Vehicle control method, storage medium, electronic device and program product

Abstract

The invention relates to the technical field of auxiliary driving, and discloses a vehicle control method, a storage medium, electronic equipment and a program product. According to the method, a motor brake, a hydraulic brake and an electronic caliper brake in a first vehicle are used for mutual backup, and the motor brake serves as a main brake; the hydraulic brake and the electronic caliper brake are used as backup brakes; when it is detected that the motor brake has no fault, the first vehicle is controlled to be parked through the motor brake corresponding to the main brake; when the fault of the motor brake is detected, the first vehicle is controlled to be parked or braked through the hydraulic brake and / or the electronic caliper brake corresponding to the backup brake, the situation that the first vehicle continues to use the main brake for auxiliary parking when the main brake breaks down is avoided, and the safety of the first vehicle in the parking process is ensured.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving technology, and in particular to a vehicle control method, storage medium, electronic equipment, and program product. Background Art

[0002] In the prior art, assisted driving technology generally controls the vehicle to perform assisted parking by generating braking torque through a driving motor.

[0003] However, assisted parking by driving the motor alone may not meet the parking needs of the vehicle. For example, assisted parking cannot be achieved when the motor fails, or the vehicle cannot be stopped in time by motor braking when an unexpected situation occurs. Summary of the Invention

[0004] Embodiments of the present invention provide a vehicle control method, a storage medium, an electronic device, and a program product.

[0005] In a first aspect, the present invention provides a vehicle control method, which is applied to an electronic device, and the method includes: detecting a parking instruction corresponding to a first vehicle, the parking instruction being used to instruct the first vehicle to park in a target parking position; determining the brake status of the first vehicle; when it is determined that the brake status indicates that the first brake in the first vehicle is not faulty, sending a first braking instruction to the first brake, wherein the first braking instruction is used to instruct the first brake to generate a first braking force, and the first brake is a motor brake; when it is determined that the brake status indicates that the first brake in the first vehicle is faulty, sending a second braking instruction to the second brake and / or third brake of the first vehicle, wherein the second braking instruction is used to instruct the second brake to generate a second braking force, and / or the second braking instruction is used to instruct the third brake to generate a third braking force, the second brake is a hydraulic brake, and the third brake is an electronic caliper brake.

[0006] In an embodiment of the present invention, the present application utilizes the motor brake, hydraulic brake and electronic caliper brake in the first vehicle for mutual backup, with the motor brake as the main brake and the hydraulic brake and electronic caliper brake as backup brakes; when it is detected that the motor brake is not faulty, the first vehicle is controlled to park by the motor brake corresponding to the main brake; when it is detected that the motor brake fails, the first vehicle is controlled to park or stop by the hydraulic brake and / or electronic caliper brake corresponding to the backup brake, so as to avoid the first vehicle continuing to use the main brake for auxiliary parking when the main brake fails, thereby ensuring the safety of the first vehicle during the parking process.

[0007] In a possible implementation of the first aspect above, when it is determined that the brake state indicates that the first brake in the first vehicle is not faulty, a first braking instruction is sent to the first brake, including: obtaining first braking data of the first vehicle in a first braking environment, wherein the first braking data includes at least one of the following: a braking initial position, a braking end position, a braking direction, a braking obstacle position, and a braking road surface condition; obtaining a first speed of the first vehicle; and generating a first braking instruction corresponding to a first braking force based on the first braking data and the first speed.

[0008] In a possible implementation of the first aspect above, after sending the first braking instruction to the first brake, the method further includes: detecting that the first braking force does not meet the braking condition of the first vehicle; and sending a second braking instruction to the second brake and / or the third brake.

[0009] In a possible implementation of the first aspect above, the braking condition includes at least one of the following: a speed of the first vehicle is greater than a preset first threshold; and the first braking force is less than a preset second threshold.

[0010] In a possible implementation of the first aspect above, when it is determined that the brake status indicates a first brake failure in the first vehicle, a second braking instruction is sent to the second brake and / or the third brake, including: sending a first prompt message to the first vehicle, wherein the first prompt message is used to indicate a brake failure.

[0011] In a possible implementation of the first aspect, the method further includes: detecting that the first vehicle reaches the target parking position; and sending a second braking instruction to the second brake and / or the third brake.

[0012] In a second aspect, the present invention provides a vehicle control device, which is applied to an electronic device, and the device includes: a detection module, which is used to detect a parking instruction corresponding to a first vehicle, the parking instruction is used to instruct the first vehicle to park in a target parking position; a determination module, which is used to determine the brake status of the first vehicle; a sending module, which is used to send a first braking instruction to the first brake when it is determined that the brake status indicates that the first brake in the first vehicle is not faulty, wherein the first braking instruction is used to instruct the first brake to generate a first braking force, and the first brake is a motor brake; the sending module is also used to send a second braking instruction to the second brake and / or third brake of the first vehicle when it is determined that the brake status indicates that the first brake in the first vehicle is faulty, wherein the second braking instruction is used to instruct the second brake to generate a second braking force, and / or the second braking instruction is used to instruct the third brake to generate a third braking force, the second brake is a hydraulic brake, and the third brake is an electronic caliper brake.

[0013] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having instructions stored thereon, which, when executed on an electronic device, enables the electronic device to implement any one of the vehicle control methods provided by the first aspect and various possible implementations of the first aspect.

[0014] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: a memory for storing instructions executed by one or more processors of the electronic device; and a processor, which is one of the processors of the electronic device, for executing the instructions stored in the memory to implement any one of the vehicle control methods provided by the above-mentioned first aspect and various possible implementations of the above-mentioned first aspect.

[0015] In a fifth aspect, an embodiment of the present invention provides a program product, which includes instructions. When the instructions are executed by an electronic device, the electronic device can implement any vehicle control method provided by the first aspect and various possible implementations of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 According to some embodiments of the present invention, a flow chart of a vehicle control method is shown;

[0017] Figure 2 According to some embodiments of the present invention, a control flow diagram is shown;

[0018] Figure 3 According to some embodiments of the present invention, another control flow diagram is shown;

[0019] Figure 4 According to some embodiments of the present invention, a module diagram of a vehicle control device 40 is shown;

[0020] Figure 5 According to some embodiments of the present invention, a schematic structural diagram of an electronic device 100 is shown. DETAILED DESCRIPTION

[0021] Illustrative embodiments of the present invention include, but are not limited to, a vehicle control method, a storage medium, an electronic device, and a program product.

[0022] The technical solution of the present invention is described below with reference to the accompanying drawings.

[0023] As mentioned above, in existing assisted driving technologies, assisted parking using only the drive motor may not meet the parking needs of the vehicle.

[0024] To this end, the present invention proposes a vehicle control method, in which the execution subject of the method is an electronic device, and the electronic device is used to perform parking control on a first vehicle. The electronic device can be built-in or external to the first vehicle, and there is no specific limitation. Specifically, the vehicle control method includes: detecting a parking instruction corresponding to the first vehicle, the parking instruction is used to instruct the first vehicle to park in a target parking position; determining the brake status of the first vehicle; when it is determined that the brake status indicates that the first brake in the first vehicle is not faulty, sending a first braking instruction to the first brake, wherein the first braking instruction is used to instruct the first brake to generate a first braking force, and the first brake is a motor brake; when it is determined that the brake status indicates that the first brake in the first vehicle is faulty, sending a second braking instruction to the second brake and / or third brake of the first vehicle, wherein the second braking instruction is used to instruct the second brake to generate a second braking force, and / or the second braking instruction is used to instruct the third brake to generate a third braking force, the second brake is a hydraulic brake, and the third brake is an electronic caliper brake.

[0025] It can be understood that the present application utilizes the motor brake, hydraulic brake and electronic caliper brake in the first vehicle for mutual backup, with the motor brake as the main brake and the hydraulic brake and electronic caliper brake as backup brakes; when it is detected that the motor brake is not faulty, the first vehicle is controlled to park by the motor brake corresponding to the main brake; when it is detected that the motor brake fails, the first vehicle is controlled to park or stop by the hydraulic brake and / or electronic caliper brake corresponding to the backup brake, so as to avoid the first vehicle continuing to use the main brake for auxiliary parking when the main brake fails, thereby ensuring the safety of the first vehicle during the parking process.

[0026] For example, Figure 1 According to some embodiments of the present application, a flow chart of a vehicle control method is shown. It can be understood that Figure 1 The execution subjects of each step of the process shown are all electronic devices. Figure 1 The execution entities of each step will not be described repeatedly in the steps of the process shown. Figure 1 As shown, the process includes:

[0027] S11: A parking instruction corresponding to a first vehicle is detected.

[0028] In some embodiments, the electronic device may detect a parking instruction corresponding to the first vehicle through a user instruction; for example, while riding in or driving the first vehicle, the user may instruct the first vehicle to park through voice input or by clicking a button. When the electronic device detects the user's operation of instructing the first vehicle to park, the parking instruction corresponding to the first vehicle is detected. In other embodiments, the electronic device may also detect a parking instruction corresponding to the first vehicle through location recognition; for example, when the first vehicle enters a parking lot, the electronic device may detect a parking instruction corresponding to the first vehicle based on the first vehicle's location information.

[0029] For example, the electronic device may also detect the parking instruction in other ways, such as identifying the surrounding environment of the first vehicle through sensors such as cameras and radars to determine whether it is a parking environment, and detecting the parking environment when it is determined to be a parking environment, etc., without specific limitation.

[0030] In some embodiments, the parking instruction is used to instruct the first vehicle to park in a target parking location. For example, the target parking location can be a user-specified parking location, or it can be a parking location identified by the electronic device based on parking space dividers in the first vehicle's surroundings. This is not limited to specific details.

[0031] S12: Determine the brake status of the first vehicle.

[0032] In some embodiments, the brake status of the first vehicle includes at least the status of the first brake, the second brake, and the third brake of the first vehicle. The first brake is a motor brake, the second brake is a hydraulic brake, and the third brake is an electronic caliper brake. In other embodiments, the brake status of the first vehicle may also include the status of other brakes in the first vehicle, such as a pneumatic brake, a parking brake, etc., without limitation.

[0033] For example, after detecting the parking instruction corresponding to the first vehicle, the electronic device sends a status detection instruction to the first brake, the second brake and the third brake; after receiving the status detection instruction, the first brake, the second brake and the third brake respectively perform fault detection on each component in their respective brakes, such as chips, motors, rotors, pumps, valves, pistons, etc., and return the results of the fault detection to the electronic device.

[0034] For example, after receiving a status detection command, the first brake performs fault detection on its components, including the chip, motor, rotor, pump, valve, and piston. If the first brake determines that each component can normally respond to the braking request and generate braking torque, it determines that there is no fault and returns this result to the electronic device. If the first brake determines that at least one component cannot respond to the braking request or generate braking torque, it determines that there is a fault and returns this result to the electronic device. The status detection process for the second and third brakes is similar and will not be detailed here.

[0035] S13: When it is determined that the brake state indicates that the first brake in the first vehicle is not faulty, a first braking instruction is sent to the first brake, wherein the first braking instruction is used to instruct the first brake to generate a first braking force.

[0036] In some embodiments, when it is determined that the brake status indicates that the first brake in the first vehicle is not faulty, a first braking instruction is sent to the first brake, including: the electronic device can obtain first braking data of the first vehicle in a first braking environment, and the first speed of the first vehicle; further, the electronic device generates a first braking instruction corresponding to the first braking force based on the first braking data and the first speed.

[0037] Illustratively, the first braking data includes at least one of the following: an initial braking position, an end braking position, a braking direction, a braking obstacle position, and braking road conditions. For example, the electronic device may acquire the first braking data via sensors such as radar and cameras. The end braking position may be a target parking position or a position determined based on the position of the braking obstacle, without limitation.

[0038] Exemplarily, the first speed includes at least one of the following: real-time speed, maximum speed, real-time acceleration, real-time deceleration, maximum acceleration, maximum deceleration, etc.; for example, the electronic device can obtain the first speed through a speed sensor.

[0039] In some embodiments, the electronic device can determine the target deceleration of the first vehicle to reach the braking termination position based on the first braking data and the first speed, and determine the required braking torque of the first vehicle in combination with the current real-time deceleration of the first vehicle, and send a first braking instruction to the first controller based on the determined braking torque to instruct the first brake to actively reverse and generate braking torque to generate a first braking force for the first vehicle.

[0040] S14: In response to determining that the brake status indicates a first brake failure in the first vehicle, sending a second brake instruction to a second brake and / or a third brake of the first vehicle. The second brake instruction is configured to instruct the second brake to generate a second brake force, and / or the second brake instruction is configured to instruct the third brake to generate a third brake force.

[0041] In some embodiments, in response to determining that the brake status indicates a first brake failure in the first vehicle, the electronic device determines that the auxiliary parking function of the first vehicle is unable to operate normally. In this case, the electronic device sends a second brake instruction to a second brake and / or a third brake of the first vehicle to control the first vehicle to stop by generating a second brake force by the second brake and / or generating a third brake force by the third brake, so as to ensure that the first vehicle stops the auxiliary parking when the first brake (main brake) fails, thereby ensuring the safety of the auxiliary driving of the first vehicle.

[0042] In some embodiments, in response to determining that the brake status indicates a first brake failure in the first vehicle, sending a second brake instruction to a second brake and / or a third brake of the first vehicle includes: sending a first prompt information to the first vehicle, and prompting the user to brake failure through the first prompt information. The user can perform vehicle maintenance or manual parking according to the first prompt information.

[0043] In some embodiments, in flow S13, after sending the first brake instruction to the first brake, when the electronic device detects that the first brake force does not meet the brake condition of the first vehicle, the electronic device sends a second brake instruction to the second brake and / or the third brake. Exemplarily, the brake condition includes at least one of the following: the speed of the first vehicle is greater than a preset first threshold, and the first brake force is less than a preset second threshold.

[0044] It can be understood that the first brake force not meeting the brake condition of the first vehicle indicates that the auxiliary parking function of the first vehicle cannot meet the current parking demand of the first vehicle. The electronic device sends a second brake instruction to the second brake and / or the third brake to control the first vehicle to stop, so as to ensure that the first vehicle stops the auxiliary parking when the auxiliary parking function cannot meet the current parking demand of the first vehicle, thereby ensuring the safety of the auxiliary driving of the first vehicle.

[0045] In some embodiments, the electronic device detects that the first vehicle reaches a target parking position, and sends a second brake instruction to the second brake and / or the third brake to control the first vehicle to safely park at the target parking position.

[0046] In some embodiments, the electronic device can be an auxiliary parking upper controller in the first vehicle, such as an automatic parking system (ADS). Hereinafter, the electronic device is referred to as an upper controller ADS.

[0047] Figure 2 According to some embodiments of the present application, a control flow chart is shown.

[0048] In some embodiments, as Figure 2 As shown, the upper-level controller ADS sends a brake control command to the main brake (motor brake). If the upper-level controller determines that the main brake has not reported a fault and that insufficient braking has not been detected by the upper-level controller, the main brake is responding normally (main brake is in normal working state). At this point, the main brake is activated to complete assisted parking. The detailed process can be found in the description of the aforementioned processes S11, S12, and S13 and is not detailed here.

[0049] In other embodiments, Figure 2 As shown, the upper-level controller ADS sends a brake control command to the main brake (motor brake). If it determines that the main brake has not reported a fault and the upper-level controller does not detect a negative result for insufficient braking, indicating that the main brake is not responding normally (main brake abnormality), the upper-level controller simultaneously sends a brake control command to the backup brakes (hydraulic brake and electronic caliper brake) to call the backup brakes to stop the vehicle, prompt a warning message, and exit assisted parking. The detailed process can be found in the description of the aforementioned processes S11, S12, and S14 and is not repeated here.

[0050] Figure 3 According to some embodiments of the present application, another control flow chart is shown.

[0051] In some embodiments, as Figure 3 As shown, in the scenario where the main brake is in normal operation, the upper-level controller ADS sends a brake control command to the main controller (Motor) to assist in parking the entire vehicle (e.g., the first vehicle) using the main brake. The detailed process can be found in the description of the aforementioned processes S11, S12, and S13 and is not further elaborated here.

[0052] In other embodiments, Figure 3 As shown, in the scenario where the backup brake is activated when the primary brake fails, the upper-level controller ADS sends a brake control command to the primary controller's motor. If it detects a motor failure or identifies insufficient braking, the upper-level controller ADS simultaneously sends brake control commands to backup controller A (hydraulic brake system) and backup controller B (electronic caliper), enabling assisted parking of the entire vehicle (e.g., the first vehicle) through backup controllers A and B. The detailed process can be found in the descriptions of the aforementioned processes S11, S12, and S14 and is not detailed here.

[0053] Figure 4 According to some embodiments of the present application, a module diagram of the vehicle control apparatus 40 is shown. As shown, the vehicle control apparatus 40 comprises a detecting module 41, a determining module 42 and a sending module 43. Figure 4

[0054] Exemplarily, the detecting module 41 is configured to detect a parking instruction corresponding to the first vehicle, the parking instruction being used to instruct the first vehicle to park into a target parking position. The detailed process can be referred to the description of the foregoing flow S11, which is not described here.

[0055] Exemplarily, the determining module 42 is configured to determine a brake state of the first vehicle. The detailed process can be referred to the description of the foregoing flow S12, which is not described here.

[0056] Exemplarily, the sending module 43 is configured to send a first brake instruction to a first brake of the first vehicle when it is determined that the brake state indicates that the first brake in the first vehicle is fault-free, wherein the first brake instruction is used to instruct the first brake, the first brake being a motor brake; and the sending module 43 is further configured to send a second brake instruction to a second brake and / or a third brake of the first vehicle when it is determined that the brake state indicates that the first brake in the first vehicle is faulty, the second brake instruction being used to instruct the second brake to generate a second brake force, and / or the second brake instruction being used to instruct the third brake to generate a third brake force, the second brake being a hydraulic brake, and the third brake being an electronic caliper brake. The detailed process can be referred to the description of the foregoing flows S13 and S14, which is not described here.

[0057] To better implement the above-mentioned scheme of the embodiments of the present application, the related equipment for implementing the above-mentioned scheme is also provided below.

[0058] Exemplarily, Figure 5 According to some embodiments of the present application, a structural schematic diagram of an electronic device 100 is shown. It can be understood that the electronic device 100 can be other execution equipment deployed in the first vehicle for executing the flow, or can also be other execution equipment deployed outside the first vehicle for executing the flow, which is not limited in particular. Figure 1 Figure 1 As shown in FIG. 10, the electronic device 100 comprises a detecting module 101, a determining module 102 and a sending module 103.

[0059] Exemplarily, Figure 5 ​​As shown, the electronic device 100 includes: a processor 101, a communication interface 103 and a memory 102. Among them, the processor 101, the communication interface 103 and the memory 102 can be connected to each other through an internal bus 104, or communication can be achieved through other means such as wireless transmission. The embodiment of the present application takes the connection through the bus 104 as an example. The bus 104 can be a peripheral component interconnect express (PCIe) bus, or an extended industry standard architecture (EISA) bus, a unified bus (Ubus or UB), a computer express link (CXL), a cache coherent interconnect for accelerators (CCIX), etc. The bus 104 can be divided into an address bus, a data bus, a control bus, etc. In addition to the data bus, the bus 104 can also include a power bus, a control bus and a status signal bus. For the sake of clarity, various buses are labeled as buses 104 in the figure.

[0060] The processor 101 may be composed of at least one general-purpose processor, such as a central processing unit (CPU), or a combination of a CPU and a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. The processor 101 executes various types of digitally stored instructions, such as software or firmware programs stored in the memory 102, which enables the electronic device 100 to provide a variety of services.

[0061] The memory 102 may include a volatile memory, such as a random access memory (RAM); the memory 102 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the memory 102 may also include a combination of the above types.

[0062] The communication interface 103 can be a wired interface (such as an Ethernet interface), an internal interface (such as a PCIe bus interface), a wired interface (such as an Ethernet interface) or a wireless interface (such as a cellular network interface or a wireless local area network interface) for communicating with other devices or modules.

[0063] Need to explain, Figure 5 This is only one possible implementation of the embodiment of the present application. In actual applications, the electronic device 100 may also include more or fewer components, which will not be elaborated here.

[0064] In some embodiments, the embodiments of the present application further provide a computer-readable medium, which stores program code. When the computer program code runs on a computer, the computer executes the methods in the above aspects.

[0065] In some embodiments, the embodiments of the present application further provide a computer program product, which includes: computer program code, which enables the computer to execute the methods in the above aspects when the computer program code is run on a computer.

[0066] In the accompanying drawings, some structural or method features may be shown in a particular arrangement and / or order. However, it should be understood that such a particular arrangement and / or order may not be required. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of a structural or method feature in a particular figure does not imply that such feature is required in all embodiments, and in some embodiments, such features may not be included or may be combined with other features.

[0067] It should be noted that the various units / modules mentioned in the various device embodiments of the present invention are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or can be implemented as a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems raised by the present invention. In addition, in order to highlight the innovative part of the present invention, the above-mentioned device embodiments of the present invention do not introduce units / modules that are not closely related to solving the technical problems raised by the present invention. This does not mean that other units / modules do not exist in the above-mentioned device embodiments.

[0068] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "including a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0069] While the present invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention.

Claims

1. A vehicle control method, applied to an electronic device, characterized in that: include: detecting a parking instruction corresponding to a first vehicle, the parking instruction being used to instruct the first vehicle to park in a target parking position; determining a brake state of the first vehicle; When it is determined that the brake state indicates that a first brake in the first vehicle is not faulty, sending a first braking instruction to the first brake, wherein the first braking instruction is used to instruct the first brake to generate a first braking force, and the first brake is a motor brake; When it is determined that the brake status indicates a failure of the first brake in the first vehicle, a second braking instruction is sent to the second brake and / or the third brake of the first vehicle, wherein the second braking instruction is used to instruct the second brake to generate a second braking force, and / or the second braking instruction is used to instruct the third brake to generate a third braking force, the second brake is a hydraulic brake, and the third brake is an electronic caliper brake.

2. The method according to claim 1, characterized in that When determining that the brake state indicates that the first brake in the first vehicle is not faulty, sending a first braking instruction to the first brake includes: Acquiring first braking data of the first vehicle in a first braking environment, wherein the first braking data includes at least one of the following: a braking initial position, a braking end position, a braking direction, a braking obstacle position, and a braking road surface condition; obtaining a first speed of the first vehicle; The first braking instruction corresponding to the first braking force is generated according to the first braking data and the first speed.

3. The method according to claim 1, characterized in that After sending the first braking instruction to the first brake, the method further includes: detecting that the first braking force does not satisfy a braking condition of the first vehicle; A second braking command is sent to the second brake and / or the third brake.

4. The method according to claim 3, characterized in that The braking condition includes at least one of the following: The speed of the first vehicle is greater than a preset first threshold; The first braking force is less than a preset second threshold.

5. The method according to claim 1, wherein When determining that the brake state indicates a first brake failure in the first vehicle, sending a second braking instruction to the second brake and / or the third brake comprises: A first prompt message is sent to the first vehicle, wherein the first prompt message is used to indicate a brake failure.

6. The method according to claim 1, characterized in that The method further comprises: detecting that the first vehicle arrives at the target parking position; A second braking command is sent to the second brake and / or the third brake.

7. A vehicle control device, applied to an electronic device, characterized in that: The device comprises: a detection module, configured to detect a parking instruction corresponding to a first vehicle, wherein the parking instruction is configured to instruct the first vehicle to park in a target parking position; a determination module, configured to determine a brake state of the first vehicle; a sending module, configured to send a first braking instruction to a first brake in the first vehicle when it is determined that the brake state indicates that the first brake is not faulty, wherein the first braking instruction is used to instruct the first brake to generate a first braking force, and the first brake is a motor brake; The sending module is also used to send a second braking instruction to the second brake and / or third brake of the first vehicle when it is determined that the brake status indicates a failure of the first brake in the first vehicle, wherein the second braking instruction is used to instruct the second brake to generate a second braking force, and / or the second braking instruction is used to instruct the third brake to generate a third braking force, the second brake is a hydraulic brake, and the third brake is an electronic caliper brake.

8. A computer-readable storage medium, characterized in that The readable storage medium stores instructions, which, when executed on an electronic device, enable the electronic device to implement the method according to any one of claims 1 to 6.

9. An electronic device, characterized in that: include: a memory for storing instructions to be executed by one or more processors of the electronic device; and a processor, which is one of the processors of the electronic device, configured to execute instructions stored in the memory to implement the method according to any one of claims 1 to 6.

10. A program product, characterized in that The program product includes instructions, and when the instructions are executed on an electronic device, the electronic device implements the method according to any one of claims 1 to 6.

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