Parking assisting method and vehicle

Abstract

The invention relates to a parking assisting method and a vehicle, and is applied to the technical field of intelligent driving. The parking assisting method comprises the steps that when a parking assisting function is triggered, corresponding handshake requests can be sent to a whole vehicle control module and a brake control module, and after the two control modules respond successfully, a parking control request needing to execute parking control is sent to a target control module; and a parking release request needing to execute release control is sent to the electronic parking brake module, so that uncontrolled risks such as shifting and sliding of the vehicle are avoided, and the safety and stability of vehicle starting in an intelligent driving scene are improved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent driving technology, and in particular to a parking assistance method and vehicle. Background Technology

[0002] With the continuous development of automotive electronics technology, cars have gradually become the main means of transportation for people. Parking is a test of skill for every driver, and vehicle parking assistance functions are increasingly anticipated by consumers, while also placing higher safety requirements on these functions.

[0003] Currently, when parking assist functions perform parking control, advanced driver assistance systems typically only determine if either the vehicle control module or the brake control module has successfully completed a handshake before performing parking control and releasing the electronic parking brake. This may lead to uncontrollable risks such as the vehicle lurching or rolling away. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a parking assistance method and a vehicle.

[0005] A first aspect of this disclosure provides a parking assistance method, including: In response to the parking assist function being triggered, a first handshake request is sent to the vehicle control module, and a second handshake request is sent to the brake control module; In response to the first successful response of the vehicle control module to the first handshake request and the second successful response of the brake control module to the second handshake request, a parking control request and a parking release request are generated based on the real-time control data of the vehicle. The parking control request is sent to the target control module and the parking release request is sent to the electronic parking brake module. The parking control request is used to cause the target control module to perform the corresponding parking control, and the parking release request is used to cause the electronic parking brake module to perform the release control.

[0006] In some embodiments of this disclosure, the step of sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function includes: In response to the parking assist function being triggered, it is determined whether the function prerequisite, the status of the associated components, and the handshake prerequisite are normal. The function prerequisite includes the status of its own sensors, the status of the associated components includes the working status of at least one control module, and the handshake prerequisite includes the communication link status of at least one control module. The at least one control module includes the vehicle control module and the braking control module. In response to the normal function prerequisite, associated component status, and handshake prerequisite, the system sends the first handshake request to the vehicle control module and the second handshake request to the brake control module.

[0007] In some embodiments of this disclosure, before generating a parking control request based on real-time vehicle control data and sending the parking control request to the target control module in response to a first successful response from the vehicle control module to the first handshake request and a second successful response from the brake control module to the second handshake request, the method further includes: A vehicle control request is generated based on the real-time vehicle status and sent to the target control module. The vehicle control request is used to cause the target control module to perform a vehicle stop operation. The real-time vehicle status includes at least one of the current braking torque value, the current driving torque value, and the current gear status.

[0008] In some embodiments of this disclosure, generating parking control requests and parking release requests based on real-time vehicle control data includes: The real-time control data of the vehicle is acquired, including the vehicle's real-time status, functional requirements, and planned trajectory. Based on the real-time vehicle status, the functional requirements, and the planned trajectory, the parking control request and the parking release request are generated. The parking control request includes a braking torque value control request, a driving torque value control request, and a gear shifting control request. The step of sending the parking control request to the target control module and the parking release request to the electronic parking brake module includes: In response to the parking control request and the parking release request satisfying the preset control conditions of the target control module, the parking control request is sent to the target control module and the parking release request is sent to the electronic parking brake module.

[0009] In some embodiments of this disclosure, generating the parking control request and the parking release request based on the vehicle's real-time status, the functional requirements, and the planned trajectory includes: Parking control data is determined based on the vehicle's real-time status, functional requirements, and planned trajectory. The parking control data includes torque control data, gear shifting data, and parking control data. The parking control request and the parking release request are generated based on the torque control data, the gear shifting data, and the parking control data.

[0010] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function, the method further includes: In response to the first successful response from the vehicle control module to the first handshake request and the first failed response from the braking control module to the second handshake request, a deceleration and braking stop request is sent to the braking control module. In response to the electronic parking brake module not being in the clamped state and the braking speed being less than the preset speed, the brake control module and the vehicle control module are requested to perform pressure holding control to keep the vehicle stationary for a preset time. In response to detecting that the electronic parking brake module is in a clamped state and / or detecting driver intervention, or in response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time, exit the handshake request state; In response to the fact that the electronic parking brake module is not detected to be in the clamped state and / or no driver intervention operation is detected within the preset time, or in response to the timeout of the deceleration and braking request reply, the system continues to send parking gear switching requests to the transmission control module and parking clamping requests to the electronic parking brake module until the preset fixed time is met and then exits the handshake request state.

[0011] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function, the method further includes: In response to the second failure response of the vehicle control module to the first handshake request and the second success response of the braking control module to the second handshake request, a deceleration and braking request is sent to the braking control module. Send a parking gear switching request to the transmission control module and a parking clamping request to the electronic parking brake module; In response to a braking speed less than a preset speed and the electronic parking brake module being in a clamped state and / or the transmission control module switching to parking gear, the handshake request state is exited. In response to the timeout of the deceleration and braking request reply, the transmission of the gear shifting request and the parking clamping request continues until a preset fixed duration is met, after which the handshake request state is exited.

[0012] In some embodiments of this disclosure, after sending a parking shift request to the transmission control module and a parking clamping request to the electronic parking brake module, the method further includes: In response to a braking speed less than a preset speed but the electronic parking brake module is not in the clamped state and the transmission control module is not switched to parking gear, the brake control module and the vehicle control module are requested to perform pressure holding control to keep the vehicle stationary for a preset time. In response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time, the handshake request state is exited. In response to the absence of detection of the electronic parking brake module being in the clamped state and / or the absence of driver intervention within the preset time, the transmission of the gear shift request and the parking clamping request is maintained until the preset fixed time is met, after which the handshake request state is exited.

[0013] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function, the method further includes: In response to the second failure response of the vehicle control module to the first handshake request and the first failure response of the brake control module to the second handshake request, a takeover prompt message is displayed and the handshake request state is exited. The takeover prompt message is used to prompt the driver to take over the vehicle.

[0014] A second aspect of this disclosure provides a parking assistance device, comprising: The first sending module is used to send a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function. The second sending module is configured to, in response to the first successful response from the vehicle control module to the first handshake request and the second successful response from the brake control module to the second handshake request, generate a parking control request and a parking release request based on the vehicle's real-time control data, and send the parking control request to the target control module and the parking release request to the electronic parking brake module. The parking control request is used to cause the target control module to perform corresponding parking control, and the parking release request is used to cause the electronic parking brake module to perform release control.

[0015] In some embodiments of this disclosure, the first sending module includes: The premise judgment unit is used to determine whether the function premise, the status of the associated components and the handshake premise are normal in response to the triggering of the parking assistance function. The function premise includes the status of its own sensors, the status of the associated components includes the working status of at least one control module, and the handshake premise includes the communication link status of at least one control module. The at least one control module includes the vehicle control module and the braking control module. The first sending unit is configured to send the first handshake request to the vehicle control module and the second handshake request to the brake control module in response to the normal function prerequisite, associated component status and handshake prerequisite.

[0016] In some embodiments of this disclosure, the parking assistance device further includes: The third sending module is used to generate a vehicle control request based on the real-time vehicle status and send the vehicle control request to the target control module. The vehicle control request is used to cause the target control module to perform a vehicle stop operation. The real-time vehicle status includes at least one of the current braking torque value, the current driving torque value, and the current gear status.

[0017] In some embodiments of this disclosure, the second sending module includes: A data acquisition unit is used to acquire the real-time control data of the vehicle, the real-time control data including the real-time status of the vehicle, functional requirements, and planned trajectory; The request generation unit is used to generate the parking control request and the parking release request based on the real-time status of the vehicle, the functional requirements, and the planned trajectory. The parking control request includes a braking torque value control request, a driving torque value control request, and a gear shifting control request. The second sending module is further configured to send the parking control request to the target control module and the parking release request to the electronic parking brake module in response to the parking control request and the parking release request meeting the preset control conditions of the target control module.

[0018] In some embodiments of this disclosure, the request generation unit includes: The data determination subunit is used to determine parking control data based on the real-time status of the vehicle, the functional requirements, and the planned trajectory. The parking control data includes torque control data, gear shifting data, and parking control data. A request generation subunit is used to generate the parking control request and the parking release request based on the torque control data, the gear shifting data, and the parking control data.

[0019] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the parking assist function being triggered, the parking assist device further includes: The fourth sending module is used to send a deceleration and braking request to the braking control module in response to the first successful response of the vehicle control module to the first handshake request and the first failure response of the braking control module to the second handshake request. The first processing module is configured to, in response to the electronic parking brake module not being in the clamped state and the braking speed being less than a preset speed, request the brake control module and the vehicle control module to perform pressure holding control so that the vehicle remains stationary for a preset time. The second processing module is used to exit the handshake request state in response to detecting that the electronic parking brake module is in a clamped state and / or detecting driver intervention, or in response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time. The third processing module is used to maintain sending a parking gear switching request to the transmission control module and a parking clamping request to the electronic parking brake module until the preset fixed time is met, in response to the failure to detect the electronic parking brake module being in the clamped state and / or the failure to detect driver intervention, or in response to the timeout of the deceleration and braking request reply.

[0020] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the parking assist function being triggered, the parking assist device further includes: The fifth sending module is used to send a deceleration and braking request to the braking control module in response to the second failure response of the vehicle control module to the first handshake request and the second success response of the braking control module to the second handshake request. The sixth sending module is used to send a parking gear switching request to the transmission control module and a parking clamping request to the electronic parking brake module; The fourth processing module is used to exit the handshake request state in response to the braking speed being less than the preset speed and the electronic parking brake module being in a clamped state and / or the transmission control module switching to parking gear. The fifth processing module is used to respond to the deceleration and braking request reply timeout by continuing to send the gear shift request and the parking clamping request until a preset fixed time is met and then exiting the handshake request state.

[0021] In some embodiments of this disclosure, after sending a parking shift request to the transmission control module and a parking clamping request to the electronic parking brake module, the method further includes: The sixth processing module is used to respond to a braking speed that is less than a preset speed but the electronic parking brake module is not in the clamping state and the transmission control module is not switched to parking gear, requesting the brake control module and the vehicle control module to perform pressure holding control so that the vehicle remains stationary for a preset time. The seventh processing module is used to exit the handshake request state in response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time. The seventh sending module is used to maintain sending the gear shift request and the parking clamping request until the preset fixed time is met and then exit the handshake request state in response to the fact that the electronic parking brake module is not detected to be in the clamped state and / or no driver intervention operation is detected within the preset time.

[0022] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the parking assist function being triggered, the parking assist device further includes: The eighth processing module is used to respond to the second failure response of the vehicle control module to the first handshake request and the first failure response of the brake control module to the second handshake request, display a takeover prompt message and exit the handshake request state. The takeover prompt message is used to prompt the driver to take over the vehicle.

[0023] A third aspect of this disclosure provides an electronic device, including: processor; Memory, used to store executable instructions; The processor is used to read executable instructions from memory and execute the executable instructions to implement the parking assistance method provided in the first aspect above.

[0024] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the parking assistance method provided in the first aspect.

[0025] A fifth aspect of this disclosure provides a computer program product comprising a computer program or instructions that, when executed by a processor, implement the parking assistance method of the first aspect described above.

[0026] A sixth aspect of this disclosure provides a vehicle that includes electronic equipment provided in the third aspect.

[0027] The technical solution provided in this disclosure has the following advantages: The parking assistance method and vehicle provided in this disclosure can, in response to the triggering of the parking assistance function, send a first handshake request to the vehicle control module and a second handshake request to the brake control module. Then, in response to a first successful response from the vehicle control module to the first handshake request and a second successful response from the brake control module to the second handshake request, a parking control request and a parking release request are generated based on the vehicle's real-time control data. The parking control request is sent to the target control module, and the parking release request is sent to the electronic parking brake module. The parking control request is used to cause the target control module to perform corresponding parking control, and the parking release request is used to cause the electronic parking brake module to perform release control. Therefore, when the parking assistance function is triggered, corresponding handshake requests can be sent to both the vehicle control module and the brake control module. After both control modules successfully respond, a parking control request requiring parking control is sent to the target control module, and a parking release request requiring release control is sent to the electronic parking brake module. This avoids the risk of the vehicle lurching or rolling away, improving the safety and stability of vehicle start-up in intelligent driving scenarios. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0029] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart of a parking assistance method provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of a process for requesting a successful handshake, provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of a failed handshake request provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of another handshake request failure provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of a parking assistance device provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0031] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0032] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0033] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0036] With the continuous development of automotive electronics technology, automobiles have gradually become the main means of transportation for people. Parking is a test of skill for every driver, and parking assistance functions are increasingly anticipated by consumers, which also places higher demands on their safety. Currently, when parking assistance functions perform parking control, advanced driver assistance systems typically only determine whether either the vehicle control module or the brake control module has successfully completed a handshake before initiating parking control and releasing the electronic parking brake. This may lead to uncontrollable risks such as the vehicle lurching or rolling backward.

[0037] For example, if the Electronic Parking Brake (EPB) is released before the Vehicle Control Unit (VCU) has successfully completed the handshake, the following problems may occur, including but not limited to: the vehicle will not start, the actuator will not respond to the drive torque request issued by the Advanced Driver Assistance Systems (ADAS); if the VCU is partially faulty but not correctly identified, releasing the EPB may result in unexpected acceleration, jerking, sudden power interruption, etc., which can easily lead to accidents; in the case of a slope, if the VCU cannot execute the anti-rollback torque requested by the upper level, relying solely on the unreleased EPB or braking torque to park the vehicle poses an extremely high risk of rolling away.

[0038] For example, if the Integrated Brake Control (IBC) module releases the EPB before the handshake is successful, the following problems may occur, including but not limited to: the Advanced Driver Assistance System (ADAS) will be unable to perform any effective braking intervention, losing its ability to decelerate and stop; on slopes or uneven surfaces, the VCU's negative torque alone will be insufficient to stop the vehicle, resulting in a high risk of rolling away; in complex parking environments, if the EPB is released, the braking system will malfunction, and even if the driver takes over manually, the braking distance may increase or the brakes may fail, leading to a collision.

[0039] Therefore, this disclosure provides a parking assistance method, which will be described below with reference to specific embodiments.

[0040] Figure 1 This is a flowchart of a parking assistance method provided in an embodiment of the present disclosure. The method can be executed by a parking assistance device, which can be implemented in software and / or hardware, such as using an Advanced Driver Assistance System (ADAS). The parking assistance device can be configured in an electronic device, such as a server or terminal, wherein the terminal specifically includes an in-vehicle terminal, a computer, or a tablet computer, etc.

[0041] like Figure 1 As shown in the embodiments of this disclosure, the parking assistance method can be applied to the field of intelligent driving technology. The parking assistance method may include the following steps.

[0042] S110, in response to the parking assist function being triggered, sends a first handshake request to the vehicle control module and a second handshake request to the brake control module.

[0043] In this embodiment of the disclosure, the electronic device may send a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function.

[0044] Optionally, parking assistance functions can be driving assistance technologies used in the field of intelligent driving that automatically or semi-automatically control the vehicle to complete parking operations through sensors and algorithms.

[0045] Optionally, the vehicle control unit (VCU) coordinates functions such as drive control, energy management, and fault diagnosis by collecting accelerator / brake pedal signals and vehicle component status.

[0046] Optionally, the first handshake request can be a process sent by the ADAS (Advanced Driver Assistance System) to the VCU (Vehicle Control Unit) to establish a connection, verify identity, and negotiate communication methods.

[0047] Optionally, the brake control module (IBC) is a highly integrated brake control system used to achieve electronic regulation of braking force.

[0048] Optionally, the second handshake request can be a process sent by the ADAS (Advanced Driver Assistance System) to the IBC (Integrated Brake Control Module) to establish a connection, verify identity, and negotiate communication methods.

[0049] Specifically, when a user wants to perform automatic parking (such as automatic parking in and automatic parking out), the electronic device can respond to the parking assistance function being triggered by sending a first handshake request to the vehicle control module (VCU) and a second handshake request to the brake control module (IBC) through the intelligent driving system (ADAS).

[0050] S120. In response to the first successful response of the vehicle control module to the first handshake request and the second successful response of the brake control module to the second handshake request, a parking control request and a parking release request are generated based on the real-time control data of the vehicle. The parking control request is sent to the target control module and the parking release request is sent to the electronic parking brake module. The parking control request is used to cause the target control module to perform the corresponding parking control, and the parking release request is used to cause the electronic parking brake module to perform the release control.

[0051] In this embodiment of the disclosure, the electronic device may, in response to the first successful response of the vehicle control module to the first handshake request and the second successful response of the brake control module to the second handshake request, generate a parking control request and a parking release request based on the real-time control data of the vehicle, and send the parking control request to the target control module and the parking release request to the electronic parking brake module.

[0052] Optionally, the first successful response can be a message from the vehicle control unit (VCU) to the advanced driver assistance system (ADAS) indicating a successful communication connection.

[0053] Optionally, the second success response can be information from the brake control module (IBC) to the advanced driver assistance system (ADAS) indicating a successful communication connection.

[0054] Optionally, the real-time control data can be the parameter information of each control module of the vehicle at this time.

[0055] Optionally, the parking control request can be sent by the ADAS (Advanced Driver Assistance System) to request parking control from various control models.

[0056] Optionally, the parking release request can be sent by the ADAS (Advanced Driver Assistance System) to request the electronic parking brake module (EPB) to release control.

[0057] Specifically, after the electronic device sends a handshake request to the vehicle control module (VCU) and the brake control module (IBC) through the intelligent driving system (ADAS), it receives a first success response from the VCU and a second success response from the IBC. This means that the two control modules have successfully established a connection. The electronic device can then generate parking control requests and parking release requests based on the acquired real-time vehicle control data. It can also send parking control requests to the target control module to enable the target control module to perform the corresponding parking control, and send parking release requests to the electronic parking brake module (EPB) to enable the EPB to perform the corresponding release control.

[0058] Therefore, in this embodiment, in response to the triggering of the parking assist function, a first handshake request is sent to the vehicle control module and a second handshake request is sent to the braking control module. Then, in response to a first successful response from the vehicle control module to the first handshake request and a second successful response from the braking control module to the second handshake request, a parking control request and a parking release request are generated based on the vehicle's real-time control data. The parking control request is sent to the target control module and the parking release request is sent to the electronic parking brake module. The parking control request is used to cause the target control module to perform corresponding parking control, and the parking release request is used to cause the electronic parking brake module to perform release control. Thus, when the parking assist function is triggered, corresponding handshake requests can be sent to both the vehicle control module and the braking control module. After both control modules successfully respond, a parking control request requiring parking control is sent to the target control module, and a parking release request requiring release control is sent to the electronic parking brake module. This avoids the risk of the vehicle lurching or rolling away, improving the safety and stability of vehicle start-up in intelligent driving scenarios.

[0059] Optionally, S110 may specifically include: in response to the parking assistance function being triggered, determining whether the function prerequisite, the associated component status, and the handshake prerequisite are normal, wherein the function prerequisite includes the status of its own sensors, the associated component status includes the working status of at least one control module, and the handshake prerequisite includes the communication link status of at least one control module, wherein the at least one control module includes the vehicle control module and the braking control module; in response to the function prerequisite, the associated component status, and the handshake prerequisite being normal, sending a first handshake request to the vehicle control module and a second handshake request to the braking control module.

[0060] In this embodiment of the disclosure, the electronic device can determine whether the function prerequisites, associated component status, and handshake prerequisites are normal in response to the parking assistance function being triggered.

[0061] Optionally, the functional prerequisites may include the status of its own sensors. For example, electronic devices may determine the status of the ADAS's own sensors, such as associated cameras, radar, and other sensors. This is not limited here.

[0062] Optionally, the status of the associated components may include the working status of at least one control module, such as the working status of the vehicle control module (VCU), the working status of the brake control module (IBC), the working status of the electronic parking brake module (EPB), the working status of the transmission control unit (TCU), etc., which are not limited here.

[0063] Optionally, the handshake prerequisite may include the communication link status of at least one control module, such as the communication link status between the intelligent driving system ADAS and the vehicle control module VCU, or the communication link status between the intelligent driving system ADAS and the brake control module IBC, etc., which are not limited here.

[0064] Specifically, before sending a handshake request, the electronic device first determines whether the functional prerequisites, associated component status, and handshake prerequisites are normal.

[0065] Furthermore, under the condition that the functional prerequisites, associated component status, and handshake prerequisites are normal, the electronic device can send the first handshake request to the vehicle control module and the second handshake request to the brake control module.

[0066] Therefore, before sending a handshake request, the status of each control module is judged, that is, a series of self-checks and status confirmations are performed to adjust the parking control calculation in a timely manner, thereby improving the safety and stability of vehicle start-up in intelligent driving scenarios.

[0067] Optionally, prior to S120, the parking assistance method may further include: generating a vehicle control request based on the real-time vehicle status and sending the vehicle control request to the target control module, wherein the vehicle control request is used to cause the target control module to perform a vehicle stop operation, and the real-time vehicle status includes at least one of the current braking torque value, the current driving torque value, and the current gear status.

[0068] In this embodiment of the disclosure, the electronic device can generate a vehicle control request based on the real-time status of the vehicle and send the vehicle control request to the target control module.

[0069] Optionally, the real-time vehicle status includes at least one of the current braking torque value, current driving torque value, and current gear status.

[0070] Optionally, the vehicle control request can be a request sent to the target control module to perform a vehicle stop operation.

[0071] Specifically, before receiving successful responses from the vehicle control module (VCU) and the brake control module (IBC), the vehicle may be in a certain state of motion (such as slow creeping or complete stillness). The electronic device can generate a vehicle control request based on the real-time state of the vehicle (including at least one of the current braking torque value, current driving torque value, and current gear status) and send the vehicle control request to the target control module so that the target control module can perform a vehicle stop operation, thereby keeping the vehicle stationary.

[0072] Therefore, by sending vehicle control requests based on the real-time vehicle status, a state transition is achieved to keep the vehicle stationary, thus ensuring a smooth transfer of control and avoiding sudden, unexpected operations.

[0073] Optionally, S120 may specifically include: acquiring the real-time control data of the vehicle, the real-time control data including the real-time status of the vehicle, functional requirements, and planned trajectory; generating the parking control request and the parking release request based on the real-time status of the vehicle, the functional requirements, and the planned trajectory, the parking control request including the braking torque value control request, the driving torque value control request, and the gear shifting control request.

[0074] In this embodiment of the disclosure, the electronic device can acquire the real-time control data of the vehicle.

[0075] Optionally, real-time control data may include the vehicle's real-time status, functional requirements, and planned trajectory. Functional requirements may include user-required functions such as automatic parking and automatic parking exit, while the planned trajectory may be the pre-planned driving path for parking.

[0076] Furthermore, the electronic device can generate the parking control request and the parking release request based on the vehicle's real-time status, the functional requirements, and the planned trajectory.

[0077] Optionally, the parking control request may include a braking torque value control request, a driving torque value control request, and a gear shift control request.

[0078] Specifically, the electronic device can generate the parking control request and the parking release request based on the vehicle's real-time status (e.g., the current braking torque value is 0, the current gear is Parking (P), indicating that the vehicle is stationary), functional requirements (e.g., determining that the user needs to park in the selected parking space), and the planned trajectory (the route to drive into the parking space has been planned). For example, the parking control request can be a braking torque value control request (requiring 0 N·m of braking force), a driving torque value control request (requiring 1 N·m of driving force), a gear shift control request (requiring the shift from P gear to Drive (D)), a parking release request (requiring the release of EPB), etc.

[0079] Furthermore, the electronic device can respond to the parking control request and the parking release request meeting the preset control conditions of the target control module by sending the parking control request to the target control module and the parking release request to the electronic parking brake module.

[0080] Optionally, the preset control conditions of the target control module can be that each request needs to meet predefined communication protocols and security rules, etc., to ensure that the request is correctly understood and executed.

[0081] Specifically, under the condition that the parking control request and the parking release request meet the preset control conditions of the target control module, the electronic device can send the parking control request to the target control module and the parking release request to the electronic parking brake module. For example, the electronic device can send a drive torque value control request (requiring a drive force of 1 N·m) to the vehicle control module (VCU) through the intelligent driving system ADAS, a braking torque value control request (requiring a braking force of 0 N·m) to the brake control module (IBC), a parking release request (requiring the release of the EPB) to the electronic parking brake module (EPB), and a gear shifting control request (requiring the shifting of P gear to D gear) to the transmission control module (TCU), etc., without limitation here.

[0082] Optionally, generating the parking control request and the parking release request based on the vehicle's real-time status, the functional requirements, and the planned trajectory includes: determining parking control data based on the vehicle's real-time status, the functional requirements, and the planned trajectory, wherein the parking control data includes torque control data, gear shifting data, and parking control data; and generating the parking control request and the parking release request based on the torque control data, the gear shifting data, and the parking control data.

[0083] In this embodiment of the disclosure, the electronic device can determine parking control data based on the real-time status of the vehicle, the functional requirements, and the planned trajectory.

[0084] Optionally, parking control data may include torque control data, gear shifting data, and parking control data. Torque control data may include braking torque value data and driving torque value data.

[0085] Specifically, the electronic device acquires the vehicle's real-time status (e.g., the current braking torque value is 0, the current gear is Parking (P), indicating that the vehicle is stationary), functional requirements (e.g., determining that the user needs to park in the selected parking space), and the planned trajectory (the route to the parking space has been planned). It then determines the parking control data, including torque control data (braking torque value data 0 N·m and driving torque value data 1 N·m), gear shifting data (switching from P to D), and parking control data (releasing EPB).

[0086] Furthermore, the electronic device can generate the parking control request and the parking release request based on the torque control data, the gear shifting data, and the parking control data. For example, the parking control request and the parking release request can be generated based on the torque control data (braking torque value data 0 N·m and driving torque value data 1 N·m), the gear shifting data (switching from P gear to D gear), and the parking control data (releasing EPB). For example, the parking control request can be a braking torque value control request (requiring 0 N·m of braking force), a driving torque value control request (requiring 1 N·m of driving force), a gear shifting control request (requiring switching from P gear to drive gear (Drive, D)), or a parking release request (requiring the release of EPB), etc.

[0087] Therefore, by sending corresponding control requests under various conditions, the safety and stability of vehicle start-up in intelligent driving scenarios are improved.

[0088] Figure 2 This is a schematic diagram of a process for requesting a successful handshake, provided in an embodiment of this disclosure.

[0089] like Figure 2As shown, after the parking assist function is triggered, the electronic device can first determine whether the functional prerequisites, the status of related components, and the handshake prerequisites are normal. For example, the ADAS system can determine the vehicle control module (VCU), brake control module (IBC), electronic parking brake module (EPB), and transmission control module (TCU), such as the driver's presence status and the target braking torque mode. If the functional prerequisites, the status of related components, and the handshake prerequisites are normal, the ADAS system can send corresponding handshake requests to the VCU and IBC systems, such as brake handshake / brake torque handshake requests, drive torque handshake requests, etc. The VCU and IBC systems can respond successfully to the handshake requests, such as brake handshake response, drive handshake response, etc. The ADAS system can then perform parking control based on the received successful responses.

[0090] Optionally, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function, the parking assist method may further include: sending a deceleration and braking request to the brake control module in response to a first successful response from the vehicle control module to the first handshake request and a first failure response from the brake control module to the second handshake request.

[0091] In this embodiment of the disclosure, after the electronic device sends a handshake request, the electronic device may, in response to the first successful response of the vehicle control module to the first handshake request and the first failed response of the braking control module to the second handshake request, send a deceleration and braking request to the braking control module.

[0092] Optionally, the first failure response can be information about the communication connection failure fed back from the brake control module IBC to the intelligent driving system ADAS, such as handshake response timeout, fault, etc.

[0093] Optionally, the deceleration and braking request can be a request to the brake control module (IBC) to brake the vehicle, thereby decelerating and bringing the vehicle to a stop.

[0094] Specifically, when the vehicle control module (VCU) responds successfully but the brake control module (IBC) fails to respond, the ADAS system still sends a deceleration and braking request to the IBC to slow down and stop the vehicle.

[0095] In some embodiments, the electronic device may request the brake control module and the vehicle control module to perform pressure holding control in response to the electronic parking brake module not being in the clamped state and the braking speed being less than a preset speed, so as to keep the vehicle stationary for a preset time.

[0096] Optionally, the preset speed can be a pre-set speed, such as 2kph, 3kph, etc., which is not limited here.

[0097] Optionally, pressure holding control can maintain the braking force (torque) / driving force (torque) for the control module. Specifically, the electronic equipment can send a braking torque pressure holding request to the braking control module and a driving torque pressure holding request to the vehicle control module to keep the vehicle stationary for a preset time.

[0098] Optionally, the braking torque holding request can be a request for the IBC braking control module to maintain the braking force (torque) for a preset time (e.g., 3 minutes).

[0099] Optionally, the drive torque holding request can request the vehicle control module (VCU) to maintain the drive force (torque) for a preset time (e.g., 3 minutes). For example, on flat ground, the VCU is requested to maintain negative torque to achieve the effect of engine braking; on a slope or when a positive torque value is calibrated, the VCU is requested to maintain positive torque to counteract the downward force generated by the vehicle's own weight, thereby keeping the vehicle stationary.

[0100] Specifically, when the electronic parking brake module EPB is not in the clamped state and the braking speed is less than the preset speed (2kph), the electronic device can send a brake torque holding request to the brake control module IBC to maintain the braking force (torque) for a preset time (e.g., 3 minutes) and a drive torque holding request to the vehicle control module VCU to maintain the driving force (torque) for a preset time (e.g., 3 minutes) so that the vehicle remains stationary within the preset time (e.g., 3 minutes).

[0101] In other embodiments, the electronic device may exit the handshake request state in response to detecting that the electronic parking brake module is in a clamped state and / or detecting a driver intervention operation, or in response to detecting that the electronic parking brake module is in the clamped state and / or detecting a driver intervention operation within the preset time period.

[0102] Optionally, the clamping state can be such that the electronic parking brake module is locked, and the wheels are locked by mechanical calipers.

[0103] Specifically, when the electronic device detects that the electronic parking brake module is in a clamped state (locked state), or detects driver intervention such as pressing the brake pedal or shifting to P gear, it exits the handshake request state, i.e., deactivates the automatic parking function. Alternatively, if the electronic parking brake module is detected in the clamped state (EPB) and / or driver intervention is detected within a preset time (e.g., 3 minutes) while the vehicle remains stationary, it exits the handshake request state, i.e., deactivates the automatic parking function.

[0104] Furthermore, the electronic device may continue sending parking gear switching requests to the transmission control module and parking clamping requests to the electronic parking brake module until the preset fixed time is met, in response to the failure to detect the electronic parking brake module being in the clamped state and / or the failure to detect driver intervention, or in response to the timeout of the deceleration and braking request reply.

[0105] Optionally, the gear shift request can be a request for the transmission control unit (TCU) to switch to P gear.

[0106] Optionally, the parking clamping request can be to request the electronic parking brake module (EPB) to clamp, i.e., switch to the locked state.

[0107] Specifically, if the electronic parking brake module is not detected to be in the clamped state (EPB) and / or if driver intervention is detected within a preset time (e.g., 3 minutes) while the vehicle remains stationary, the electronic device can continue sending gear shifting requests to the transmission control module (TCU) and parking clamping requests to the electronic parking brake module (EPB) until a preset fixed duration (e.g., 3 seconds) is met, after which it exits the handshake request state. Alternatively, if the electronic device requests deceleration and stops but does not receive a corresponding response within a timeout period, it can continue sending gear shifting requests to the transmission control module (TCU) and parking clamping requests to the electronic parking brake module (EPB) until a preset fixed duration (e.g., 3 seconds) is met, after which it exits the handshake request state.

[0108] Figure 3 This is a schematic diagram of a handshake request failure provided in an embodiment of this disclosure.

[0109] like Figure 3As shown, when the brake control module (IBC) fails to respond (response timeout, fault), the ADAS intelligent driving system also sends a deceleration and braking request to the IBC to slow down and stop the vehicle. In some examples, when the electronic device detects that the electronic parking brake module is in a clamped state (locked state), or detects driver intervention, such as the driver pressing the brake pedal or shifting to P gear, it exits the handshake request state, that is, it exits the automatic parking function. In other examples, when the electronic parking brake module EPB is not in the clamped state and the braking speed is less than a preset speed (2 kph), the electronic device can send a brake torque holding request to the brake control module IBC to maintain the braking force (torque) for a preset time (e.g., 3 minutes) and a drive torque holding request to the vehicle control module VCU to maintain the driving force (torque) for a preset time (e.g., 3 minutes) so that the vehicle remains stationary for the preset time (e.g., 3 minutes). If, within the preset time (e.g., 3 minutes) when the vehicle remains stationary, the electronic parking brake module is detected to be in the clamped state EPB and / or a driver intervention operation is detected, the handshake request state is exited, i.e., the automatic parking function is exited. If, within the preset time (e.g., 3 minutes) when the vehicle remains stationary, the electronic parking brake module is not detected to be in the clamped state EPB and / or a driver intervention operation is detected, the electronic device can continue to send a parking gear shift request to the transmission control module TCU and a parking clamping request to the electronic parking brake module EPB until a preset fixed duration (e.g., 3 seconds) is met before exiting the handshake request state. In some other examples, if the electronic device does not receive a corresponding response after a timeout following a deceleration and braking request, it can continue sending a gear shifting request to the transmission control module (TCU) and a parking clamping request to the electronic parking brake module (EPB) until a preset fixed duration (e.g., 3 seconds) is met, after which it exits the handshake request state and sends the corresponding fulfillment duration (e.g., 3 seconds).

[0110] Therefore, in the event of a timeout or malfunction in the handshake response of the braking control module, the torque generated by the vehicle control module is used as the final braking method, and the mechanical locking capability of the P gear is relied upon to ensure the absolute safety of the vehicle before disengaging from autonomous driving control, thereby ensuring vehicle safety.

[0111] Optionally, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the parking assist function being triggered, the parking assist method may further include: sending a deceleration and braking request to the brake control module in response to a second failure response from the vehicle control module to the first handshake request and a second success response from the brake control module to the second handshake request.

[0112] In this embodiment of the disclosure, after the electronic device sends a handshake request, the electronic device may, in response to the second failure response of the vehicle control module to the first handshake request and the second success response of the braking control module to the second handshake request, send a deceleration and braking request to the braking control module.

[0113] Optionally, the second failure response can be information about communication connection failure fed back from the vehicle control module (VCU) to the advanced driver assistance system (ADAS), such as handshake response timeout or fault.

[0114] Furthermore, the electronic device can send a gear shifting request to the transmission control module and a parking clamping request to the electronic parking brake module.

[0115] Specifically, the electronic device can send a parking gear switching request to the transmission control module (TCU) and a parking clamping request to the electronic parking brake module (EPB).

[0116] In some embodiments, in response to the braking speed being less than a preset speed and the electronic parking brake module being in a clamped state and / or the transmission control module switching to parking gear, the handshake request state is exited.

[0117] Specifically, if the electronic device detects that the braking speed is less than the preset speed (2kph) and the electronic parking brake module EPB is in a clamped state and / or the transmission control module TCU is switched to parking gear, then it exits the handshake request state.

[0118] In other embodiments of this disclosure, the electronic device may, in response to a timeout in the deceleration and braking request reply, continue sending the gear shift request and the parking clamp request until a preset fixed duration is satisfied before exiting the handshake request state.

[0119] Specifically, if the electronic device does not receive a corresponding response after making a deceleration and braking request within a time limit, it can continue to send a gear shifting request to the transmission control module TCU and a parking clamping request to the electronic parking brake module EPB until a preset fixed time (such as 3 seconds) is met, after which it exits the handshake request state.

[0120] Optionally, after sending a parking shift request to the transmission control module and a parking clamping request to the electronic parking brake module, the parking assist method may further include: in response to a braking speed less than a preset speed but the electronic parking brake module is not in the clamping state and the transmission control module has not switched to parking gear, requesting the brake control module and the vehicle control module to perform pressure holding control to keep the vehicle stationary for a preset time.

[0121] Optionally, the electronic device may send a braking torque holding request to the braking control module and a drive torque holding request to the vehicle control module to keep the vehicle stationary for a preset time.

[0122] Specifically, if the electronic device detects that the braking speed is less than the preset speed (2kph) but the electronic parking brake module EPB is not in the clamping state and / or the transmission control module TCU is not switched to parking gear, the intelligent driving system ADAS sends a brake torque holding request to the brake control module IBC to maintain the braking force (torque) for a preset time (e.g., 3 minutes), and sends a drive torque holding request to the vehicle control module VCU to maintain the driving force (torque) for a preset time (e.g., 3 minutes), so that the vehicle remains stationary within the preset time (e.g., 3 minutes).

[0123] Furthermore, the electronic device may exit the handshake request state in response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time.

[0124] Specifically, if the electronic parking brake module is detected to be in the clamped state (EPB) and / or driver intervention is detected within a preset time (e.g., 3 minutes) during which the vehicle remains stationary, the handshake request state is exited, i.e., the automatic parking function is exited.

[0125] Furthermore, the electronic device may continue sending the gear shift request and the parking clamping request until the preset fixed time is met and then exit the handshake request state in response to the fact that the electronic parking brake module is not detected to be in the clamped state and / or the driver intervention operation is not detected within the preset time.

[0126] Specifically, if the electronic parking brake module is not detected to be in the clamped state (EPB) and / or driver intervention is detected within a preset time (e.g., 3 minutes) while the vehicle remains stationary, the electronic device can continue to send parking gear switching requests to the transmission control module (TCU) and parking clamping requests to the electronic parking brake module (EPB) until a preset fixed duration (e.g., 3 seconds) is met before exiting the handshake request state.

[0127] Figure 4 This is a schematic diagram of another handshake request failure provided in an embodiment of this disclosure.

[0128] like Figure 4As shown, when the Vehicle Control Unit (VCU) fails to respond (response timeout, fault), the Advanced Driver Assistance System (ADAS) also sends a deceleration and braking request to the Electronic Brake Control (IBC) module to decelerate and bring the vehicle to a stop. Furthermore, the electronic device can send a parking gear switching request to the Transmission Control Unit (TCU) and a parking clamping request to the Electronic Parking Brake (EPB). In some examples, if the electronic device detects that the braking speed is less than a preset speed (2 kph) and the EPB is in a clamped state and / or the TCU has switched to parking gear, it exits the handshake request state. In other examples, if the electronic device detects that the braking speed is less than a preset speed (2 kph) but the electronic parking brake module EPB is not in a clamped state and / or the transmission control module TCU is not switched to parking gear, the intelligent driving system ADAS sends a brake torque holding request to the brake control module IBC to maintain the braking force (torque) for a preset time (e.g., 3 minutes), and sends a drive torque holding request to the vehicle control module VCU to maintain the driving force (torque) for a preset time (e.g., 3 minutes), so that the vehicle remains stationary within the preset time (e.g., 3 minutes). If, within a preset time (e.g., 3 minutes) during which the vehicle remains stationary, the electronic parking brake module is detected to be in the clamped state (EPB) and / or a driver intervention operation is detected, the handshake request state is exited, i.e., the automatic parking function is deactivated. If, within a preset time (e.g., 3 minutes) during which the vehicle remains stationary, the electronic device is not detected to be in the clamped state (EPB) and / or a driver intervention operation is detected, the electronic device may continue sending gear shifting requests to the transmission control module (TCU) and parking clamping requests to the electronic parking brake module (EPB) until a preset fixed duration (e.g., 3 seconds) is met, then the handshake request state is exited. In some other examples, if the electronic device requests deceleration and braking but does not receive a corresponding response within a timeout period, it may continue sending gear shifting requests to the transmission control module (TCU) and parking clamping requests to the electronic parking brake module (EPB) until a preset fixed duration (e.g., 3 seconds) is met, then the handshake request state is exited and a corresponding fulfillment duration (e.g., 3 seconds) is sent.

[0129] Therefore, in the event of a timeout or malfunction in the vehicle control module's handshake response, the automatic driving control is disengaged only after the vehicle is absolutely safe, thanks to the mechanical locking capability of the braking control module and the P gear, thus ensuring vehicle safety.

[0130] Optionally, after the parking assist function is triggered and a first handshake request is sent to the vehicle control module and a second handshake request is sent to the brake control module, the parking assist method may further include: in response to a second failure response from the vehicle control module to the first handshake request and a first failure response from the brake control module to the second handshake request, displaying a takeover prompt message and exiting the handshake request state, wherein the takeover prompt message is used to prompt the driver to take over the vehicle.

[0131] In this embodiment of the disclosure, the electronic device may display a takeover prompt message and exit the handshake request state in response to the second failure response of the vehicle control module to the first handshake request and the first failure response of the brake control module to the second handshake request.

[0132] Optionally, the takeover prompt message can be used to prompt the driver to take over the vehicle.

[0133] Specifically, when both the vehicle control module (VCU) and the brake control module (IBC) fail to respond (response timeout, fault), the electronic equipment can display a takeover prompt message through the intelligent driving system (ADAS), such as "Automatic parking control failed, please take over the vehicle", and exit the handshake request state.

[0134] Therefore, if both the vehicle control module and the braking control module experience handshake response timeouts or malfunctions, the handshake is terminated to ensure vehicle safety.

[0135] Figure 5 This is a schematic diagram of a parking assistance device provided in an embodiment of this disclosure.

[0136] In this embodiment, the parking assistance device can be housed within an electronic device and is understood as a functional module within that electronic device. Specifically, the electronic device can be a server or a terminal, wherein the terminal specifically includes an in-vehicle terminal, a computer, or a tablet computer, etc., and is not limited thereto.

[0137] like Figure 3 As shown, the parking assistance device 500 may include a first sending module 510 and a second sending module 520.

[0138] The first sending module 510 can be used to send a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function.

[0139] The second sending module 520 can be used to respond to the first successful response of the vehicle control module to the first handshake request and the second successful response of the brake control module to the second handshake request, generate a parking control request and a parking release request based on the real-time control data of the vehicle, and send the parking control request to the target control module and the parking release request to the electronic parking brake module. The parking control request is used to cause the target control module to perform the corresponding parking control, and the parking release request is used to cause the electronic parking brake module to perform the release control.

[0140] In this embodiment, in response to the triggering of the parking assist function, a first handshake request is sent to the vehicle control module and a second handshake request is sent to the braking control module. Then, in response to a first successful response from the vehicle control module to the first handshake request and a second successful response from the braking control module to the second handshake request, a parking control request and a parking release request are generated based on the vehicle's real-time control data. The parking control request is sent to the target control module, and the parking release request is sent to the electronic parking brake module. The parking control request causes the target control module to perform corresponding parking control, and the parking release request causes the electronic parking brake module to perform release control. Therefore, when the parking assist function is triggered, corresponding handshake requests can be sent to both the vehicle control module and the braking control module. After both control modules successfully respond, a parking control request requiring parking control is sent to the target control module, and a parking release request requiring release control is sent to the electronic parking brake module. This avoids the risk of the vehicle lurching or rolling away, improving the safety and stability of vehicle start-up in intelligent driving scenarios.

[0141] In some embodiments of this disclosure, the first sending module 510 includes: The premise judgment unit is used to determine whether the function premise, the status of the associated components and the handshake premise are normal in response to the triggering of the parking assistance function. The function premise includes the status of its own sensors, the status of the associated components includes the working status of at least one control module, and the handshake premise includes the communication link status of at least one control module. The at least one control module includes the vehicle control module and the braking control module. The first sending unit is configured to send the first handshake request to the vehicle control module and the second handshake request to the brake control module in response to the normal function prerequisite, associated component status and handshake prerequisite.

[0142] In some embodiments of this disclosure, the parking assistance device 500 further includes: The third sending module is used to generate a vehicle control request based on the real-time vehicle status and send the vehicle control request to the target control module. The vehicle control request is used to cause the target control module to perform a vehicle stop operation. The real-time vehicle status includes at least one of the current braking torque value, the current driving torque value, and the current gear status.

[0143] In some embodiments of this disclosure, the second sending module 520 includes: A data acquisition unit is used to acquire the real-time control data of the vehicle, the real-time control data including the real-time status of the vehicle, functional requirements, and planned trajectory; The request generation unit is used to generate the parking control request and the parking release request based on the real-time status of the vehicle, the functional requirements, and the planned trajectory. The parking control request includes a braking torque value control request, a driving torque value control request, and a gear shifting control request. The second sending module is further configured to send the parking control request to the target control module and the parking release request to the electronic parking brake module in response to the parking control request and the parking release request meeting the preset control conditions of the target control module.

[0144] In some embodiments of this disclosure, the request generation unit includes: The data determination subunit is used to determine parking control data based on the real-time status of the vehicle, the functional requirements, and the planned trajectory. The parking control data includes torque control data, gear shifting data, and parking control data. A request generation subunit is used to generate the parking control request and the parking release request based on the torque control data, the gear shifting data, and the parking control data.

[0145] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the parking assist function being triggered, the parking assist device 500 further includes: The fourth sending module is used to send a deceleration and braking request to the braking control module in response to the first successful response of the vehicle control module to the first handshake request and the first failure response of the braking control module to the second handshake request. The first processing module is configured to, in response to the electronic parking brake module not being in the clamped state and the braking speed being less than a preset speed, request the brake control module and the vehicle control module to perform pressure holding control so that the vehicle remains stationary for a preset time. The second processing module is used to exit the handshake request state in response to detecting that the electronic parking brake module is in a clamped state and / or detecting driver intervention, or in response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time. The third processing module is used to maintain sending a parking gear switching request to the transmission control module and a parking clamping request to the electronic parking brake module until the preset fixed time is met, in response to the failure to detect the electronic parking brake module being in the clamped state and / or the failure to detect driver intervention, or in response to the timeout of the deceleration and braking request reply.

[0146] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the parking assist function being triggered, the parking assist device 500 further includes: The fifth sending module is used to send a deceleration and braking request to the braking control module in response to the second failure response of the vehicle control module to the first handshake request and the second success response of the braking control module to the second handshake request. The sixth sending module is used to send a parking gear switching request to the transmission control module and a parking clamping request to the electronic parking brake module; The fourth processing module is used to exit the handshake request state in response to the braking speed being less than the preset speed and the electronic parking brake module being in a clamped state and / or the transmission control module switching to parking gear. The fifth processing module is used to respond to the deceleration and braking request reply timeout by continuing to send the gear shift request and the parking clamping request until a preset fixed time is met and then exiting the handshake request state.

[0147] In some embodiments of this disclosure, the parking assistance device 500 further includes: The sixth processing module is used to respond to a braking speed that is less than a preset speed but the electronic parking brake module is not in the clamping state and the transmission control module is not switched to parking gear, requesting the brake control module and the vehicle control module to perform pressure holding control so that the vehicle remains stationary for a preset time. The seventh processing module is used to exit the handshake request state in response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time. The seventh sending module is used to maintain sending the gear shift request and the parking clamping request until the preset fixed time is met and then exit the handshake request state in response to the fact that the electronic parking brake module is not detected to be in the clamped state and / or no driver intervention operation is detected within the preset time.

[0148] In some embodiments of this disclosure, after sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the parking assist function being triggered, the parking assist device 500 further includes: The eighth processing module is used to respond to the second failure response of the vehicle control module to the first handshake request and the first failure response of the brake control module to the second handshake request, display a takeover prompt message and exit the handshake request state. The takeover prompt message is used to prompt the driver to take over the vehicle.

[0149] It should be noted that, Figure 5 The parking assistance device 500 shown can perform the various steps in the above method embodiments and achieve the various processes and effects in the above method embodiments, which will not be elaborated here.

[0150] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure.

[0151] In this embodiment of the disclosure, Figure 6 The electronic device shown can be a server or a terminal. Specifically, the terminal includes in-vehicle terminals, computers, or tablets, etc., without limitation.

[0152] like Figure 6 As shown, the electronic device may include a processor 610 and a memory 620 storing computer program instructions.

[0153] Specifically, the processor 610 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this disclosure.

[0154] Memory 620 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 620 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 620 may include removable or non-removable (or fixed) media. Where appropriate, memory 620 may be internal or external to the integrated gateway device. In a particular embodiment, memory 620 is a non-volatile solid-state memory. In a particular embodiment, memory 620 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0155] The processor 610 reads and executes computer program instructions stored in the memory 620 to perform the steps of the parking assistance method provided in the embodiments of this disclosure.

[0156] In one example, the electronic device may also include a transceiver 630 and a bus 640. Wherein, as... Figure 6 As shown, the processor 610, memory 620 and transceiver 630 are connected via bus 640 and communicate with each other.

[0157] Bus 640 may include hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 640 may include one or more buses.

[0158] This disclosure also provides a computer-readable storage medium that can store a computer program that, when executed by a processor, causes the processor to implement the parking assistance method provided in this disclosure.

[0159] When the computer program is executed by the processor, it can perform the following steps: in response to the parking assist function being triggered, a first handshake request is sent to the vehicle control module and a second handshake request is sent to the brake control module; in response to the first successful response of the vehicle control module to the first handshake request and the second successful response of the brake control module to the second handshake request, a parking control request and a parking release request are generated based on the vehicle's real-time control data, and the parking control request is sent to the target control module and the parking release request is sent to the electronic parking brake module, wherein the parking control request is used to cause the target control module to perform corresponding parking control, and the parking release request is used to cause the electronic parking brake module to perform release control.

[0160] The aforementioned storage medium may, for example, include a memory 620 containing computer program instructions, which can be executed by a processor 610 of an electronic device to complete the parking assistance method provided in this embodiment. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as read-only memory (ROM), random access memory (RAM), external cache memory, compact disc ROM (CD-ROM), magnetic tape, floppy disk, flash memory, and optical data storage devices. By way of illustration and not limitation, RAM is available in various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM).

[0161] This disclosure also provides a vehicle that includes electronic devices that can implement the various processes and effects described in the above embodiments of this disclosure, which will not be elaborated here.

[0162] This disclosure also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, they implement the parking assistance method provided in this disclosure and can achieve the various processes and effects in the above embodiments of this disclosure, which will not be elaborated here.

[0163] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A parking assistance method, characterized in that, include: In response to the parking assist function being triggered, a first handshake request is sent to the vehicle control module, and a second handshake request is sent to the brake control module; In response to the first successful response of the vehicle control module to the first handshake request and the second successful response of the brake control module to the second handshake request, a parking control request and a parking release request are generated based on the real-time control data of the vehicle. The parking control request is sent to the target control module and the parking release request is sent to the electronic parking brake module. The parking control request is used to cause the target control module to perform the corresponding parking control, and the parking release request is used to cause the electronic parking brake module to perform the release control.

2. The method according to claim 1, characterized in that, The response to the parking assist function being triggered, sending a first handshake request to the vehicle control module and a second handshake request to the brake control module, includes: In response to the parking assist function being triggered, it is determined whether the function prerequisite, the status of the associated components, and the handshake prerequisite are normal. The function prerequisite includes the status of its own sensors, the status of the associated components includes the working status of at least one control module, and the handshake prerequisite includes the communication link status of at least one control module. The at least one control module includes the vehicle control module and the braking control module. In response to the normal function prerequisite, associated component status, and handshake prerequisite, the system sends the first handshake request to the vehicle control module and the second handshake request to the brake control module.

3. The method according to claim 1, characterized in that, After sending a first handshake request to the vehicle control module and a second handshake request to the brake control module in response to the triggering of the parking assist function, before generating a parking control request based on the vehicle's real-time control data and sending the parking control request to the target control module in response to a first successful response from the vehicle control module to the first handshake request and a second successful response from the brake control module to the second handshake request, the method further includes: A vehicle control request is generated based on the real-time vehicle status and sent to the target control module. The vehicle control request is used to cause the target control module to perform a vehicle stop operation. The real-time vehicle status includes at least one of the current braking torque value, the current driving torque value, and the current gear status.

4. The method according to claim 3, characterized in that, The generation of parking control requests and parking release requests based on real-time vehicle control data includes: The real-time control data of the vehicle is acquired, including the vehicle's real-time status, functional requirements, and planned trajectory. Based on the real-time vehicle status, the functional requirements, and the planned trajectory, the parking control request and the parking release request are generated. The parking control request includes a braking torque value control request, a driving torque value control request, and a gear shifting control request. The step of sending the parking control request to the target control module and the parking release request to the electronic parking brake module includes: In response to the parking control request and the parking release request satisfying the preset control conditions of the target control module, the parking control request is sent to the target control module and the parking release request is sent to the electronic parking brake module.

5. The method according to claim 4, characterized in that, The process of generating the parking control request and the parking release request based on the vehicle's real-time status, functional requirements, and planned trajectory includes: Parking control data is determined based on the vehicle's real-time status, functional requirements, and planned trajectory. The parking control data includes torque control data, gear shifting data, and parking control data. The parking control request and the parking release request are generated based on the torque control data, the gear shifting data, and the parking control data.

6. The method according to claim 3, characterized in that, After generating a vehicle control request based on the vehicle's real-time status and sending the vehicle control request to the target control module, the method further includes: In response to the first successful response from the vehicle control module to the first handshake request and the first failed response from the braking control module to the second handshake request, a deceleration and braking stop request is sent to the braking control module. In response to the electronic parking brake module not being clamped and the braking speed being less than a preset speed, the brake control module and the vehicle control module are requested to perform pressure holding control to keep the vehicle stationary for a preset time. In response to detecting that the electronic parking brake module is in a clamped state and / or detecting driver intervention, or in response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time, exit the handshake request state; In response to the fact that the electronic parking brake module is not detected to be in the clamped state and / or no driver intervention operation is detected within the preset time, or in response to the timeout of the deceleration and braking request reply, the system continues to send parking gear switching requests to the transmission control module and parking clamping requests to the electronic parking brake module until the preset fixed time is met and then exits the handshake request state.

7. The method according to claim 3, characterized in that, After generating a vehicle control request based on the vehicle's real-time status and sending the vehicle control request to the target control module, the method further includes: In response to the second failure response of the vehicle control module to the first handshake request and the second success response of the braking control module to the second handshake request, a deceleration and braking request is sent to the braking control module. Send a parking gear switching request to the transmission control module and a parking clamping request to the electronic parking brake module; In response to a braking speed less than a preset speed and the electronic parking brake module being in a clamped state and / or the transmission control module switching to parking gear, the handshake request state is exited. In response to the timeout of the deceleration and braking request reply, the transmission of the gear shifting request and the parking clamping request continues until a preset fixed duration is met, after which the handshake request state is exited.

8. The method according to claim 7, characterized in that, After sending a parking shift request to the transmission control module and a parking clamping request to the electronic parking brake module, the method further includes: In response to a braking speed less than a preset speed but the electronic parking brake module is not in the clamped state and the transmission control module is not switched to parking gear, the brake control module and the vehicle control module are requested to perform pressure holding control to keep the vehicle stationary for a preset time. In response to detecting that the electronic parking brake module is in the clamped state and / or detecting driver intervention within the preset time, the handshake request state is exited. In response to the absence of detection of the electronic parking brake module being in the clamped state and / or the absence of driver intervention within the preset time, the transmission of the gear shift request and the parking clamping request is maintained until the preset fixed time is met, after which the handshake request state is exited.

9. The method according to claim 3, characterized in that, After generating a vehicle control request based on the vehicle's real-time status and sending the vehicle control request to the target control module, the method further includes: In response to the second failure response of the vehicle control module to the first handshake request and the first failure response of the brake control module to the second handshake request, a takeover prompt message is displayed and the handshake request state is exited. The takeover prompt message is used to prompt the driver to take over the vehicle.

10. A vehicle, characterized in that, Includes an electronic device, the electronic device comprising: processor; Memory, used to store executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the parking assistance method according to any one of claims 1-9.

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