Vehicle parking control system and method, vehicle and storage medium

Abstract

The invention discloses a vehicle parking control system and method, a vehicle and a storage medium, the vehicle parking control system collects the state data of the vehicle through a collection module, determines the vehicle state information through a processing module according to the state data, and the vehicle state information comprises the driving intention information of a driver and the adhesion information of the road surface where the vehicle is located; the parking control module sends out a parking signal when determining that the parking condition is met according to the vehicle state information, so that the parking system starts and controls the vehicle to park and brake when receiving the parking signal, the intention of a driver and the road adhesion condition can be accurately recognized according to the collected state data, the state information is determined according to the intention and the road adhesion condition, and the driving safety is improved. The parking system can be automatically controlled to be started and the vehicle can be controlled to be parked and braked when the condition that the parking condition is met is determined according to the state information, so that the parking time can be accurately and reliably judged under different working conditions, the parking intelligence and reliability are ensured, and the safety of the vehicle is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle parking control system, method, vehicle and storage medium. BACKGROUND

[0002] EPB (Electrical Park Brake) has become a standard configuration of modern medium and heavy commercial vehicles. It replaces the traditional mechanical hand brake mechanism by driving the brake caliper or cable through the motor, and realizes the electronic control of the parking brake. Its basic working principle is: the driver issues a parking or release instruction by operating the EPB physical switch; the ECU (Electronic Control Unit) receives the instruction and drives the execution motor to complete the corresponding brake clamping or release action; the VCU (Vehicle Control Unit) communicates with the EPB ECU, BCM (Body Control Module), engine / transmission controller, etc. through the CAN (Controller Area Network) bus, obtains vehicle speed, gear position and other information, and assists the EPB to realize functions such as "emergency braking in driving", "hill start assist", etc.

[0003] However, due to the problems of inaccurate recognition of the real intention of the driver and lack of dynamic environment risk perception in the current vehicle, the intelligence and reliability of the EPB in preventing the driver from forgetting to apply the parking brake are poor, which leads to potential safety hazards of the vehicle. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the purpose of the present application is to propose a vehicle parking control system, method, vehicle and storage medium.

[0005] The vehicle parking control system proposed by the present application comprises: a collection module for collecting state data of the vehicle; a processing module for determining vehicle state information according to the state data, wherein the vehicle state information comprises driver's driving intention information and adhesion information of the road surface where the vehicle is located; a parking control module for issuing a parking signal when the parking condition is met according to the vehicle state information, so that the parking system is opened and the vehicle parking brake is controlled when the parking signal is received.

[0006] The vehicle parking control system according to the embodiment of the present application comprises a collection module, a processing module and a parking control module, the collection module collects state data of the vehicle, the processing module determines vehicle state information according to the state data, the vehicle state information comprises driving intention information of the driver and adhesion information of the road surface where the vehicle is located, and the parking control module sends a parking signal when it is determined that the parking condition is met according to the vehicle state information, so as to enable the parking system to be turned on and control the vehicle parking brake when the parking signal is received. Thus, the driver's intention and the road adhesion condition can be accurately identified according to the collected state data, the state information can be determined accordingly, and the parking system can be automatically controlled to be turned on and control the vehicle parking brake when it is determined that the parking condition is met according to the state information. In this way, the parking opportunity can be accurately and reliably determined under different working conditions, so as to ensure the intelligence and reliability of parking, and further ensure the safety of the vehicle.

[0007] In addition, the vehicle parking control system according to the embodiment of the present application can further have the following additional technical features: Further, the state data comprises vehicle speed data, gear data, brake pedal release direction data, driver door switch data, driver seat belt state data, road surface adhesion force estimation data and its confidence data, adhesion force change rate data, slope angle data and automatic driving state data. In this way, the collection module can comprehensively collect the state data of the vehicle, so as to facilitate the processing module to accurately determine the vehicle state information according to the state data, and further facilitate the parking control module to accurately and reliably determine the parking opportunity according to the vehicle state information.

[0008] Further, when determining the vehicle state information according to the state data, the processing module is further configured to: control the vehicle to enter a judgment state when the brake pedal release direction is detected and the vehicle speed is less than a preset speed; and when the parking signal is sent according to the vehicle state information, the parking control module is configured to: determine a dynamic safety factor based on the adhesion information and determine a decision window based on the dynamic safety factor in the judgment state; and control the vehicle to enter an automatic holding state and send the parking signal when the parking condition is met according to the driving intention information and / or the adhesion information in the decision window. In this way, the braking judgment opportunity and the braking opening opportunity can be accurately determined according to the vehicle state information, so as to ensure the rapidity, intelligence and reliability of parking, and further ensure the safety of the vehicle.

[0009] Further, when determining the dynamic safety factor based on the adhesion force information, the parking control module is configured to determine the dynamic safety factor based on the road adhesion force estimation data, the confidence data, the adhesion force change rate data and the slope angle data. In this way, the dynamic safety factor can be accurately determined, so as to facilitate accurate determination of the braking judgment timing and the braking start timing, thereby ensuring the rapidity, intelligence and reliability of the parking.

[0010] Further, when determining that the parking condition is met according to the driving intention information and / or the adhesion force information, and controlling the vehicle to enter the automatic holding state and issuing the parking signal, the parking control module is configured to: when determining that at least one of the following first conditions is met, control the vehicle to enter the automatic holding state and issue the parking signal, wherein the first conditions include: determining that the driver has a departure intention according to the driving intention information, wherein the departure intention includes that the vehicle is in neutral or parking gear, the driver's door is opened or the driver's seat belt is not locked, and the parking system is turned off; determining that there is a risk of slipping according to the adhesion force information, wherein the risk of slipping includes at least one of the road adhesion force estimation data being less than a first adhesion force threshold and the slope angle data being greater than a slope angle threshold. In this way, the braking judgment timing and the braking start timing can be accurately determined according to the driving intention information and / or the adhesion force information, thereby ensuring the rapidity, intelligence and reliability of the parking.

[0011] Further, when determining the dynamic safety factor based on the adhesion force information, and determining the decision window based on the dynamic safety factor, the parking control module is further configured to: when determining that at least one of the following second conditions is met, interrupt the decision window, control the vehicle to enter the automatic holding state and issue the parking signal, wherein the second conditions include: the road adhesion force estimation data is less than a second adhesion force threshold; the adhesion force change rate data is greater than an adhesion force change rate threshold; the confidence data is less than a confidence threshold. In this way, the braking judgment timing and the braking start timing can be accurately determined in the event of a sudden risk, further ensuring the intelligence and reliability of the parking.

[0012] Further, when controlling the vehicle to enter the judgment state or the automatic holding state, the parking control module is further configured to: when detecting a driver active intervention signal, control the vehicle to enter a manual control state, wherein the driver active intervention signal is issued based on an accelerator pedal action and / or a brake pedal action and / or a gear shifting action and / or a parking system switch action; in the manual control state, the vehicle is controlled based on the driver active intervention signal. In this way, the driver's active operation is ensured to be prioritized when the parking control is performed, further ensuring the intelligence and reliability of the parking.

[0013] To address the aforementioned problems, this invention also proposes a vehicle parking control method, comprising: collecting vehicle status data; determining vehicle status information based on the status data, wherein the vehicle status information includes driver's driving intention information and adhesion information of the road surface where the vehicle is located; and issuing a parking signal when it is determined based on the vehicle status information that parking conditions are met, so that the parking system activates and controls the vehicle parking brake upon receiving the parking signal.

[0014] The vehicle parking control method according to embodiments of the present invention is implemented based on the vehicle parking control system of the above embodiments of the present invention. First, the vehicle's state data is collected, and then the vehicle state information is determined based on the state data. The vehicle state information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When it is determined that the parking conditions are met based on the vehicle state information, a parking signal is issued, so that the parking system opens and controls the vehicle parking brake when it receives the parking signal. Thus, the driver's intention and the road surface adhesion can be accurately identified based on the collected state data, and the state information can be determined accordingly. When it is determined that the parking conditions are met based on the state information, the parking system can be automatically opened and the vehicle parking brake can be controlled. In this way, the parking timing can be accurately and reliably judged under different working conditions, thereby ensuring the intelligence and reliability of parking, and thus ensuring the safety of the vehicle.

[0015] To address the aforementioned problems, the present invention also proposes a vehicle, comprising: a vehicle parking control system as described in the above embodiments of the present invention, or the vehicle comprising: a processor, a memory, and a vehicle parking control program stored in the memory and executable on the processor, wherein the vehicle parking control program, when executed by the processor, implements the vehicle parking control method as described in the above embodiments of the present invention.

[0016] According to embodiments of the present invention, a vehicle is equipped with the vehicle parking control system described in the above embodiments and executes the vehicle parking control method described in the above embodiments. First, the vehicle's state data is collected, and then the vehicle state information is determined based on the state data. The vehicle state information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When it is determined that the parking conditions are met based on the vehicle state information, a parking signal is issued so that the parking system can activate and control the vehicle parking brake upon receiving the parking signal. Thus, the driver's intention and the road surface adhesion can be accurately identified based on the collected state data, and the state information can be determined accordingly. When it is determined that the parking conditions are met based on the state information, the parking system can be automatically activated and the vehicle parking brake can be controlled. This allows for accurate and reliable judgment of the parking timing under different working conditions, thereby ensuring the intelligence and reliability of parking and ultimately ensuring vehicle safety.

[0017] To address the aforementioned problems, the present invention also proposes a computer-readable storage medium storing a vehicle parking control program, which, when executed by a processor, implements the vehicle parking control method as described in the above embodiments of the present invention.

[0018] According to an embodiment of the present invention, when a vehicle parking control program stored thereon is executed by a processor, the vehicle parking control method of the above embodiment is executed. First, the vehicle's status data is collected, and then the vehicle status information is determined based on the status data. The vehicle status information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When it is determined that the parking conditions are met based on the vehicle status information, a parking signal is issued so that the parking system can activate and control the vehicle parking brake when it receives the parking signal. Thus, the driver's intention and the road surface adhesion can be accurately identified based on the collected status data, and the status information can be determined accordingly. When it is determined that the parking conditions are met based on the status information, the parking system can be automatically activated and the vehicle parking brake can be controlled. In this way, the parking timing can be accurately and reliably determined under different working conditions, thereby ensuring the intelligence and reliability of parking, and thus ensuring the safety of the vehicle.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the vehicle parking control system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a vehicle control system according to a specific embodiment of the present invention; Figure 3 This is a flowchart of a vehicle parking control method according to an embodiment of the present invention.

[0021] Figure label: 100 - Vehicle parking control system; 110 - Data acquisition module; 120 - Processing module; 130 - Parking control module. Detailed Implementation

[0022] To provide a more detailed understanding of the features and technical content of the embodiments of the present invention, the implementation of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of the present invention. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be shown in a simplified manner to simplify the drawings.

[0023] The following is for reference. Figures 1-3 This invention describes a vehicle parking control system, method, vehicle, and storage medium according to embodiments of the present invention.

[0024] Figure 1 This is a schematic diagram of the vehicle parking control system according to an embodiment of the present invention, such as... Figure 1 As shown, the vehicle parking control system 100 includes: a data acquisition module 110 for acquiring vehicle status data; a processing module 120 for determining vehicle status information based on the status data, wherein the vehicle status information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located; and a parking control module 130 for issuing a parking signal when it is determined based on the vehicle status information that the parking conditions are met, so that the parking system can activate and control the vehicle parking brake when it receives the parking signal.

[0025] In a specific embodiment, the acquisition module 110 can acquire necessary input signals from the vehicle network in real time to obtain vehicle status data. Specifically, the status data includes vehicle driving data such as vehicle speed data, gear data, brake pedal release edge data, and autonomous driving status data, as well as driver status data such as driver's door opening / closing data and driver's seat belt status data, and road condition data such as road surface adhesion data and slope angle data.

[0026] In a specific embodiment, the processing module 120 determines vehicle state information (including the driver's driving intention information and the adhesion information of the road surface where the vehicle is located) based on state data. Specifically, the processing module 120 includes, for example, the core algorithm of Behavior Recognition State Machine++ (BISM++), which integrates the judgment logic of the driver's behavioral intention state chain with the dynamic risk assessment of road surface adhesion, and can make a final decision after receiving the signal.

[0027] In a specific embodiment, the parking control module 130 issues a parking signal when it determines that parking conditions are met based on vehicle status information, so that the parking system (e.g., including EPB) activates and controls the vehicle's parking brake upon receiving the parking signal. Specifically, parking conditions may include, for example, determining based on vehicle status information that there is a risk of the vehicle rolling away and / or that the driver intends to leave the vehicle.

[0028] Therefore, the vehicle parking control system 100 according to an embodiment of the present invention includes a data acquisition module 110, a processing module 120, and a parking control module 130. The data acquisition module 110 acquires vehicle status data, and the processing module 120 determines vehicle status information based on the status data. The vehicle status information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When the parking control module 130 determines that the parking conditions are met based on the vehicle status information, it issues a parking signal so that the parking system can activate and control the vehicle parking brake when it receives the parking signal. Thus, the system can accurately identify the driver's intention and the road surface adhesion based on the acquired status data, thereby determining the status information. When the parking conditions are determined to be met based on the status information, the system can automatically activate and control the vehicle parking brake. This allows for accurate and reliable judgment of the parking timing under different working conditions, thereby ensuring the intelligence and reliability of parking and ultimately ensuring vehicle safety.

[0029] In one embodiment of the present invention, the state data includes vehicle speed data, gear data, brake pedal release edge data, driver's door open / close data, driver's seat belt state data, road surface adhesion estimation data and its confidence level data, adhesion change rate data, slope angle data, and autonomous driving state data.

[0030] In specific embodiments, the status data includes, for example, brake pedal release edge, vehicle speed, and gear position signals from the VCU (Vehicle Control Unit), driver's door open / close and seatbelt status signals from the BCM (Body Control Module), and road adhesion estimates from the ABS (Anti-Lock Braking System) or ASR (Acceleration Slip Regulation) systems. ) and their confidence level ( ), and the slope angle from the IMU (Inertial Measurement Unit). ), and Level 2 or higher autonomous driving status signals from the ADAS (Advanced Driver Assistance System) controller, as well as the received adhesion change rate ( This includes enhanced signals such as V2X (Vehicle-to-Everything). Specifically, for example, the necessary input signals mentioned above can be collected in real time from the vehicle's CAN (Controller Area Network).

[0031] Specifically, according to the vehicle parking control system 100 of the present invention, the status data includes vehicle speed data, gear data, brake pedal release edge data, driver's door open / close data, driver's seat belt status data, road surface adhesion estimation data and its confidence level data, adhesion change rate data, slope angle data, and autonomous driving status data. In this way, the acquisition module 110 can comprehensively collect the vehicle's status data, which makes it easier for the processing module 120 to accurately determine the vehicle status information based on the status data, and thus makes it easier for the parking control module 130 to accurately and reliably determine the parking timing based on the vehicle status information.

[0032] In one embodiment of the present invention, when determining vehicle state information based on state data, the processing module 120 is further configured to: control the vehicle to enter a judgment state when a brake pedal release edge is detected and the vehicle speed is less than a preset speed; when a parking signal is issued based on the vehicle state information to determine that parking conditions are met, the parking control module 130 is configured to: determine a dynamic safety factor based on adhesion information and determine a decision window based on the dynamic safety factor in the judgment state; within the decision window, when parking conditions are met based on driving intention information and / or adhesion information, control the vehicle to enter an automatic holding state and issue a parking signal.

[0033] In a specific embodiment, when the brake pedal release edge is detected and the vehicle speed is less than a preset speed, it indicates that braking may be required. The processing module 120 controls the vehicle to enter a judgment state. When the vehicle enters the judgment state, the parking control module first determines the risk window decision period based on road conditions. Within the risk window decision period, it determines whether parking conditions are met based on driving intention information and / or adhesion information. If parking conditions are met, the module controls the vehicle to enter an automatic holding state and issues a parking signal so that the parking system can activate and control the vehicle's parking brake upon receiving the parking signal. Specifically, the preset speed is set as needed, for example, as follows: .

[0034] Specifically, according to the vehicle parking control system 100 of the present invention, when the brake pedal release edge is detected and the vehicle speed is less than a preset speed, the processing module 120 controls the vehicle to enter a judgment state. In the judgment state, the parking control module 130 first determines a dynamic safety factor based on the adhesion information and then determines a decision window based on the dynamic safety factor. Then, within the decision window, when it is determined that the parking conditions are met based on the driving intention information and / or adhesion information, the parking control module 130 controls the vehicle to enter an automatic holding state and issues a parking signal. This enables the parking system to activate and control the vehicle parking brake when it receives the parking signal. In this way, the braking judgment timing and braking activation timing can be accurately determined based on the vehicle status information, thereby ensuring the speed, intelligence, and reliability of parking, and thus ensuring the safety of the vehicle.

[0035] In one embodiment of the present invention, when determining the dynamic safety factor based on adhesion information, the parking control module 130 is used to: determine the dynamic safety factor based on road surface adhesion estimation data, confidence data, adhesion change rate data and slope angle data.

[0036] In a specific embodiment, a dynamic safety factor is introduced to dynamically adjust the decision window based on the level of risk. , The calculation formula is: ,in, Based on the basic safety factor, … These are the weighting coefficients for each risk (which can be calibrated). The confidence level for the adhesion estimate. This refers to the slope angle. Specifically, the lower the adhesion, the steeper the slope, the lower the confidence level, and the faster the adhesion decreases, the higher the safety factor. The higher.

[0037] In a specific embodiment, the decision window The duration adjustment formula is: ,in, Base window duration (e.g., 3) s Specifically, the higher the risk ( (The larger the window) The shorter the length, the faster the response.

[0038] Specifically, according to the vehicle parking control system 100 of the present invention, the parking control module 130 determines the dynamic safety factor based on road surface adhesion estimation data, confidence data, adhesion change rate data and slope angle data; thereby, the dynamic safety factor can be accurately determined, which facilitates the determination of an accurate decision window, and further facilitates the accurate determination of the braking judgment timing and the braking activation timing, thereby ensuring the speed, intelligence and reliability of parking.

[0039] In one embodiment of the present invention, when the parking conditions are determined to be met based on driving intention information and / or adhesion information, and the vehicle is controlled to enter the automatic holding state and a parking signal is issued, the parking control module 130 is configured to: control the vehicle to enter the automatic holding state and issue a parking signal when it is determined that at least one of the following first conditions is met, wherein the first conditions include: determining that the driver has an intention to leave the vehicle based on the driving intention information, wherein the intention to leave the vehicle includes the vehicle being in neutral or park, and the driver's door being open or the driver's seat belt being unlocked, and the parking system being closed; determining that there is a risk of slippage based on the adhesion information, wherein the risk of slippage includes at least one of the road surface adhesion estimation data being less than a first adhesion threshold and the slope angle data being greater than a slope angle threshold.

[0040] In a specific embodiment, when the driver's intention to leave the vehicle is determined based on driving intention information, or when a risk of slippage is determined based on adhesion information, the parking control module 130 controls the vehicle to enter an automatic holding state and issues a parking signal, so that the parking system activates and controls the vehicle's parking brake upon receiving the parking signal. Specifically, the intention to leave the vehicle includes the vehicle being in neutral or park and the driver's door being open or the driver's seatbelt being unlocked and the parking system being closed (i.e., The risk of slippage includes at least one of the following: the estimated road surface adhesion data is less than the first adhesion threshold and the slope angle data is greater than the slope angle threshold. The first adhesion threshold and the slope angle threshold are set as needed. For example, the first adhesion threshold is 0.2 and the slope angle threshold is 3°.

[0041] Specifically, according to the vehicle parking control system 100 of the present invention, when it is determined from driving intention information that the driver intends to leave the vehicle and / or from adhesion information that there is a risk of slippage, the parking control module 130 controls the vehicle to enter an automatic holding state and issues a parking signal. The intention to leave the vehicle includes the vehicle being in neutral or park, the driver's door being open or the driver's seat belt being unlocked, and the parking system being closed. The risk of slippage includes at least one of the road surface adhesion estimation data being less than a first adhesion threshold and the slope angle data being greater than a slope angle threshold. In this way, it is possible to accurately determine whether braking is required based on driving intention information and / or adhesion information, thereby facilitating the accurate determination of the braking judgment timing and the braking activation timing, and thus ensuring the speed, intelligence, and reliability of parking.

[0042] In one embodiment of the present invention, when determining the dynamic safety factor based on adhesion information and determining the decision window based on the dynamic safety factor, the parking control module 130 is further configured to: interrupt the decision window, control the vehicle to enter the automatic holding state, and issue a parking signal when it is determined that at least one of the following second conditions is met, wherein the second conditions include: the road surface adhesion estimation data is less than the second adhesion threshold; the adhesion change rate data is greater than the adhesion change rate threshold; and the confidence level data is less than the confidence level threshold.

[0043] In a specific embodiment, to address sudden risks, when at least one of the following conditions is met—that the road surface adhesion estimation data is less than a second adhesion threshold, the adhesion change rate data is greater than the adhesion change rate threshold, and the confidence level data is less than a confidence level threshold—the parking control module 130 interrupts the decision window, controls the vehicle to enter automatic holding mode, and issues a parking signal so that the parking system can activate and control the vehicle's parking brake upon receiving the parking signal. Specifically, when at least one of the high-risk conditions such as entering an extremely low adhesion road surface, rapid deterioration of adhesion, and severe failure of the adhesion estimation system is met, the vehicle is controlled to begin braking. The second adhesion threshold, the adhesion change rate threshold, and the confidence level threshold are set as needed; for example, the second adhesion threshold is 0.15, and the adhesion change rate threshold is, for example, [missing information]. The confidence threshold is, for example, 0.2.

[0044] Specifically, according to the vehicle parking control system 100 of the present invention, when it is determined that at least one of the following conditions is met—that the road surface adhesion estimation data is less than a second adhesion threshold, the adhesion change rate data is greater than the adhesion change rate threshold, and the confidence level data is less than the confidence level threshold—the parking control module 130 interrupts the decision window, controls the vehicle to enter the automatic holding state, and issues a parking signal so that the parking system can activate and control the vehicle parking brake when it receives the parking signal. In this way, the braking judgment timing and braking activation timing can be accurately determined in the event of a sudden risk, further ensuring the intelligence and reliability of parking.

[0045] In one embodiment of the present invention, when controlling the vehicle to enter the judgment state or the automatic holding state, the parking control module 130 is further configured to: when a driver active intervention signal is detected, control the vehicle to enter the manual control state, wherein the driver active intervention signal is issued based on the accelerator pedal action and / or the brake pedal action and / or the gear shifting action and / or the parking system switch action; in the manual control state, control the vehicle based on the driver active intervention signal.

[0046] In a specific embodiment, when the vehicle enters the judgment state or the automatic holding state, the parking control module 130 still maintains the principle of prioritizing driver-initiated operation. Specifically, that is, in any state, once a driver-initiated intervention signal such as accelerator / brake pedal action, gear shifting, or EPB switch operation is detected, the parking control module 130 immediately enters the manual control state, and all automatic logic is overridden.

[0047] Specifically, according to the vehicle parking control system 100 of the present invention, when a driver active intervention signal is detected based on the accelerator pedal action and / or brake pedal action and / or gear shifting action and / or parking system switch action, the parking control module 130 controls the vehicle to enter manual control mode. In manual control mode, the vehicle is controlled based on the driver active intervention signal. This ensures that the driver's active operation takes priority when performing parking control, and further ensures the intelligence and reliability of parking.

[0048] The vehicle parking control system in the above embodiments of the present invention will be described below with reference to specific embodiments. In this specific embodiment, the functions of the vehicle parking control system in the above embodiments of the present invention are implemented using a vehicle control system.

[0049] Figure 2 This is a schematic diagram of a vehicle control system according to a specific embodiment of the present invention. Figure 2 As shown, in this specific embodiment, the vehicle control system includes a signal acquisition layer, an intent recognition and adhesion fusion layer (BISM++), and a control execution and safety feedback layer.

[0050] In this specific embodiment, the signal acquisition layer is responsible for acquiring necessary input signals from the vehicle's CAN network in real time. Specifically, the input signals include: brake pedal release edge, vehicle speed, and gear position signals from the VCU; driver's door open / close and seatbelt status signals from the BCM; and road adhesion estimation values ​​from the ABS / ASR system. ) and their confidence level ( ); slope angle from IMU ( ); and Level 2 and above autonomous driving status signals from the ADAS controller; in addition, the signal acquisition layer can optionally be equipped to receive the adhesion change rate ( (and V2X and other enhanced signals.)

[0051] In this specific embodiment, the Intent Recognition and Adhesion Fusion Layer (BISM++) is the brain of the vehicle control system, deployed in the VCU or EPB ECU (Electronic Control Unit). It receives all signals from the acquisition layer and processes them through a core algorithm called "Behavior Recognition State Machine++ (BISM++)," which integrates the judgment logic of the driver's behavioral intent state chain (DISC) with the dynamic risk assessment of road adhesion to make the final decision.

[0052] In this specific embodiment, the control execution and safety feedback layer is responsible for executing decisions and interacting with the driver; it receives instructions from the logic layer, drives the EPB actuator to move, and sends corresponding status and warning information to the HMI (Human Machine Interface), and reports fault codes (DTCs) to the on-board diagnostic system.

[0053] In this specific embodiment, BISM++ is a finite state machine with four core states, which models the complete process of a driver from driving to exiting the vehicle as a rigorous logical flow. Specifically, the four core states include Idle, Judge, AutoHold, and ManualCtrl.

[0054] In this specific embodiment, Idle is the default state of the vehicle control system. When the vehicle is moving (vehicle speed...),... The vehicle control system is in this state when the gear is not in N / P gear.

[0055] In this specific embodiment, the Judge determines the risk decision window period, when the vehicle speed... Furthermore, when the Brake_Release_Edge is detected, the vehicle control system transitions from the Idle state to the Judge state, and the duration of this state is... It is no longer a fixed value, but rather determined by a dynamic safety factor. Decide.

[0056] In this specific embodiment, AutoHold indicates that the vehicle control system has automatically applied EPB, and the AutoHold trigger condition satisfies one of the following: (1) Normal departure intention trigger: In Judge state, the following condition is met. (2) Forced triggering in high-risk environments: In the Judge state, if a high-risk environment is detected... (e.g., 0.2) or (e.g., 3°) indicates that the vehicle is in a high risk of rolling away. The vehicle control system will directly trigger AutoHold without waiting for the vehicle to leave the vehicle.

[0057] In this specific embodiment, ManualCtrl (manual control state) indicates that the driver's active operation takes priority; that is, in any state, once the driver's active intervention signal such as accelerator / brake pedal action, gear shifting, EPB switch operation is detected, the vehicle control system immediately enters this state, and all automatic logic is overridden.

[0058] In this specific embodiment, when the Judge determines the risk decision window, a dynamic safety factor is introduced to enable the vehicle control system to dynamically adjust the decision window according to the risk level. : ,in, Based on the basic safety factor, … These are the weighting coefficients for each risk (which can be calibrated). This represents the confidence level for adhesion estimation; the formula indicates that the lower the adhesion, the steeper the slope, the lower the confidence level, and the faster the adhesion decreases, the higher the safety factor. The higher the window duration, the better; the formula for adjusting the window duration is: , Base window duration (e.g., 3) s This means that the higher the risk ( (The larger the window) The shorter the length, the faster the vehicle control system responds.

[0059] In this specific embodiment, in order to deal with sudden risks, in Judge state, if any of the following high-risk conditions are met, the vehicle control system will immediately interrupt the timing and force entry into AutoHold state: (1) (Entering a road surface with extremely low adhesion); (2) (Adhesion deteriorates rapidly); (3) (The adhesion estimation system is severely malfunctioning, so a conservative strategy is adopted).

[0060] As can be seen from the above, the vehicle control system according to a specific embodiment of the present invention, based on the brake release start decision window and incorporating real-time estimated road adhesion information, dynamically adjusts the decision window duration and determines whether to automatically apply EPB. Furthermore, a risk abrupt change response method, which immediately interrupts the decision window and forcibly applies EPB if adhesion is detected to be below a preset threshold or rapidly decreasing within the decision window period, has the following advantages compared to the prior art: First, the vehicle control system according to a specific embodiment of the present invention does not use a single, isolated trigger signal, but instead constructs an "intention conversion" recognition chain based on the "brake pedal release edge" that simulates the driver's thought process. This results in extremely high scene recognition accuracy, effectively distinguishing between waiting and stopping, greatly reducing the false trigger rate, improving user experience and practicality in complex working conditions.

[0061] Secondly, according to a specific embodiment of the vehicle control system of the present invention, the "road adhesion estimation" data inside the ABS / ASR system is creatively introduced into the EPB parking decision, and dynamic safety factors and interruption mechanisms are designed, thereby possessing proactive environmental risk perception and adaptive capabilities. On high-risk road surfaces such as ice and snow and slippery surfaces, the system can automatically intervene with a faster speed and more decisive strategy, providing enhanced safety protection far exceeding traditional solutions.

[0062] Next, the vehicle control system according to a specific embodiment of the present invention is based entirely on the upgrade of the existing vehicle controller software logic, without the need to add any sensor or actuator hardware, thereby achieving zero additional hardware cost. Furthermore, due to its modular and parameterized software design, it has extremely strong platform portability and rapid deployment capabilities, making it very suitable for large-scale promotion in the commercial vehicle field.

[0063] Finally, the vehicle control system according to a specific embodiment of the present invention constructs a complete functional safety architecture that includes signal diagnostics, a three-layer degradation strategy, and a clearly defined safety state, thereby ensuring that the system can still maintain predictability and safety even in the event of partial sensor or function failure, and meeting the requirements of high-level (ASIL C) automotive functional safety.

[0064] In summary, the vehicle parking control system according to an embodiment of the present invention includes a data acquisition module 110, a processing module 120, and a parking control module 130. The data acquisition module 110 acquires vehicle status data, and the processing module 120 determines vehicle status information based on the status data. The vehicle status information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When the parking control module 130 determines that the parking conditions are met based on the vehicle status information, it issues a parking signal so that the parking system can activate and control the vehicle parking brake upon receiving the parking signal. Thus, the system can accurately identify the driver's intention and the road surface adhesion based on the acquired status data, thereby determining the status information. When the parking conditions are determined to be met based on the status information, the system can automatically activate and control the vehicle parking brake. This allows for accurate and reliable judgment of the parking timing under different operating conditions, ensuring the intelligence and reliability of parking, and ultimately ensuring vehicle safety.

[0065] A further embodiment of the present invention discloses a vehicle parking control method.Figure 3 This is a flowchart of a vehicle parking control method according to an embodiment of the present invention, such as... Figure 3 As shown, the vehicle parking control methods include: Step S1: Collect vehicle status data.

[0066] Step S2: Determine vehicle status information based on status data, including driver's driving intention information and adhesion information of the road surface where the vehicle is located.

[0067] Step S3: When it is determined that the parking conditions are met based on the vehicle status information, a parking signal is issued so that the parking system can activate and control the vehicle parking brake upon receiving the parking signal.

[0068] In one embodiment of the present invention, the state data includes vehicle speed data, gear data, brake pedal release edge data, driver's door open / close data, driver's seat belt state data, road surface adhesion estimation data and its confidence level data, adhesion change rate data, slope angle data, and autonomous driving state data.

[0069] In one embodiment of the present invention, step S2, determining vehicle state information based on state data, includes: when a brake pedal release edge is detected and the vehicle speed is less than a preset speed, controlling the vehicle to enter a judgment state; when a parking signal is issued based on the vehicle state information to determine that parking conditions are met, the parking control module 130 is used to: in the judgment state, determine a dynamic safety factor based on adhesion information, and determine a decision window based on the dynamic safety factor; within the decision window, when parking conditions are met based on driving intention information and / or adhesion information, controlling the vehicle to enter an automatic holding state and issuing a parking signal.

[0070] In one embodiment of the present invention, step S3, determining the dynamic safety factor based on adhesion information, includes: determining the dynamic safety factor based on road surface adhesion estimation data, confidence data, adhesion change rate data, and slope angle data.

[0071] In one embodiment of the present invention, step S3, when it is determined that the parking conditions are met based on driving intention information and / or adhesion information, controls the vehicle to enter the automatic holding state and issues a parking signal, including: when it is determined that at least one of the following first conditions is met, controls the vehicle to enter the automatic holding state and issues a parking signal, wherein the first conditions include: determining that the driver has an intention to leave the vehicle based on driving intention information, wherein the intention to leave the vehicle includes the vehicle being in neutral or park, and the driver's door being open or the driver's seat belt being unlocked, and the parking system being closed; determining that there is a risk of slippage based on adhesion information, wherein the risk of slippage includes at least one of the following: road surface adhesion estimation data being less than a first adhesion threshold, adhesion change rate data being greater than an adhesion change rate threshold, and slope angle data being greater than a slope angle threshold.

[0072] In one embodiment of the present invention, when step S3 determines the dynamic safety factor based on the adhesion information and determines the decision window based on the dynamic safety factor, it further includes: when it is determined that at least one of the following second conditions is met, the decision window is interrupted and a parking signal is issued, wherein the second conditions include: the road surface adhesion estimation data is less than the second adhesion threshold; the adhesion change rate data is greater than the adhesion change rate threshold; and the confidence level data is less than the confidence level threshold.

[0073] In one embodiment of the present invention, when step S3 controls the vehicle to enter the judgment state or the automatic holding state, it further includes: when a driver active intervention signal is detected, controlling the vehicle to enter the manual control state, wherein the driver active intervention signal is issued based on the accelerator pedal action and / or the brake pedal action and / or the gear shift action and / or the parking system switch action; in the manual control state, the vehicle is controlled based on the driver active intervention signal.

[0074] It should be noted that the specific implementation of the vehicle parking control method in this embodiment of the invention is similar to the specific implementation of the vehicle parking control system described in the above embodiment of the invention. For details, please refer to the description of the vehicle parking control system section. To reduce redundancy, it will not be repeated here.

[0075] The vehicle parking control method according to embodiments of the present invention is implemented based on the vehicle parking control system of the above embodiments of the present invention. First, the vehicle's state data is collected, and then the vehicle state information is determined based on the state data. The vehicle state information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When it is determined that the parking conditions are met based on the vehicle state information, a parking signal is issued, so that the parking system opens and controls the vehicle parking brake when it receives the parking signal. Thus, the driver's intention and the road surface adhesion can be accurately identified based on the collected state data, and the state information can be determined accordingly. When it is determined that the parking conditions are met based on the state information, the parking system can be automatically opened and the vehicle parking brake can be controlled. In this way, the parking timing can be accurately and reliably judged under different working conditions, thereby ensuring the intelligence and reliability of parking, and thus ensuring the safety of the vehicle.

[0076] A further embodiment of the present invention also discloses a vehicle.

[0077] In some embodiments, the vehicle includes a vehicle parking control system 100 as described in the above embodiments of the present invention.

[0078] In other embodiments, the vehicle includes a processor, a memory, and a vehicle parking control program stored in the memory and executable on the processor, wherein the vehicle parking control program, when executed by the processor, implements the vehicle parking control method as described in the above embodiments of the present invention.

[0079] According to an embodiment of the present invention, a vehicle parking control system 100 is provided to execute the vehicle parking control method described in the above embodiment. First, the vehicle's state data is collected, and then the vehicle state information is determined based on the state data. The vehicle state information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When it is determined that the parking conditions are met based on the vehicle state information, a parking signal is issued so that the parking system can activate and control the vehicle parking brake upon receiving the parking signal. Thus, the driver's intention and the road surface adhesion can be accurately identified based on the collected state data, and the state information can be determined accordingly. When the parking conditions are determined to be met based on the state information, the parking system can be automatically activated and the vehicle parking brake can be controlled. This allows for accurate and reliable judgment of the parking timing under different working conditions, thereby ensuring the intelligence and reliability of parking and ultimately ensuring vehicle safety.

[0080] A further embodiment of the present invention discloses a computer-readable storage medium storing a vehicle parking control program, which, when executed by a processor, implements the vehicle parking control method as described in the above embodiments of the present invention.

[0081] According to an embodiment of the present invention, when a vehicle parking control program stored thereon is executed by a processor, the vehicle parking control method of the above embodiment is executed. First, the vehicle's status data is collected, and then the vehicle status information is determined based on the status data. The vehicle status information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When it is determined that the parking conditions are met based on the vehicle status information, a parking signal is issued so that the parking system can activate and control the vehicle parking brake when it receives the parking signal. Thus, the driver's intention and the road surface adhesion can be accurately identified based on the collected status data, and the status information can be determined accordingly. When it is determined that the parking conditions are met based on the status information, the parking system can be automatically activated and the vehicle parking brake can be controlled. In this way, the parking timing can be accurately and reliably determined under different working conditions, thereby ensuring the intelligence and reliability of parking, and thus ensuring the safety of the vehicle.

[0082] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0083] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle parking control system, characterized in that, include: The data acquisition module is used to collect the status data of the vehicle; The processing module is used to determine vehicle status information based on the status data, wherein the vehicle status information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. The parking control module is used to issue a parking signal when it is determined that the parking conditions are met based on the vehicle status information, so that the parking system can activate and control the vehicle parking brake when it receives the parking signal.

2. The vehicle parking control system according to claim 1, characterized in that, The status data includes vehicle speed data, gear data, brake pedal release edge data, driver's door open / close data, driver's seatbelt status data, road surface adhesion estimation data and its confidence level data, adhesion change rate data, slope angle data, and autonomous driving status data.

3. The vehicle parking control system according to claim 2, characterized in that, When determining vehicle status information based on the status data, the processing module is further configured to: When the brake pedal release edge is detected and the vehicle speed is less than the preset speed, the vehicle is controlled to enter the judgment state. When the parking conditions are determined to be met based on the vehicle status information, and a parking signal is issued, the parking control module is used to: In the judgment state, a dynamic safety factor is determined based on the adhesion information, and a decision window is determined based on the dynamic safety factor; Within the decision window, when it is determined that the parking conditions are met based on the driving intention information and / or the adhesion information, the vehicle is controlled to enter the automatic holding state, and a parking signal is issued.

4. The vehicle parking control system according to claim 3, characterized in that, When determining the dynamic safety factor based on the adhesion information, the parking control module is used to: Based on the road surface adhesion estimation data, the confidence level data, the adhesion change rate data, and the slope angle data, a dynamic safety factor is determined.

5. The vehicle parking control system according to claim 3, characterized in that, When the parking conditions are determined to be met based on the driving intention information and / or the adhesion information, and the vehicle is controlled to enter automatic holding mode and a parking signal is issued, the parking control module is used to: When at least one of the following first conditions is determined to be met, the vehicle is controlled to enter automatic holding mode and a parking signal is issued, wherein the first condition includes: Based on the driving intention information, it is determined that the driver has the intention to leave the vehicle, wherein the intention to leave the vehicle includes the vehicle being in neutral or park, the driver's door being open or the driver's seat belt being unlocked, and the parking system being closed. Based on the adhesion information, a risk of slippage is determined, wherein the risk of slippage includes at least one of the estimated road surface adhesion data being less than a first adhesion threshold and the slope angle data being greater than a slope angle threshold.

6. The vehicle parking control system according to claim 3, characterized in that, When determining the dynamic safety factor based on the adhesion information and determining the decision window based on the dynamic safety factor, the parking control module is further configured to: When at least one of the following second conditions is met, the decision window is interrupted, the vehicle is controlled to enter automatic holding mode, and a parking signal is issued, wherein the second condition includes: The estimated road surface adhesion data is less than the second adhesion threshold. The adhesion change rate data is greater than the adhesion change rate threshold; The confidence level data is less than the confidence level threshold.

7. The vehicle parking control system according to claim 3, characterized in that, When controlling the vehicle to enter the judgment state or the automatic holding state, the parking control module is also used for: When a driver intervention signal is detected, the vehicle is controlled to enter manual control mode. The driver intervention signal is issued based on the action of the accelerator pedal and / or the action of the brake pedal and / or the action of gear shifting and / or the action of the parking system switch. In manual control mode, the vehicle is controlled based on the driver's active intervention signal.

8. A vehicle parking control method, the method comprising the following steps: Collect the vehicle's status data; Based on the state data, vehicle state information is determined, wherein the vehicle state information includes the driver's driving intention information and the adhesion information of the road surface where the vehicle is located. When the vehicle status information determines that the parking conditions are met, a parking signal is issued so that the parking system can activate and control the vehicle's parking brake upon receiving the parking signal.

9. A vehicle comprising: The vehicle parking control system as described in any one of claims 1-7; or, A processor, a memory, and a vehicle parking control program stored in the memory and executable on the processor, wherein the vehicle parking control program, when executed by the processor, implements the vehicle parking control method as described in claim 8.

10. A computer-readable storage medium storing a vehicle parking control program thereon, the vehicle parking control program implementing the vehicle parking control method as described in claim 8 when executed by a processor.

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