Parking assisting method and system, storage medium, controller and vehicle

Abstract

The invention provides a parking assisting method and system, a storage medium, a controller and a vehicle. According to the parking assisting method provided by the invention, a parking braking request generated by the vehicle based on a parking assisting function and used for controlling short-time parking of the vehicle is obtained, vehicle state information is obtained, and based on the vehicle state information, the parking braking request is sent to the controller; according to the method, the parking braking request is acquired, abnormity diagnosis is carried out on the parking braking request according to a preset abnormity diagnosis rule so as to judge whether the parking braking request is abnormal or not, when it is determined that the parking braking request is abnormal, braking of the vehicle in response to the parking braking request is forbidden, and the driving safety problem caused by the abnormal parking braking request can be solved.

Description

TECHNICAL FIELD

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

[0002] In related technologies, the parking assistance function can be automatically activated in certain specific scenarios, and after being activated, the vehicle is provided with short-term parking by controlling the vehicle brake, thereby improving the convenience of using the vehicle.

[0003] However, the parking assistance function may be misactivated due to hardware or software errors, and unnecessary parking brake requests generated after activation will not only affect the driving experience, but may also seriously endanger driving safety. SUMMARY

[0004] Therefore, the present application provides a parking assistance method, system, storage medium, controller and vehicle to solve the problem of abnormal parking brake requests affecting driving safety due to misactivation of the parking assistance function, and to improve driving safety.

[0005] In one aspect, the present application provides a parking assistance method, comprising:

[0006] obtaining a parking brake request generated by a vehicle based on a parking assistance function to control short-term parking of the vehicle;

[0007] obtaining vehicle state information, and based on the vehicle state information, performing abnormal diagnosis on the parking brake request according to a preset abnormal diagnosis rule to determine whether the parking brake request is abnormal;

[0008] when it is determined that the parking brake request is abnormal, prohibiting the vehicle from being braked in response to the parking brake request.

[0009] Further, in some embodiments, the vehicle state information includes vehicle speed.

[0010] The abnormal diagnosis on the parking brake request according to the preset abnormal diagnosis rule based on the vehicle state information to determine whether the parking brake request is abnormal comprises:

[0011] if the vehicle speed is greater than a preset speed threshold, it is determined that the parking brake request is abnormal.

[0012] Further, in some embodiments, the vehicle state information further includes brake pedal depression records.

[0013] The method further comprises:

[0014] if the vehicle speed is less than or equal to a preset speed threshold, obtaining a last brake pedal depression record, the brake pedal depression record including a brake pedal opening degree and a brake pedal depression time;

[0015] if a time interval between the brake pedal depression time and the parking brake request generation time is greater than a preset interval threshold, determining that the parking brake request is abnormal;

[0016] if the brake pedal opening degree is less than or equal to a preset opening degree threshold, determining that the parking brake request is abnormal.

[0017] Further, in some embodiments, the vehicle state information includes a driver on-seat state, the driver on-seat state being used to indicate whether a driver is on a driver seat;

[0018] the abnormality diagnosis of the parking brake request based on the vehicle state information according to a preset abnormality diagnosis rule to determine whether the parking brake request is abnormal, including:

[0019] if the driver on-seat state indicates that the driver is not on the driver seat, determining that the parking brake request is abnormal.

[0020] Further, in some embodiments, the vehicle state information includes an accelerator pedal opening degree;

[0021] the abnormality diagnosis of the parking brake request based on the vehicle state information according to a preset abnormality diagnosis rule to determine whether the parking brake request is abnormal, including:

[0022] determining a driving force corresponding to the accelerator pedal opening degree;

[0023] if the driving force is greater than a braking force corresponding to the parking brake request, determining that the parking brake request is abnormal.

[0024] Further, in some embodiments, the method further includes:

[0025] if the driver on-seat state indicates that the driver is not on the driver seat, issuing a long-time parking request and maintaining the parking brake request unchanged until a parking lock is opened, the long-time parking request being used to request the driver to open the parking lock to realize long-time parking.

[0026] Further, in some embodiments, the obtaining of the parking brake request for controlling short-time parking of the vehicle generated by the vehicle based on the parking assist function includes:

[0027] generating the parking brake request when the vehicle speed is reduced to zero and the brake pedal opening degree is greater than a preset opening degree threshold; or,

[0028] generating the parking brake request when the vehicle is stationary on a slope and the driver releases the brake pedal.

[0029] In another aspect, the present application provides a parking assistance system, comprising a parking assistance module, a request arbitration module and a brake execution module;

[0030] The parking assistance module is configured to generate a parking brake request for controlling short-time parking of a vehicle;

[0031] The request arbitration module is configured to acquire vehicle state information, based on the vehicle state information, to diagnose the parking brake request according to a preset abnormality diagnosis rule, to determine whether the parking brake request is abnormal, and to discard the parking brake request when it is determined that the parking brake request is abnormal;

[0032] The brake execution module is configured to brake the vehicle according to the parking brake request that is not diagnosed as abnormal.

[0033] Further, in some embodiments, the parking assistance module comprises an automatic parking unit and an uphill assistance unit;

[0034] The automatic parking unit is configured to generate the parking brake request when the vehicle speed is reduced to zero and the brake pedal opening is greater than a preset opening threshold;

[0035] The uphill assistance unit is configured to generate the parking brake request when the vehicle is stationary on a slope and the driver releases the brake pedal.

[0036] In another aspect, the present application provides a storage medium storing a computer program, the computer program being adapted to be loaded and executed by a processor to perform the steps of the above method.

[0037] In another aspect, the present application also provides a vehicle controller, comprising a processor and a memory; wherein the memory stores a computer program, the computer program being adapted to be loaded and executed by the processor to perform the steps of the above method.

[0038] In another aspect, the present application also provides a vehicle comprising the above parking assistance system or vehicle controller.

[0039] According to the parking auxiliary method provided in the application, after obtaining a parking brake request generated by a vehicle based on a parking auxiliary function to control short-time parking of the vehicle, the parking brake request is abnormally diagnosed based on vehicle state information according to a preset abnormal diagnosis rule to determine whether the parking brake request is abnormal, and the vehicle is prohibited from being braked in response to the parking brake request when it is determined that the parking brake request is abnormal. By abnormally diagnosing the parking brake request, the parking auxiliary method can avoid the adverse effect of an abnormal parking brake request on driving safety and improve driving safety.

[0040] It should be understood that the content described in the summary section is not intended to limit the key or important features of the embodiments of the application, nor to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 A flowchart of a parking auxiliary method provided by an embodiment of the application;

[0042] Figure 2 A system architecture diagram of a parking auxiliary system provided by an embodiment of the application;

[0043] Figure 3 A structural diagram of a vehicle controller provided by an embodiment of the application. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions and advantages of the application clearer, the technical solutions of the application will be described below in detail with reference to the embodiments of the application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the application.

[0045] In the description of one or more embodiments of the application, the term “comprising” and similar terms shall be understood as open inclusion, i.e. “including but not limited to”. The term “based on” shall be understood as “at least partially based on”. The term “one embodiment” or “the embodiment” shall be understood as “at least one embodiment”. The terms “first”, “second”, etc. can refer to different or same objects. Other explicit and implicit definitions can also be included below.

[0046] During the use of the vehicle, the user often encounters a scenario that requires short-term parking of the vehicle. The parking assistance function is used to be activated when the vehicle meets the preset function triggering condition, and the vehicle is braked by generating a parking brake request to achieve short-term parking of the vehicle, without the need for the user to step on the brake pedal for a long time. The parking assistance function greatly improves the convenience of use and user experience.

[0047] However, the parking assistance function may be misactivated due to hardware or software errors, etc. The misactivated parking assistance function will generate unnecessary parking brake requests, causing the vehicle to brake incorrectly, which not only affects the use experience, but also seriously endangers the driving safety. In some scenarios, the misactivation of the parking assistance function may cause the vehicle to generate a small and not easily detectable braking torque, which acts on the brake disc during driving and causes the brake disc to overheat, affecting the braking performance of the vehicle. Inadequate braking performance of the vehicle during high-speed driving may cause a major driving safety accident. The misactivation of the parking assistance function may also cause the vehicle to generate a large braking torque, which suddenly acts on the brake disc during driving and causes the vehicle to suddenly brake, easily causing rear-end collisions and other safety accidents.

[0048] Based on this, the present application provides a parking assistance method, which, after obtaining a parking brake request generated by a vehicle based on a parking assistance function to control short-term parking of the vehicle, diagnoses the parking brake request based on vehicle state information according to a preset abnormality diagnosis rule, judges whether the parking brake request is abnormal, and prohibits the vehicle from braking in response to the parking brake request when it is determined that the parking brake request is abnormal. By diagnosing the parking brake request for abnormalities, this method can avoid the adverse effects of abnormal parking brake requests on driving safety and improve driving safety.

[0049] Please refer to Figure 1 , a flowchart of a parking assistance method provided by an embodiment of the present application. The following will be described in detail with respect to the flowchart shown in Figure 1 , which can specifically include the following steps:

[0050] Step S102, obtaining a parking brake request generated by a vehicle based on a parking assistance function to control short-term parking of the vehicle;

[0051] The parking brake request is a parking brake request generated by the vehicle parking assistance function being activated. The parking assistance function is used to provide short-term parking services for the vehicle when short-term parking is needed. The parking assistance function controls the vehicle braking by generating a parking brake request to achieve short-term parking.

[0052] It should be noted that the parking brake request can be triggered to be generated when the vehicle meets the preset parking assist function triggering condition, for automatically controlling the vehicle to be parked for a short time, providing the user with the use convenience of the vehicle, or can be generated due to the parking assist function being activated by mistake caused by hardware or software errors. The parking brake request triggered to be generated when the vehicle meets the preset parking assist function triggering condition is a normal parking brake request, and the parking brake request generated due to the parking assist function being activated by mistake caused by hardware or software errors is an abnormal parking brake request.

[0053] It should be noted that in the embodiment of the application, the short-time parking is a parking function automatically triggered when the parking assist function is activated, and when the vehicle is in the short-time parking state, the short-time parking state can be automatically exited by stepping on the accelerator pedal.

[0054] Further, the parking assist function can include an automatic parking function and an uphill assist function. The automatic parking function is used to generate a parking brake request to control the vehicle to brake to achieve short-time parking when the vehicle speed is reduced to zero and the driver steps on the brake pedal. The uphill assist function is used to generate a parking brake request to control the vehicle to brake to achieve short-time parking when the vehicle is located on a slope and the driver releases the brake pedal.

[0055] In step S104, vehicle state information is acquired, and based on the vehicle state information, an abnormal diagnosis is performed on the parking brake request according to a preset abnormal diagnosis rule to determine whether the parking brake request is abnormal.

[0056] The vehicle state information is current vehicle state information acquired when the parking brake request is acquired, and the vehicle state information includes but is not limited to vehicle speed, brake pedal opening degree, accelerator pedal opening degree, driving in-place state, vehicle acceleration and the like. The vehicle state information is monitored by each preset sensor for monitoring the vehicle state.

[0057] The abnormal diagnosis rule is a diagnosis rule set according to the parking assist function for the parking brake request generated by the parking assist function. According to the abnormal diagnosis rule, the parking brake request generated based on the parking assist function can be abnormally diagnosed.

[0058] In step S106, when it is determined that the parking brake request is abnormal, the vehicle is prohibited from being braked in response to the parking brake request.

[0059] It can be understood that the normal parking brake request can automatically control the vehicle to be parked for a short time during the use of the vehicle, and the use convenience of the vehicle is improved; and the abnormal parking brake request can brake the vehicle in a scene where the vehicle does not need to be braked, causing unexpected driving safety risks.

[0060] Specifically, the parking brake request is diagnosed for abnormality according to the acquired vehicle state information, and the vehicle braking system is prohibited from braking the vehicle in response to the abnormal parking brake request when it is determined that the parking brake request is abnormal.

[0061] Further, in step S104, the parking brake request is diagnosed for abnormality according to the acquired vehicle state information, and the vehicle is normally braked according to the parking brake request if the parking brake request is diagnosed as normal according to the set abnormality diagnosis rule.

[0062] In the embodiment of the present application, after the parking brake request for controlling short-time parking of the vehicle generated by the vehicle based on the parking assist function is acquired, the parking brake request is diagnosed for abnormality based on the vehicle state information according to the preset abnormality diagnosis rule, it is determined whether the parking brake request is abnormal, and the vehicle is prohibited from braking in response to the parking brake request when it is determined that the parking brake request is abnormal. By this method, the abnormal parking brake request is not responded to by diagnosing the parking brake request for abnormality, which can avoid the adverse effects of the abnormal parking brake request on driving safety and improve driving safety.

[0063] In one embodiment, in step S102, the parking brake request for controlling short-time parking of the vehicle generated by the vehicle based on the parking assist function is acquired, which can specifically be: the parking brake request is generated when the vehicle speed is reduced to zero and the brake pedal opening degree is greater than a preset opening degree threshold; or the parking brake request is generated when the vehicle is stationary on a slope and the driver releases the brake pedal.

[0064] It should be noted that the parking assist function includes a parking function and an uphill assist function. The automatic parking function is configured to be triggered when the vehicle speed is reduced to zero and the brake pedal opening degree of the brake pedal stepped down by the driver is greater than a preset opening degree threshold, and the parking brake request for short-time parking of the vehicle is generated. The uphill assist function is configured to be triggered and activated when the vehicle is stationary on a slope and the driver releases the brake pedal, and the parking brake request for short-time parking of the vehicle is generated.

[0065] When the vehicle starts uphill, the uphill assist function can maintain the braking force for preventing the vehicle from rolling down according to the parking brake request when the driver releases the brake pedal, so as to ensure that the vehicle does not roll down before the driver steps on the accelerator pedal.

[0066] In one embodiment, the vehicle state information includes vehicle speed, and in step S104, the parking brake request is diagnosed for abnormality based on the vehicle state information according to the preset abnormality diagnosis rule to determine whether the parking brake request is abnormal, which can specifically be: if the vehicle speed is greater than a preset speed threshold, it is determined that the parking brake request is abnormal.

[0067] The vehicle speed is a real-time vehicle speed, and the vehicle speed is measured based on a wheel speed sensor.

[0068] It can be understood that the parking brake request is used to provide a parking brake force for short-time parking of the vehicle. Generally, the parking brake request is generated when the vehicle speed is 0 or close to 0, so that the parking brake force is generated by the parking brake request to control short-time parking of the vehicle. The parking brake request should not be generated during high-speed driving of the vehicle. In the embodiment of the application, by setting a speed threshold, after the parking brake request is obtained, if the vehicle speed is greater than the preset speed threshold at this time, it is determined that the parking brake request is an abnormal brake request that should not be generated, which may be generated by mistake due to software or hardware errors and the like. At this time, the parking brake request is not responded to, thereby avoiding the adverse effects of the abnormal parking brake request on driving safety and improving driving safety.

[0069] In an available implementation, if the vehicle speed is greater than the preset speed threshold and the parking brake force corresponding to the parking brake request is greater than a preset brake force threshold, it is determined that the parking brake request is abnormal.

[0070] It can be easily understood that, during driving of the vehicle, if the parking brake force is generated according to the parking brake request, unexpected deceleration of the vehicle will occur. When the parking brake force is large, unexpected emergency braking of the vehicle may occur, which affects driving safety. According to the vehicle speed and the size of the parking brake force corresponding to the parking brake request, it is determined whether the parking brake request is abnormal, which can avoid emergency braking of the vehicle caused by the abnormal parking brake request during high-speed driving of the vehicle, thereby improving driving safety.

[0071] Further, the vehicle state information further includes a brake pedal depression record. If the vehicle speed is less than or equal to the preset speed threshold, the most recent brake pedal depression record is obtained, the brake pedal depression record including a brake pedal opening degree and a brake pedal depression time. If a time interval between the brake pedal depression time and a parking brake request generation time is greater than a preset interval threshold, it is determined that the parking brake request is abnormal. If the brake pedal opening degree is less than or equal to a preset opening degree threshold, it is determined that the parking brake request is abnormal.

[0072] It can be understood that the triggering conditions of the automatic parking function and the uphill assist function are both activated by the driver depressing the brake pedal. For example, the automatic parking function is triggered and activated when the vehicle speed is reduced to zero and the brake pedal opening degree of the brake pedal depressed by the driver is greater than a preset opening degree threshold. The uphill assist function is triggered and activated when the vehicle is stationary on a slope and the driver releases the brake pedal. Therefore, if the vehicle speed is less than or equal to the preset speed threshold, it is further determined whether the parking brake request is abnormal according to the brake pedal depression record.

[0073] Specifically, the time of stepping on the brake pedal and the generation time of the parking brake request can be compared, and it can be judged whether the intensity of stepping on the brake pedal reaches the triggering threshold of the automatic parking function to judge whether the parking brake request is abnormal. If the time interval between the brake pedal stepping time and the parking brake request generation time is greater than the preset interval threshold, it indicates that the brake pedal stepping record and the generation of the parking brake request are irrelevant, and it is determined that the parking brake request is generated abnormally. If the brake pedal opening is less than or equal to the preset opening threshold, it indicates that the driver stepping on the brake pedal does not reach the triggering threshold of the automatic parking function, and it is determined that the parking brake request is generated abnormally.

[0074] Optionally, the preset opening threshold can be 0. If the brake pedal opening is less than or equal to the preset opening threshold, it indicates that the driver does not step on the brake pedal, and at this time the parking brake request should not be generated, and it is determined that the parking brake request is abnormal.

[0075] In the embodiment, if the vehicle speed is less than or equal to the preset speed threshold, the last brake pedal stepping record is obtained. If the time interval between the brake pedal stepping time and the parking brake request generation time is greater than the preset interval threshold or the brake pedal opening is less than the preset opening threshold, it is determined that the parking brake request is abnormal. The abnormal parking brake request can be generated due to software or hardware errors, etc. At this time, the parking brake request is not responded to, thereby avoiding the adverse effects of the abnormal parking brake request on driving safety and improving driving safety.

[0076] In one embodiment, the vehicle state information includes an accelerator pedal opening. In step S104, based on the vehicle state information, the parking brake request is diagnosed for abnormality according to a preset abnormality diagnosis rule to judge whether the parking brake request is abnormal. Specifically, it can be determined that the driving force corresponding to the accelerator pedal opening is greater than the braking force corresponding to the parking brake request, and it is determined that the parking brake request is abnormal.

[0077] It should be noted that for the automatic parking function and the uphill assist function, generally, after the function is triggered and the vehicle is parked for a short time by the parking brake request, the driver stepping on the accelerator pedal is generally set to trigger the function to exit, that is, the parking brake force corresponding to the parking brake request is cancelled. In the embodiment, the parking brake request can be judged to be abnormal according to the accelerator pedal opening. If the driving force corresponding to the accelerator pedal opening is greater than the braking force corresponding to the parking brake request, it indicates that the vehicle is in an accelerating state, at which time the parking assist function should not be triggered and activated, and thus it can be determined that the parking brake request is abnormal.

[0078] In one embodiment, the vehicle state information includes a driver-in-seat state, the driver-in-seat state being used to indicate whether the driver is located at the driver seat; in step S104, based on the vehicle state information, the parking brake request is diagnosed according to a preset abnormality diagnosis rule to determine whether the parking brake request is abnormal, which can be specifically: if the driver-in-seat state indicates that the driver is not at the driver seat, it is determined that the parking brake request is abnormal.

[0079] The driver-in-seat state is used to indicate whether the driver is located at the driver seat, and the driver-in-seat state is detected based on a camera for monitoring the driver seat.

[0080] Optionally, the driver-in-seat state can also be determined based on a main driver seat safety belt configuration state and whether the main driver seat side door of the vehicle is open. For example, if the main driver seat safety belt is not configured, it is determined that the driver is not at the driver seat; or if the main driver seat side door of the vehicle is open, it is determined that the driver is not at the driver seat.

[0081] It should be noted that the parking brake request is diagnosed according to the driver-in-seat state, and when the driver-in-seat state indicates that the driver is not at the driver seat, it means that the vehicle is in an unattended state. At this time, if the parking assist function is activated and parking is performed based on the parking assist function, there is a situation that the vehicle cannot be parked due to too small parking brake force, and the driver is not at the driver seat. When the vehicle cannot be parked stably due to too small parking brake force, the vehicle cannot be braked in time through human operation, which has a great safety hazard. Therefore, at this time, the parking assist function should not be activated, it is determined that the parking brake request at this time is abnormal, and the vehicle brake system is prohibited from responding to the parking brake request to avoid vehicle braking due to misactivation of the parking assist function during driving, thereby improving driving safety.

[0082] Further, in one embodiment, when the driver-in-seat state indicates that the driver is not at the driver seat, a long-time parking request is sent, and the parking brake request is maintained unchanged until the parking lock is opened. The long-time parking request is used to request the driver to open the parking lock to realize long-time parking.

[0083] When the parking assist function is activated but it is monitored that the driver is not at the driver seat, the parking brake request generated by the activation of the parking assist function is prohibited from being responded to, and a long-time parking request is sent to the driver. The long-time parking request is used to request the driver to open the parking lock to realize long-time parking. After the long-time parking request is sent, the parking brake request is maintained unchanged until the parking lock is opened, which can avoid the vehicle from rolling during the period when the driver opens the parking lock according to the long-time parking request.

[0084] The parking lock is an opening control for opening long-time parking of the vehicle.

[0085] It should be noted that, in the embodiment of the present application, the short parking is a parking function automatically triggered by the activation of the parking assist function, and the short parking is achieved by maintaining the brake pressure at the wheel end. When the vehicle is in the short parking state, the short parking state can be automatically exited by stepping on the accelerator pedal. The long parking is a parking function that needs to be operated by the driver to preset the parking lock control. The long parking is a parking mode that locks the brake caliper by physical structure. When the vehicle is in the long parking state, the long parking state can only be exited by the driver manually operating the corresponding parking lock control again. The short parking provided by the activation of the parking assist function is calculated according to the slope of the vehicle to obtain the braking force for keeping the vehicle parked and stationary. When the calculation is not accurate, there may be a risk of insufficient braking force causing the vehicle to roll. The long parking triggered by turning on the parking lock control has sufficient braking force, which can ensure that the vehicle will not roll.

[0086] When the driver leaves the driving position, in order to avoid the safety hazard that the driver cannot handle the emergency situation due to not being in the driving position, the parking brake request for providing the short parking is refused, and the long parking is requested from the driver. The long parking can ensure that the vehicle has sufficient parking braking force, which helps to improve safety.

[0087] Further, in one embodiment, when the parking brake request is normal and the vehicle is braked according to the parking brake request to control the vehicle to park for a short time, the parking lock is automatically turned on to lock the brake caliper when the duration of this short parking reaches a preset duration, and the vehicle is parked for a long time.

[0088] In one embodiment, the vehicle state information includes vehicle speed, accelerator pedal opening degree, brake pedal opening degree, and driver in position state; and the abnormal diagnosis rule includes:

[0089] If the vehicle speed is greater than a preset speed threshold, it is determined that the parking brake request is abnormal;

[0090] If the vehicle speed is less than or equal to the preset speed threshold, the last brake pedal depression record is obtained, the brake pedal depression record includes the brake pedal opening degree and the brake pedal depression time, and if the time interval between the brake pedal depression time and the parking brake request generation time is greater than a preset interval threshold or the brake pedal opening degree is less than a preset opening degree threshold, it is determined that the parking brake request is abnormal;

[0091] If the driving force corresponding to the accelerator pedal opening degree is greater than the braking force corresponding to the parking brake request, it is determined that the parking brake request is abnormal;

[0092] If the driver in position state indicates that the driver is not in the driving position, it is determined that the parking brake request is abnormal.

[0093] After obtaining the parking brake request generated based on the parking assist function, vehicle state information is obtained, and each of the above abnormality diagnosis rules is used to diagnose the parking brake request for abnormality. When it is determined that the parking brake request is abnormal, the vehicle is prohibited from braking in response to the parking brake request. When no abnormality is monitored based on each of the above abnormality diagnosis rules, the vehicle is normally braked based on the parking brake request.

[0094] It should be noted that the parking assist method proposed in one or more embodiments of the present application can be applied to the scene where the parking assist function and the vehicle braking system software are separated. The parking assist function and the vehicle braking system software are separated, which means that the software module for realizing the parking assist function and the vehicle braking system are controlled and realized by different vehicle controllers. Generally, the parking assist function is usually integrated in the brake controller for controlling the vehicle braking system, and in some scenarios, the software module corresponding to the parking assist function can also be set in the third-party controller outside the brake controller. In the scene where the parking assist function and the vehicle braking system software are separated, since the parking assist function and the vehicle braking system are controlled and realized by different vehicle controllers, if the third-party controller for controlling the parking assist function fails, resulting in an abnormal parking brake request, and the third-party controller does not correctly report the current fault state, it can cause the brake controller to brake according to the abnormal parking brake request, causing unexpected driving risks. The parking assist method proposed in one or more embodiments of the present application can add a diagnosis mechanism for the parking brake request generated by the third-party controller in the brake controller, and by diagnosing the parking brake request generated and sent by the third-party controller based on the parking assist function for abnormality, the abnormal parking brake request is not responded, which can avoid the adverse effects of the abnormal parking brake request on driving safety and improve driving safety.

[0095] Please refer to Figure 2 A system architecture diagram of a parking assist system is provided for the embodiments of the present application. As shown in Figure 2 The parking assist system 1 includes a parking assist module 11, a request arbitration module 12, and a brake execution module 13. The parking assist module is used to generate a parking brake request for controlling short-term parking of a vehicle. The request arbitration module is used to obtain vehicle state information, diagnose the parking brake request for abnormality based on the vehicle state information according to a preset abnormality diagnosis rule, to determine whether the parking brake request is abnormal, and discard the parking brake request when it is determined that the parking brake request is abnormal. The brake execution module is used to brake the vehicle according to the parking brake request that is not diagnosed as abnormal.

[0096] The vehicle state signal includes but is not limited to vehicle speed, brake pedal opening signal, accelerator pedal opening signal, vehicle slope signal, etc.

[0097] The request arbitration module 12 is configured to arbitrate the parking brake request generated by the parking auxiliary module 11 according to a preset arbitration condition, determine whether the request is abnormal, and when it is determined that the parking brake request is not abnormal, send the parking brake request to the brake execution module for braking, and when it is determined that the request is abnormal, directly discard the parking brake request, avoid responding to the abnormal parking brake request, and improve driving safety.

[0098] The brake execution module 13 is configured to calculate the wheel end brake pressure according to the brake force of the parking brake request, and apply the corresponding wheel end brake pressure to the wheel end through the hydraulic brake system, so that the wheel end brake caliper locks the brake disc to realize vehicle braking.

[0099] Further optionally, the parking auxiliary module 11, the request arbitration module 12 and the brake execution module 13 can be integrated in the same vehicle controller, or can be integrated in different vehicle controllers.

[0100] Optionally, the parking auxiliary module 11 includes an automatic parking unit and an uphill assist unit. The automatic parking unit is configured to generate the parking brake request when the vehicle speed is reduced to zero and the brake pedal opening is greater than a preset opening threshold. The uphill assist unit is configured to generate the parking brake request when the vehicle is stationary on a slope and the driver releases the brake pedal.

[0101] The parking auxiliary function includes an automatic parking function and a hill start assist function. The automatic parking unit is configured to determine whether to activate the automatic parking function according to vehicle state information, specifically to activate the automatic parking function when the vehicle speed is reduced to zero and the driver steps on the brake pedal, and then calculate the brake force for maintaining the vehicle stationary on the slope according to the current slope of the vehicle, and generate a corresponding parking brake request according to the brake force. The uphill assist unit is configured to determine whether to activate the hill start assist function according to vehicle state information, specifically to activate the hill start assist function when the vehicle is on a slope and the driver releases the brake pedal, and then calculate the brake force for maintaining the vehicle stationary on the slope according to the current slope of the vehicle, and generate a corresponding parking brake request according to the brake force.

[0102] Optionally, the vehicle state information includes vehicle speed.

[0103] The request arbitration module 12, when performing the step of diagnosing the parking brake request as abnormal or normal based on the vehicle state information according to a preset abnormal diagnosis rule, is specifically configured to:

[0104] If the vehicle speed is greater than a preset speed threshold, it is determined that the parking brake request is abnormal.

[0105] Optionally, the vehicle state information further comprises a brake pedal depression record, and the request arbitration module 12 is further configured to:

[0106] If the vehicle speed is less than or equal to a preset speed threshold, a most recent brake pedal depression record is obtained, the brake pedal depression record comprising a brake pedal opening degree and a brake pedal depression time;

[0107] If a time interval between the brake pedal depression time and the parking brake request generation time is greater than a preset interval threshold, it is determined that the parking brake request is abnormal.

[0108] If the brake pedal opening degree is less than or equal to a preset opening degree threshold, it is determined that the parking brake request is abnormal.

[0109] Optionally, the vehicle state information comprises an accelerator pedal opening degree, and the request arbitration module 12, when performing the step of diagnosing the parking brake request as abnormal or normal based on the vehicle state information according to a preset abnormal diagnosis rule, is specifically configured to:

[0110] determining a driving force corresponding to the accelerator pedal opening degree;

[0111] If the driving force is greater than a braking force corresponding to the parking brake request, it is determined that the parking brake request is abnormal.

[0112] Optionally, the vehicle state information comprises a driver presence state, the driver presence state being used to indicate whether a driver is present at a driver seat; and the request arbitration module 12, when performing the step of diagnosing the parking brake request as abnormal or normal based on the vehicle state information according to a preset abnormal diagnosis rule, is specifically configured to:

[0113] If the driver presence state indicates that the driver is not present at the driver seat, it is determined that the parking brake request is abnormal.

[0114] Optionally, the request arbitration module 12 is further configured to, if the driver presence state indicates that the driver is not present at the driver seat, issue a long-time parking request and maintain the parking brake request unchanged until a parking lock is opened, the long-time parking request being used to request the driver to open the parking lock to realize long-time parking.

[0115] In the embodiments of the present application, after obtaining the parking brake request generated by the parking assist module, the request arbitration module performs abnormality diagnosis on the parking brake request according to the vehicle state information, and then judges whether the parking brake request is abnormal, and when it is determined that the parking brake request is abnormal, the request arbitration module discards the parking brake request, so as to prohibit the brake execution module from braking the vehicle in response to the parking brake request. By this method, the problem of affecting driving safety caused by the false activation of the parking assist function can be solved, and the driving safety can be improved.

[0116] The present application also provides a storage medium, which can store a plurality of instructions, the instructions being suitable for being loaded and executed by a processor to perform the parking assist method of each of the above embodiments. The specific execution process can be referred to the specific description in each of the above embodiments, which will not be repeated here.

[0117] The present application also provides a computer program product, which stores at least one instruction, the at least one instruction being loaded and executed by the processor to perform the parking assist method of each of the above embodiments. The specific execution process can be referred to the specific description in each of the above embodiments, which will not be repeated here.

[0118] In one embodiment, the present application also provides Figure 3 The structure schematic diagram of the vehicle controller is shown. As shown in the figure, Figure 3 At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, a memory 24, a non-volatile memory 25, and of course can also include other hardware required by the business. The vehicle controller can be arranged in the vehicle, and the processor 21 in it reads the corresponding computer program from the non-volatile memory 25 into the memory and then runs to realize the above-mentioned parking assist method.

[0119] In one embodiment, the present application also provides a vehicle, which can include the parking assist system or the vehicle controller as described above, so as to perform the parking assist method through the parking assist system or the vehicle controller to improve the driving safety.

[0120] Finally, each of the embodiments in the present application is described in a progressive manner, and the same and similar parts between each of the embodiments can be referred to each other. Each embodiment mainly describes the difference from other embodiments. Especially for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant part can be referred to the part of the description of the method embodiment.

[0121] The above merely illustrates the embodiments of the present application but should not be taken as limitations. Various changes and modifications can be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the scope of claims of the present application.

Claims

1. A method for parking assist, comprising: obtaining a parking brake request generated by a vehicle based on a parking assist function to control short-time parking of the vehicle; obtaining vehicle state information, and performing abnormality diagnosis on the parking brake request according to a preset abnormality diagnosis rule based on the vehicle state information to determine whether the parking brake request is abnormal; in a case where it is determined that the parking brake request is abnormal, prohibiting braking of the vehicle in response to the parking brake request. 2.The method of claim 1, wherein the vehicle state information comprises vehicle speed; and the performing abnormality diagnosis on the parking brake request according to a preset abnormality diagnosis rule based on the vehicle state information to determine whether the parking brake request is abnormal comprises: in a case where the vehicle speed is greater than a preset speed threshold, determining that the parking brake request is abnormal. 3.The method of claim 2, wherein the vehicle state information further comprises brake pedal depression record; and the method further comprises: in a case where the vehicle speed is less than or equal to a preset speed threshold, obtaining a most recent brake pedal depression record, the brake pedal depression record comprising brake pedal opening degree and brake pedal depression time; in a case where a time interval between the brake pedal depression time and a time when the parking brake request is generated is greater than a preset interval threshold, determining that the parking brake request is abnormal; and in a case where the brake pedal opening degree is less than or equal to a preset opening degree threshold, determining that the parking brake request is abnormal. 4.The method of claim 1, wherein the vehicle state information comprises accelerator pedal opening degree; and the performing abnormality diagnosis on the parking brake request according to a preset abnormality diagnosis rule based on the vehicle state information to determine whether the parking brake request is abnormal comprises: determining driving force corresponding to the accelerator pedal opening degree; and in a case where the driving force is greater than braking force corresponding to the parking brake request, determining that the parking brake request is abnormal. 5.The method of claim 1, wherein the vehicle state information comprises driver presence state, the driver presence state being used to indicate whether a driver is present at a driver seat; and the performing abnormality diagnosis on the parking brake request according to a preset abnormality diagnosis rule based on the vehicle state information to determine whether the parking brake request is abnormal comprises: in a case where the driver presence state indicates that the driver is not present at the driver seat, determining that the parking brake request is abnormal. 6.The method of claim 5, further comprising: in a case where the driver presence state indicates that the driver is not present at the driver seat, issuing a long-time parking request and maintaining the parking brake request unchanged until a parking lock is opened, the long-time parking request being used to request the driver to open the parking lock to achieve long-time parking. 7.The method of claim 1, wherein the obtaining a parking brake request generated by a vehicle based on a parking assist function to control short-time parking of the vehicle comprises: generating the parking brake request in a case where a vehicle speed of the vehicle is reduced to zero and a brake pedal opening degree is greater than a preset opening degree threshold; or generating the parking brake request in a case where the vehicle is parked on a slope and a driver releases the brake pedal. ​ ​ ​ ​ ​ ​ ​ ​ ​ 8.A parking assist system, the system comprising a parking assist module, a request arbitration module and a brake execution module; the parking assist module is configured to generate a parking brake request for controlling short-time parking of a vehicle; the request arbitration module is configured to acquire vehicle state information, perform abnormality diagnosis on the parking brake request according to a preset abnormality diagnosis rule based on the vehicle state information, to determine whether the parking brake request is abnormal, and discard the parking brake request when it is determined that the parking brake request is abnormal; the brake execution module is configured to brake the vehicle according to the parking brake request that is not diagnosed as abnormal. 9.The system of claim 8, the parking assist module comprising an automatic parking unit and a hill start assist unit; the automatic parking unit is configured to generate the parking brake request when the vehicle speed is reduced to zero and the brake pedal opening is greater than a preset opening threshold; the hill start assist unit is configured to generate the parking brake request when the vehicle is parked on a slope and the driver releases the brake pedal. 10.A storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the method of any one of claims 1-7.

11. A vehicle controller comprising: a processor and a memory; wherein the memory stores a computer program, the computer program being adapted to be loaded and executed by the processor to implement the steps of the method of any one of claims 1-7. 12.A vehicle comprising the parking assist system of claim 8 or the vehicle controller of claim 11.

Images