braking module and the drive module are controlled to alternately park the vehicle until the parking requirements are no longer met. Therefore, if the parking module fails, there is no need to add an additional backup parking system; the vehicle's existing braking module and drive module can be used to control parking, ensuring vehicle driving safety at a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0017] Figure 1 is a flow chart of an exemplary embodiment of a vehicle control method shown in the present application;

[0018] Figure 2 is a schematic structural diagram of an exemplary embodiment of a vehicle control device shown in the present application;

[0019] Figure 3 is another structural schematic diagram of an exemplary embodiment of a vehicle control device shown in the present application;

[0020] Figure 4 This is a structural diagram of an embodiment of an electronic device provided by the present application;

[0021] Figure 5 It is a structural diagram of an embodiment of a computer-readable storage medium provided by this application. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some, rather than all, structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0023] First, it should be noted that automated parking includes RPA (Remote Parking Assist). RPA allows drivers to control parking operations from outside the vehicle using a remote device (such as a smartphone, key, or dedicated remote control). This system combines sensor technology, path planning algorithms, wireless communication, and vehicle control technologies to provide drivers with a more convenient, safe, and cost-effective parking experience. The current RPA parking control logic uses the vehicle control module to control gear shifting, forward and reverse, the brake module to decelerate for longitudinal movement, the steering module to turn for lateral movement, and the parking module to park the vehicle when stationary. If the parking module fails, RPA control is suspended and the backup parking system is used to park the vehicle, stopping it in place and notifying the driver to immediately intervene and move it to a safe space. This results in a low level of intelligence and high cost.

[0024] Based on this, the embodiments of the present application provide a vehicle control method, a vehicle control device, an electronic device, and a computer-readable storage medium. When the parking module fails, the vehicle is parked by controlling the drive module and the brake module, and the vehicle is temporarily controlled to be stationary. Not only does it not require an additional backup parking system, but RPA remote parking can also continue to be executed to ensure the integrity of parking.

[0025] For details, please refer to Figure 1 , Figure 1 It is a flowchart of an exemplary embodiment of a vehicle control method shown in the present application.

[0026] The execution subject of the vehicle control method may be a terminal device, a server, or other processing device, wherein the terminal device may be a user equipment (UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, an in-vehicle device, a wearable device, etc. The execution subject of the vehicle control method may also be a vehicle control device. In some possible implementations, the vehicle control method may be implemented by a processor calling computer-readable instructions stored in a memory.

[0027] In the embodiment of the present application, the vehicle control device is used as the execution subject for description. Specifically, the vehicle control method of this embodiment includes the following steps:

[0028] S110: During the process of parking the vehicle in the acquired first parking path, if it is detected that the parking module fails and the current working condition of the vehicle meets the parking requirement, the braking module is controlled to park the vehicle until the parking requirement is no longer met.

[0029] The first parking path is the path planned from the vehicle's initial parking position to the parking destination. The initial location may include, but is not limited to, the vehicle's current location, the location where the vehicle initiated automatic parking, or a user-defined location. In some application scenarios, the user may select the vehicle's starting location, and the vehicle control device uses the user-selected starting location as the vehicle's initial location. In other application scenarios, after the user activates autonomous driving, the vehicle control device may obtain the vehicle's location at the time of activation through a positioning system and use this location as the vehicle's initial location. The parking destination may include, but is not limited to, a user-defined location or may be obtained through intelligent detection. In some application scenarios, the user may select the vehicle's destination and use this location as the parking destination. In other application scenarios, the vehicle control device may also intelligently detect the surrounding environment and determine the optimal parking destination. For example, after the vehicle enters a garage, the vehicle control device may detect the surrounding environment to determine the optimal parking space and determine this space as the parking destination. In response to receiving the user's automatic parking instruction, the first parking path is planned based on the vehicle's initial location and the parking destination.

[0030] In some embodiments, after receiving the user's automatic parking command, the working status of the intelligent control module (Autonomous Driving Domain Controller, ADC), steering module (Electric Power Steering, EPS), vehicle control module (VCU), parking module (Electronic Parking Brake, EPB), drive module (Motor Control Unit, MCU) and brake module (Integrated Brake Controller, IBC) is obtained; when the working status representation of the intelligent control module, steering module, vehicle control module, parking module, drive module and brake module is normal, a handshake relationship is established between the intelligent control module and the steering module, vehicle control module, parking module, drive module and brake module. The handshake logic of each module can be that the VCU, MCU, EPS, IBC, EPB sends a signal ready status to the ADC, indicating that each controller is normal and in the ready state, and the RPA state machine of the ADC is normal and has no errors, and the ADC establishes a handshake process with each controller. It should be noted that in the embodiment of the present application, the RPA in the ADC can control other modules to complete the parking process.

[0031] Parking is the process of parking a vehicle in a pre-set parking space. Parking is a complex process that involves constantly moving the vehicle forward, turning, and backing up to ensure it fits smoothly into the parking space.

[0032] The parking module activates or deactivates the vehicle's auxiliary brake (commonly known as the parking brake) to prevent the vehicle from rolling away. The brake module controls the vehicle's pedals to slow or stop the vehicle. When the parking brake is engaged, the vehicle can be held stationary without using the pedals.

[0033] Current operating conditions refer to the vehicle's current driving status, including but not limited to vehicle motion information and navigation conditions. During driving, the vehicle control device detects the vehicle's current operating conditions in real time and controls the vehicle accordingly, including but not limited to forward, reverse, braking, parking, and steering.

[0034] A parking request refers to a need for the vehicle to park to prevent, for example, a vehicle safety accident. In some embodiments, the parking request can be a requirement that the vehicle be parked for longer than a preset parking time, or a requirement that the slope of the road on which the vehicle is traveling is greater than a first preset slope and the vehicle is stopped on the road. To prevent the vehicle from rolling away, the vehicle can be parked.

[0035] After receiving a user's automatic parking command, the vehicle control device determines that each module is in a normal state and ready for operation, then determines a first parking path for the vehicle based on the vehicle's initial position and the parking destination. The vehicle is controlled to move along the first parking path. During the process of parking along the first parking path, the status of each module is monitored in real time. If a parking module failure is detected, and the vehicle's current operating conditions meet the parking requirements, the vehicle is parked using the braking module until the parking requirements are no longer met. After the parking requirements are no longer met, the vehicle continues to move forward. If the vehicle's current operating conditions meet the parking requirements, the vehicle is parked using the braking module until the first parking path is completed. The parking module failure may be determined when a failure status signal is actively sent by the parking module, or when the intelligent control module cannot receive status information from the parking module or communication is lost.

[0036] S120: During the parking process of the vehicle in the acquired first parking path, if it is detected that the parking module fails and the current operating condition of the vehicle meets the parking requirement, the braking module and the driving module are controlled to alternately park the vehicle until the parking requirement is no longer met.

[0037] It is understood that steps S110 and S120 are two different embodiments for implementing parking when the parking module of the vehicle fails and the current operating conditions of the vehicle meet the parking requirements. Therefore, there is no order in which steps S110 and S120 may be used, and either step S110 or step S120 may be used.

[0038] In step S120, the vehicle control device controls the braking module and the driving module to alternately park the vehicle until the parking requirement is no longer met. Thus, the two modules work together alternately to avoid overheating or fatigue of a single system.

[0039] In addition, the vehicle control method of the embodiment of the present application can also be applied to other automatic driving scenarios besides automatic parking.

[0040] As can be seen, during the vehicle's parking process along the first acquired parking path, the vehicle control method of the present embodiment, if it detects that the parking module has failed and the vehicle's current operating conditions meet the parking requirements, controls the brake module to park the vehicle until the parking requirements are no longer met; alternatively, controls the brake module and drive module to alternately park the vehicle until the parking requirements are no longer met. This eliminates the need for a backup parking system when the parking module fails, and allows the vehicle to be parked using the vehicle's existing brake and drive modules, ensuring driving safety at a low cost.

[0041] Furthermore, upon detecting a parking module failure, the vehicle control device performs a safety check on the parking endpoint in the first parking path to ensure the vehicle can safely park without the parking module. If a parking module failure is detected and the parking endpoint in the first parking path meets preset requirements, the device replans the path based on the vehicle's current position to obtain a second parking path. The vehicle is then controlled to follow the second parking path. If the vehicle's current operating condition meets the parking requirements, the device controls the braking module to park the vehicle until the requirements are no longer met. Alternatively, the device controls the braking module and the driving module to alternately park the vehicle until the requirements are no longer met. This ensures the stability of the vehicle's final parking position and prevents accidents.

[0042] The preset requirement for the parking destination in the first parking path can be a location where the vehicle is prone to rolling away. In practice, a vehicle parked on a steep slope is prone to rolling away. Therefore, in response to detecting a parking module failure and the road slope corresponding to the parking destination of the first parking path being greater than a first preset slope value, a target parking destination is re-determined based on the vehicle's current location, where the road slope corresponding to the target parking destination is less than a second preset slope value, and the first preset slope value is greater than the second preset slope value. Path planning is then performed based on the current location and the target parking destination to obtain a parking path. This prevents the vehicle from being parked on a steep road slope in the event of a parking module failure, thereby ensuring vehicle safety.

[0043] The road slope value corresponding to the parking destination is used to indicate the steepness of the road. For example, the road slope value is typically the ratio of the vertical height of the slope to its horizontal distance, the slope of the parking destination in the world coordinate system, or the angle between the slope and the horizontal plane. In this embodiment, a larger road slope value indicates a steeper road, and vice versa.

[0044] The first preset slope value can be set based on experience. For example, if the road slope is determined by an angle, the first preset slope value can be set to any value between 25° and 45°. If the road slope corresponding to the parking destination is greater than the first preset slope value, it indicates that the road is steep and the vehicle is prone to rolling, making it unsuitable for parking at this location.

[0045] The second preset slope value is less than the first preset slope value and can also be set based on experience. As an example, if the road slope is determined by an angle, the second preset slope value can be set to any value between 0° and 20°. If the road slope corresponding to the parking destination is less than the second preset slope value, it indicates that the road is relatively flat and the vehicle is unlikely to roll.

[0046] Therefore, after the parking module fails, if the road slope value corresponding to the vehicle's first target position is greater than the first preset slope value, it is necessary to re-determine a target parking destination with a road slope value less than the second preset slope value, and perform path planning based on the vehicle's current position and the target parking destination to obtain a second parking path so that the vehicle can be parked safely.

[0047] After detecting a parking module failure, the vehicle control device determines whether the parking end point in the first parking path meets preset requirements. If so, the path is replanned to obtain a second parking path and the vehicle is controlled to move along the second parking path. If not, the vehicle is continued to move along the first parking path.

[0048] When the vehicle moves along the first parking path or the second parking path, it is detected in real time whether the current working condition of the vehicle meets the parking requirements. If so, the vehicle is parked by alternating control of the braking module or the braking module and the driving module.

[0049] The step of alternately controlling the vehicle parking by the brake module and the drive module may include: controlling the brake module to park the vehicle; and, in response to the brake module's parking time reaching a first preset time, controlling the drive module to park the vehicle until the parking requirement is no longer met. Thus, after the brake module has operated for a period of time, the drive module switches to operation, thereby preventing the brake module from overheating due to fatigue.

[0050] The first preset time can be pre-calibrated, for example, 5 minutes, 6 minutes, etc. It should be noted that if the time from when the vehicle meets the parking requirement to when it does not meet the parking requirement is less than the first preset time, the vehicle can be temporarily parked directly by the braking module without switching to the driving module.

[0051] After this, the vehicle control device controls the drive module to park the vehicle. In response to the drive module's parking time reaching a second preset time, the vehicle control device controls the brake module to park the vehicle until the parking requirement is no longer met. This prevents the drive module from overheating due to fatigue by switching to the brake module after the drive module has operated for a period of time.

[0052] The second preset time can also be pre-calibrated, for example, 2 minutes, 3 minutes, etc. Similarly, if the parking time of the vehicle is greater than the first preset time and less than the sum of the first preset time and the second preset time, the braking module can be used to park the vehicle first, and then the driving module can be switched to park the vehicle. After that, no further switching is performed and the next working condition operation is performed.

[0053] In other embodiments, in addition to alternate control based on a time period, the need for switching can also be determined based on the temperature of the brake controller in the brake module and the drive controller in the drive module. When the temperature exceeds a preset temperature value, the other module is switched to perform parking.

[0054] Specifically, when the vehicle control device controls the brake module to park, it can request the hydraulic brake to lock the wheels. When the vehicle control device controls the drive module to park, it can control the motor speed of the drive module to a preset speed to control the vehicle to maintain the parked state.

[0055] As an example, when the vehicle control device is performing parking control, the braking module first locks the wheels through hydraulic braking after slope compensation to ensure that the vehicle stops quickly and smoothly; after the braking module controls the first preset time, the vehicle control module calculates the stall torque according to the road slope value, and sends the motor speed to the drive module at the preset speed to perform motor stall parking and keep the vehicle stationary. The preset speed can be 0, and the hydraulic pressure is released during this period; after the second preset time, it switches back to the braking module until the current working condition of the vehicle no longer meets the parking requirements.

[0056] Furthermore, the vehicle control device detects the vehicle's current operating condition in real time during driving to determine what operation the vehicle needs to perform based on the vehicle's current operating condition. The parking requirement is primarily determined based on the vehicle's navigation road condition during the current operating condition. If the vehicle's navigation road condition indicates road congestion and a road slope greater than a first preset slope value, the vehicle's current operating condition is determined to meet the parking requirement. The braking module is controlled to park the vehicle until the parking requirement is no longer met. Alternatively, the braking module and the driving module are controlled to alternately park the vehicle until the parking requirement is no longer met.

[0057] As can be seen, the parking requirement in this embodiment is that the road is congested and the road slope is greater than the first preset slope value. Road congestion means that the vehicle cannot continue to move forward due to heavy traffic ahead of the vehicle. In other words, the vehicle is stopped on a road with a slope greater than the first preset slope value due to stopped vehicles in front and behind it. In this case, parking is required to prevent the vehicle from sliding down the slope.

[0058] In other application scenarios, the parking requirement may also be that the vehicle's stopping time is greater than a preset stopping time and the road slope at the stopping location is greater than a preset road slope, that is, the vehicle is parked on a slope, regardless of the reason. It is understood that the parking requirement is provided herein as an example only and may be determined based on actual application scenarios.

[0059] In order to elaborate on the vehicle control method of the present application, further description is given as follows:

[0060] See also Figure 2 The vehicle control device includes an intelligent control module ADC, a steering module EPS, a vehicle control module VCU, a parking module EPB, a drive module MCU and a brake module IBC. The intelligent control module is communicatively connected with the vehicle control module, the brake module, the parking module and the steering module. The brake module is communicatively connected with the parking module, and the vehicle control module is communicatively connected with the drive module. The specific steps include:

[0061] Handshake: The VCU, MCU, EPS, IBC, and EPB send a ready status signal to the ADC, indicating that all modules are normal and in the ready state, and the ADC's RPA state machine is normal and has no errors. The ADC establishes a handshake process with each module.

[0062] When the vehicle is parking along the first parking path it has acquired, it must first be controlled to start from the initial position. The starting process includes: the vehicle control device (which can be the RPA) sends a speed control command Vx to the VCU. The VCU converts the Vx signal into a motor speed control signal through the motor and sends a start request and speed command to the MCU. Simultaneously, the RPA sends a release command Rel to the IBC / EPB. The IBC hydraulic pressure is released or the EPB caliper is released. The specific parameters are achieved through calibration.

[0063] The vehicle speed then needs to be determined in real time based on the vehicle's current operating conditions, and the vehicle is controlled to move at the determined speed. Speed ​​control involves the RPA sending a speed control command Vx to the VCU. The VCU converts the motor speed into a motor speed control signal vx and sends a request speed command to the MCU, controlling the vehicle to move at a certain speed.

[0064] Controlling the vehicle to steer in a certain direction based on the vehicle's current operating conditions. Steering control includes: Simultaneously with or after the launch control command, the RPA sends a steering signal to the EPS to achieve vehicle steering.

[0065] When the vehicle's current operating conditions meet the parking requirements, the vehicle needs to be parked. Parking control includes: when parking is required, the RPA sends a speed control command Vx=0 to the VCU, and the vehicle speed is reduced to 0; the vehicle is stationary for a certain time (calibrated value), and then requests the IBC to hydraulically clamp the vehicle to achieve hydraulic parking. After exceeding 30 seconds (calibrated value), the IBC requests the EPB to clamp the rear caliper;

[0066] When the vehicle's current operating conditions meet the parking requirements, the vehicle needs to be controlled to stop. The parking control includes: when the remote parking control needs to be ended, the RPA sends a speed control instruction Vx=0 to the VCU, the vehicle speed is 0, and after the vehicle enters a stationary state, it requests the EPB to clamp to achieve parking.

[0067] Special operating conditions for EPB failures: This solution uses a single EPB and lacks a redundant parking control strategy. If the EPB fails to park, a failure status signal is sent to the vehicle control unit. If the ADC fails to receive the EPB status or communication is lost, the IBC and MCU are controlled to alternately park the vehicle until parking requirements are no longer met. This prevents the vehicle from rolling down a slope and keeps it in a safe area on a flat road, preventing accidents.

[0068] Therefore, when the EPB fails, parking control is not interrupted immediately. By alternately using the IBC and MCU to temporarily stop the vehicle, the RPA can continue to control the vehicle's movement and eventually park it in a level parking space without a slope. At the same time, the owner or driver is notified remotely to repair the main parking plan and the risk of being unable to park is reminded.

[0069] See also Figure 3 , Figure 3 is a schematic diagram of the structure of an exemplary embodiment of a vehicle control device illustrated in the present application. The vehicle control device 300 further includes a first control module 310 and a second control module 320. The first control module 310 is configured to, while the vehicle is parking in the first parking path acquired, control the brake module to park the vehicle until the parking requirement is no longer met if the parking module is detected to have failed and the vehicle's current operating conditions meet the parking requirement. The second control module 320 is configured to, while the vehicle is parking in the first parking path acquired, control the brake module and the drive module to alternately park the vehicle until the parking requirement is no longer met if the parking module is detected to have failed and the vehicle's current operating conditions meet the parking requirement.

[0070] In the above solution, while the vehicle is parking along the first parking path, if the vehicle control device detects that the parking module has failed and the vehicle's current operating conditions meet the parking requirements, it controls the brake module to park the vehicle until the parking requirements are no longer met; alternatively, it controls the brake module and drive module to alternately park the vehicle until the parking requirements are no longer met. This eliminates the need for a backup parking system in the event of a parking module failure, allowing the vehicle to be parked using the vehicle's existing brake and drive modules, ensuring safe driving at a low cost.

[0071] Among them, the functions of each module can be found in the vehicle control method embodiment and will not be repeated here.

[0072] In order to implement the vehicle control method of the above embodiment, this application proposes another electronic device, please refer to Figure 4 , Figure 4 It is a structural diagram of an embodiment of an electronic device provided by this application.

[0073] The electronic device 400 includes a memory 410 and a processor 420 , wherein the memory 410 and the processor 420 are coupled.

[0074] The memory 410 is used to store program data, and the processor 420 is used to execute the program data to implement the vehicle control method of the above embodiment.

[0075] In this embodiment, the processor 420 may also be referred to as a CPU (Central Processing Unit). The processor 420 may be an integrated circuit chip having signal processing capabilities. The processor 420 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor, or the processor 420 may be any conventional processor.

[0076] This application also provides a computer-readable storage medium, such as Figure 5 As shown, the computer-readable storage medium 500 is used to store program data 510. When the program data 510 is executed by the processor, it is used to implement the vehicle control method in the method embodiment of the present application.

[0077] The method involved in the embodiment of the vehicle control method of the present application, when implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0078] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle control method is applied to a vehicle control device, the vehicle control device including a parking module, a driving module and a braking module, and the vehicle control method includes: During the parking process of the vehicle in the acquired first parking path, if it is detected that the parking module fails to park and the current operating condition of the vehicle meets the parking requirement, the braking module is controlled to park the vehicle until the parking requirement is no longer met; or The braking module and the driving module are controlled to alternately park the vehicle until the parking requirement is no longer met.

2. The vehicle control method according to claim 1, characterized in that: The method further comprises: If it is detected that the parking module fails to park and the parking end point in the first parking path meets the preset requirements, re-planning the path according to the current position of the vehicle to obtain a second parking path; controlling the vehicle to move along the second parking path; In response to detecting that the current operating condition of the vehicle satisfies the parking requirement, controlling the braking module to park the vehicle until the parking requirement is no longer satisfied; or The braking module and the driving module are controlled to alternately park the vehicle until the parking requirement is no longer met.

3. The vehicle control method according to claim 1 or 2, characterized in that: The step of controlling the braking module and the driving module to alternately park the vehicle until the parking requirement is no longer met includes: controlling the brake module to park the vehicle; In response to the parking time of the braking module reaching a first preset time, the driving module is controlled to park the vehicle until the parking requirement is no longer met.

4. The vehicle control method according to claim 3, characterized in that: The step of controlling the driving module to park the vehicle until the parking requirement is no longer met includes: controlling the driving module to park the vehicle; In response to the parking time of the driving module reaching a second preset time, the braking module is controlled to park the vehicle until the parking requirement is no longer met.

5. The vehicle control method according to claim 4, characterized in that: The step of controlling the driving module to park the vehicle includes: The motor speed of the driving module is controlled to be a preset speed to control the vehicle to maintain a parking state.

6. The vehicle control method according to claim 2, characterized in that: If it is detected that the parking module has failed to park and the parking end point in the first parking path meets a preset requirement, replanning the path according to the parking end point in the first parking path and the current position of the vehicle to obtain a second parking path includes: In response to detecting that the parking module has failed to park and a road slope value corresponding to a parking end point of the first parking path is greater than a first preset slope value, re-determining a target parking end point based on the current position of the vehicle, the road slope value corresponding to the target parking end point being less than a second preset slope value, and the first preset slope value being greater than the second preset slope value; Path planning is performed according to the current position and the target parking destination to obtain the second parking path.

7. The vehicle control method according to claim 1, characterized in that: The current operating condition includes the vehicle navigation road condition, and if it is detected that the parking module has failed to park and the current operating condition of the vehicle meets the parking requirement, the step of controlling the braking module to park the vehicle until the parking requirement is no longer met; or controlling the braking module and the driving module to alternately park the vehicle until the parking requirement is no longer met includes: In response to the vehicle navigation road condition indicating road congestion and a road slope value greater than a first preset slope value, determining that the current operating condition of the vehicle meets the parking requirement; The braking module is controlled to park the vehicle until the parking requirement is no longer met; or the braking module and the driving module are controlled to alternately park the vehicle until the parking requirement is no longer met.

8. A vehicle control device, characterized in that: The vehicle control device further includes: a first control module configured to, during a process of parking the vehicle in the acquired first parking path, control a braking module to park the vehicle until the parking requirement is no longer met if it is detected that a parking module fails to park and a current operating condition of the vehicle satisfies a parking requirement; The second control module is configured to, during a parking process of the vehicle in the acquired first parking path, control the braking module and the driving module to alternately park the vehicle until the parking requirement is no longer met if it is detected that the parking module has failed and the current operating condition of the vehicle meets the parking requirement.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores program instructions, and the processor calls the program instructions from the memory to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that include: Program data is stored, and when the program data is executed by a processor, it is used to implement the method according to any one of claims 1 to 7.

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