Parking release method and device, storage medium, controller and vehicle

Abstract

The invention provides a parking release method and device, a storage medium, a controller and a vehicle, according to the parking release method provided by the invention, in response to the vehicle entering a parking state, the road surface gradient of the road surface where the vehicle is located is obtained, and the brake pedal state and the gear state are monitored; when it is monitored that the user steps on the brake pedal and the vehicle gear is switched to the driving gear, whether parking release is executed or not is judged based on the road surface gradient, and whether the driving torque of the switched gear is increased enough to drive the vehicle to move or not does not need to be considered; therefore, the situation that the parking state cannot be automatically released when the gear is switched to the driving gear due to poor EMS and TCU performance of the vehicle is avoided, the use convenience and stability of the automatic parking braking function are improved, and the use experience of a user is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a parking release method, device, storage medium, controller, and vehicle. Background Technology

[0002] Automatic Parking Brake (APB) is a common feature in vehicles. It automatically maintains the brakes when the vehicle is stopped to help the driver stabilize the vehicle and prevent it from rolling on slopes. In related technologies, the APB trigger control is typically located on the vehicle's center console or steering wheel. Pressing the APB trigger control applies the electronic parking brake to the parking position; to release the parking position, the trigger control must be pressed again. However, manually triggering the parking brake via the APB trigger control is inconvenient for using the APB function. Summary of the Invention

[0003] Based on this, the present invention provides a parking release method, device, storage medium, controller and vehicle, which are used to automatically trigger parking release according to the road slope when the vehicle enters the parking state and the vehicle gear is detected to switch to the drive gear, thereby improving the ease of use of the automatic parking brake function.

[0004] On one hand, the present invention provides a parking release method, comprising:

[0005] In response to the vehicle entering parking mode, the road surface slope where the vehicle is located is obtained, and the brake pedal status and gear status are monitored.

[0006] When the system detects that the user has pressed the brake pedal and the vehicle has shifted to drive, it determines whether to release the parking brake based on the road slope.

[0007] Furthermore, in some embodiments, determining whether to release the vehicle based on the road surface slope includes:

[0008] The required braking pressure to keep the vehicle stationary is determined based on the road surface slope.

[0009] If, during the period when the user depresses the brake pedal, the vehicle braking pressure corresponding to the brake pedal opening is detected to be greater than or equal to the required braking pressure, then parking release is performed.

[0010] Furthermore, in some embodiments, the method further includes:

[0011] If the road surface slope is less than or equal to a preset slope threshold, the parking release will be executed directly.

[0012] Furthermore, in some embodiments, the method further includes:

[0013] If the road surface slope is greater than the preset slope threshold, the vehicle's direction of movement is determined based on the road surface slope and the drive gear.

[0014] If the vehicle is moving in a downhill direction, then the parking release is executed;

[0015] If the vehicle is moving in an uphill direction, then the step of determining the required braking pressure to keep the vehicle stationary based on the road slope is performed.

[0016] Furthermore, in some embodiments, obtaining the road surface slope includes:

[0017] Obtain the longitudinal acceleration corresponding to the vehicle;

[0018] The road surface slope is determined based on the longitudinal acceleration.

[0019] Furthermore, in some embodiments, monitoring the brake pedal state and gear position includes:

[0020] In response to detecting that the user has pressed the brake pedal, gear status monitoring is activated;

[0021] If the vehicle gear shifts to drive gear within a preset time range, it is confirmed that the user has pressed the brake pedal and the vehicle gear has shifted to drive gear.

[0022] Furthermore, in some embodiments, the road surface slope is expressed as the longitudinal acceleration of the vehicle when it is parked;

[0023] Determining the required braking pressure to keep the vehicle stationary based on the road surface slope includes:

[0024] The required braking pressure to keep the vehicle stationary is calculated based on the longitudinal acceleration, vehicle mass, front axle braking efficiency, front wheel radius, rear axle braking efficiency, and rear wheel radius.

[0025] Furthermore, in some embodiments, the calculation of the required braking pressure to maintain the vehicle stationary based on the longitudinal acceleration, vehicle mass, front axle braking efficiency, front wheel radius, rear axle braking efficiency, and rear wheel radius includes:

[0026]

[0027] Wherein, P is the required braking pressure, m is the vehicle mass, a is the longitudinal acceleration, C1 is the front axle braking efficiency, C2 is the rear axle braking efficiency, R1 is the front wheel radius, R2 is the rear wheel radius, and K is a calibrable coefficient.

[0028] On the other hand, the present invention provides a parking release device, comprising:

[0029] The status monitoring module is used to respond to the vehicle entering the parking state, obtain the road surface slope where the vehicle is located, and monitor the brake pedal status and gear status in real time.

[0030] The parking release module is used to determine whether to release the parking brake based on the road slope when it detects that the user has pressed the brake pedal and the vehicle gear has been switched to drive gear.

[0031] On the other hand, the present invention provides a storage medium storing a computer program adapted to be loaded by a processor and to execute the steps of the above-described method.

[0032] On the other hand, the present invention also provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method described above.

[0033] On the other hand, the present invention also provides a vehicle including the above-described parking release device or vehicle controller.

[0034] According to the parking release method provided by the present invention, after the vehicle enters the parking state, the road slope of the road surface where the vehicle is located is obtained, and the brake pedal state and gear state are monitored. When it is detected that the user presses the brake pedal and the vehicle gear is switched to the drive gear, the parking release is determined based on the road slope. Thus, the parking brake can be automatically released without manual operation, improving the convenience of using the automatic parking brake function and enhancing the user experience.

[0035] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0036] Figure 1 This is a schematic flowchart of a parking release method provided in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of a parking release device provided in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0040] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0041] In related technologies, some vehicles equipped with automatic parking brakes automatically release the parking brake during gear shifts. After detecting a gear change, the system needs to monitor the drive torque following the gear shift. Parking is only released when the drive torque increases sufficiently to move the vehicle. However, when the performance of the vehicle's Engine Management System (EMS) and Transmission-Control Unit (TCU) deteriorates, the gear shifting gears may not engage promptly after a gear change, potentially preventing the drive torque from increasing sufficiently to move the vehicle and thus failing to trigger the automatic release of the parking brake.

[0042] Based on this, the present invention provides a parking brake release method. After the vehicle enters the parking state, the road surface slope of the road where the vehicle is located is obtained, and the brake pedal status and gear status are monitored. When the user presses the brake pedal and the vehicle gear is switched to drive, the method determines whether to perform parking brake release based on the road surface slope. Thus, the parking brake can be automatically released without manual operation, improving the ease of use of the automatic parking brake function. Furthermore, it does not need to consider whether the vehicle drive torque has increased sufficiently to drive the vehicle to move, thereby avoiding the situation where the parking state cannot be automatically released when the gear is switched to drive due to poor performance of the vehicle's EMS and TCU, thus improving the user experience.

[0043] Please see Figure 1 This is a schematic flowchart illustrating a parking release method provided in an embodiment of the present invention. The following section focuses on... Figure 1 The process shown will be described in detail. The parking release method may specifically include the following steps:

[0044] Step S102: In response to the vehicle entering the parking state, obtain the road slope of the road surface where the vehicle is located, and monitor the brake pedal status and gear status.

[0045] Specifically, when the vehicle is stationary, the user can control the vehicle to enter parking mode by triggering the APB trigger control. Parking mode means that the parking brake is engaged to keep the vehicle stationary. After the vehicle enters parking mode, the road slope of the current road surface where the vehicle is located is obtained, and the brake pedal status and gear status are monitored.

[0046] Specifically, the brake pedal position sensor can detect the brake pedal opening information, and the transmission gear position sensor can detect the vehicle's gear position status. This gear position status can be sent by the automatic transmission control unit (TCU) to the electronic control unit (ECU) for executing the parking release method.

[0047] In one feasible implementation, the current attitude of the vehicle is detected based on a gyroscope sensor, and the road slope of the road surface where the vehicle is located is determined based on the current attitude of the vehicle.

[0048] Step S104: When it is detected that the user has pressed the brake pedal and the vehicle gear has been switched to drive gear, determine whether to release the parking brake based on the road slope.

[0049] Specifically, after the vehicle enters the parking state, the system monitors the brake pedal status and gear position. When it detects that the user has pressed the brake pedal and the vehicle has shifted to drive, it determines whether to release the parking brake based on the road slope.

[0050] In the embodiments of the invention, after the vehicle enters the parking state, the road slope of the road surface where the vehicle is located is obtained, and the brake pedal status and gear status are monitored. When it is detected that the user has pressed the brake pedal and the vehicle gear has been switched to the drive gear, it is determined whether to perform parking release based on the road slope. Thus, the parking brake can be automatically released without manual operation, improving the ease of use of the automatic parking brake function. Furthermore, it does not need to consider whether the vehicle drive torque has increased sufficiently to drive the vehicle to move, thereby avoiding the situation where the parking state cannot be automatically released when the gear is switched to the drive gear due to poor performance of the vehicle's EMS and TCU, thus improving the user experience.

[0051] In one embodiment, in step S102, monitoring the brake pedal state and gear state can specifically be: in response to detecting that the user has pressed the brake pedal, gear state monitoring is activated; if the vehicle gear is detected to switch to drive gear within a preset time range, it is determined that the user has pressed the brake pedal and the vehicle gear has switched to drive gear.

[0052] Specifically, based on the brake pedal position sensor detecting the brake pedal opening information, when the system detects that the user has pressed the brake pedal, it detects the vehicle's gear position using the transmission gear position sensor. If the system detects that the vehicle has shifted to a drive gear within a preset time range, it confirms that the user has pressed the brake pedal and the vehicle has shifted to a drive gear, and then proceeds to determine whether to release the parking brake based on the road slope. Furthermore, if the system does not detect the vehicle shifting to a drive gear within the preset time range, gear position monitoring is disabled, and releasing the parking brake is prohibited.

[0053] It should be noted that after detecting that the user has pressed the brake pedal, gear position monitoring is activated to avoid prolonged monitoring of the gear position and thus reduce power consumption. By setting a preset time, parking can only be released if a gear shift has occurred within the preset time after the user has pressed the brake pedal. If no gear shift to drive is detected within the preset time, gear position monitoring is deactivated to further reduce power consumption.

[0054] In one embodiment, in step S104, determining whether to perform parking release based on road slope can specifically be: determining the required braking pressure to keep the vehicle stationary based on road slope; if the vehicle braking pressure corresponding to the brake pedal opening is greater than or equal to the required braking pressure during the period when the user presses the brake pedal, then parking release is performed.

[0055] It is understandable that when the vehicle is on an uneven road surface, automatic parking release may cause the vehicle to roll due to the road slope, posing a driving risk. In this embodiment, the required braking pressure to keep the vehicle stationary is determined based on the road slope. If the vehicle braking pressure corresponding to the brake pedal opening is greater than or equal to the required braking pressure during the user's brake pedal depressing to shift gears, it can be ensured that the vehicle will not roll due to the road slope after parking is released, and parking can be released directly at this time.

[0056] In one embodiment, in step S104, determining whether to release the parking vehicle based on the road slope can also be: if the road slope is less than or equal to a preset slope threshold, then the parking vehicle release is executed directly.

[0057] The preset slope threshold is a preset slope threshold. In this embodiment, when the road surface slope is less than or equal to the preset slope threshold, it is considered that the vehicle will not slip due to the road surface slope.

[0058] Understandably, when the vehicle is in a parked state and the road surface slope is less than or equal to a preset slope threshold, releasing the parking brake will not cause the vehicle to roll due to the slope. Therefore, when the system detects that the user has pressed the brake pedal and the vehicle has shifted to drive, if the road surface slope is less than or equal to the preset slope threshold, the parking brake will be released directly. This eliminates the need to check if the vehicle's braking pressure is greater than or equal to the required braking pressure, simplifying the parking brake release process and improving the user experience.

[0059] In one embodiment, step S104, determining whether to release the parking brake based on the road slope, can also be: if the road slope is greater than a preset slope threshold, then the vehicle's direction of movement is determined based on the road slope and the drive gear; if the vehicle's direction of movement is downhill, then the parking brake is released.

[0060] In this embodiment, when the user presses the brake pedal and the vehicle gear is switched to drive gear, if the road slope is greater than a preset slope threshold, the vehicle's movement direction is further determined based on the switched drive gear to determine whether it is uphill or downhill. If the movement direction corresponding to the switched drive gear is downhill, since the vehicle itself is going to move downhill, there is no need to consider the problem of the vehicle rolling after the parking is released, and the parking is released directly.

[0061] Specifically, when a vehicle is on a road surface with a slope greater than a preset slope threshold, if the front of the vehicle is facing downhill, the vehicle will move in the downhill direction when the gear is shifted to forward; if the front of the vehicle is facing uphill, the vehicle will move in the downhill direction when the gear is shifted to reverse.

[0062] In one embodiment, in response to the vehicle entering a parking state, the road surface slope of the road where the vehicle is located is obtained, and the brake pedal state and gear state are monitored; when it is detected that the user presses the brake pedal and the vehicle gear is switched to the drive gear, if the road surface slope is greater than a preset slope threshold, the vehicle movement direction is determined based on the road surface slope and the drive gear; if the vehicle movement direction is uphill, the required braking pressure to keep the vehicle stationary is determined based on the road surface slope; if the vehicle braking pressure corresponding to the brake pedal opening is detected to be greater than or equal to the required braking pressure during the period when the user presses the brake pedal, the parking release is executed.

[0063] The preset slope threshold is a preset slope threshold. In this embodiment, when the road surface slope is greater than the preset slope threshold, it is considered that the vehicle will roll away due to the road surface slope.

[0064] It is understandable that when the vehicle is in a parked state and the road surface slope is greater than a preset slope threshold, and the vehicle is moving uphill, releasing the parking brake will cause the vehicle to roll away. In this embodiment, when the user presses the brake pedal and the vehicle shifts to drive, if the road surface slope is greater than the preset slope threshold, the vehicle's direction of movement is further determined based on the shifted drive gear. If the direction of movement corresponding to the shifted drive gear is uphill, the required braking pressure to keep the vehicle stationary is determined based on the road surface slope. During the user's brake pedal press and vehicle gear shifting, if the vehicle braking pressure corresponding to the brake pedal opening is greater than or equal to the required braking pressure, it can be ensured that the vehicle will not roll away due to the road surface slope after the parking brake is released, and the parking brake can then be released.

[0065] Specifically, when the vehicle is on a road surface with a slope greater than a preset slope threshold, if the front of the vehicle is facing downhill, the vehicle will move uphill when the gear is shifted to reverse; if the front of the vehicle is facing uphill, the vehicle will move uphill when the gear is shifted to forward.

[0066] In one or more embodiments of the present invention, obtaining the road surface slope can specifically be: obtaining the longitudinal acceleration corresponding to the vehicle, and determining the road surface slope based on the longitudinal acceleration.

[0067] It is understandable that when a vehicle is on an uneven road surface, the vehicle will generate longitudinal acceleration in the downhill direction due to its own weight. Based on the correspondence between longitudinal acceleration, gravitational acceleration and road slope, the road slope can be determined based on the longitudinal acceleration.

[0068] The longitudinal acceleration is the vehicle acceleration measured by the vehicle acceleration sensor.

[0069] In one feasible implementation, a maximum road surface gradient can be set, which is the maximum road surface gradient that the vehicle may encounter during use, based on experience. When the vehicle acceleration signal measured by the vehicle acceleration sensor fails (e.g., acceleration sensor malfunction, acceleration message signal error, etc.), the current road surface gradient is defined as the set maximum road surface gradient. It is easy to understand that when the vehicle acceleration signal is invalid, the road surface gradient cannot be determined based on the vehicle acceleration signal. In this case, the current road surface gradient is determined as the set maximum road surface gradient to determine the required braking pressure to keep the vehicle stationary, ensuring that the vehicle does not roll away when the parking brake is released.

[0070] Furthermore, the road surface slope can be represented by the longitudinal acceleration of the vehicle when it is parked, and the road surface slope is directly proportional to the vehicle's longitudinal acceleration. When the road surface slope is directly represented by the longitudinal acceleration of the vehicle when it is parked, if the vehicle acceleration signal measured by the vehicle acceleration sensor fails (e.g., acceleration sensor malfunction, acceleration message signal error, etc.), the longitudinal acceleration value at this time is determined to be the maximum longitudinal acceleration value corresponding to the set maximum road surface slope. Based on this maximum longitudinal acceleration value, the required braking pressure to keep the vehicle stationary is determined to ensure that the vehicle does not roll away when the parking brake is released.

[0071] In one embodiment, the road surface slope is represented by the longitudinal acceleration of the vehicle when it is parked. Therefore, determining the required braking pressure to keep the vehicle stationary based on the road surface slope can specifically involve calculating the required braking pressure to keep the vehicle stationary based on the longitudinal acceleration, vehicle mass, front axle braking efficiency, front wheel radius, rear axle braking efficiency, and rear wheel radius.

[0072] Among them, longitudinal acceleration is the vehicle acceleration measured by the vehicle acceleration sensor; front axle braking performance is a parameter used to characterize the braking capability of the vehicle's front axle, with the unit being Nm / bar, which characterizes how many Nm of braking torque can be generated by 1 bar of braking pressure; rear axle braking performance is a parameter used to characterize the braking capability of the vehicle's rear axle, with the unit being Nm / bar, which characterizes how many Nm of braking torque can be generated by 1 bar of braking pressure.

[0073] For details, please refer to the following formula.

[0074]

[0075] Wherein, P is the required braking pressure, m is the vehicle mass, a is the longitudinal acceleration, C1 is the front axle braking efficiency, C2 is the rear axle braking efficiency, R1 is the front wheel radius, R2 is the rear wheel radius, and K is an empirically based calibration value.

[0076] Using the above formula, the required braking pressure to keep the vehicle stationary can be calculated based on the longitudinal acceleration. When the user presses the brake pedal to switch vehicle gears, if the vehicle braking pressure corresponding to the brake pedal opening is greater than or equal to the required braking pressure, it can be ensured that the vehicle will not roll due to the road slope after the parking brake is released, and the parking brake release can be performed.

[0077] Please see Figure 2 This is a system architecture diagram of a parking release device provided in an embodiment of the present invention. Figure 2As shown, the parking release device 1 can be implemented as all or part of the vehicle controller through software, hardware, or a combination of both. According to some embodiments, the parking release device 1 includes a status monitoring module 11 and a parking release module 12, specifically including:

[0078] The status monitoring module 11 is used to respond to the vehicle entering the parking state, obtain the road surface slope of the road where the vehicle is located, and monitor the brake pedal status and gear status in real time.

[0079] The parking release module 12 is used to determine whether to release the parking brake based on the road slope when it detects that the user has pressed the brake pedal and the vehicle gear has been switched to drive gear.

[0080] Optionally, when the parking release module 12 performs the step of determining whether to release the parking vehicle based on the road slope, it is specifically used for:

[0081] The required braking pressure to keep the vehicle stationary is determined based on the road surface slope.

[0082] If, during the period when the user depresses the brake pedal, the vehicle braking pressure corresponding to the brake pedal opening is detected to be greater than or equal to the required braking pressure, then parking release is performed.

[0083] Optionally, when performing the step of determining whether to release the parking vehicle based on the road slope, the parking release module 12 is further configured to:

[0084] If the road surface slope is less than or equal to a preset slope threshold, the parking release will be executed directly.

[0085] Optionally, when performing the step of determining whether to release the parking vehicle based on the road slope, the parking release module 12 is further configured to:

[0086] If the road surface slope is greater than the preset slope threshold, the vehicle's direction of movement is determined based on the road surface slope and the drive gear.

[0087] If the vehicle is moving in a downhill direction, then the parking release is executed;

[0088] If the vehicle is moving in an uphill direction, then the step of determining the required braking pressure to keep the vehicle stationary based on the road slope is performed.

[0089] Optionally, when the status monitoring module 11 performs the process of acquiring the road surface slope, it is specifically used for:

[0090] Obtain the longitudinal acceleration corresponding to the vehicle;

[0091] The road surface slope is determined based on the longitudinal acceleration.

[0092] Optionally, when the status monitoring module 11 performs the monitoring of the brake pedal status and gear status, it is specifically used for:

[0093] In response to detecting that the user has pressed the brake pedal, gear status monitoring is activated;

[0094] If the vehicle gear shifts to drive gear within a preset time range, it is confirmed that the user has pressed the brake pedal and the vehicle gear has shifted to drive gear.

[0095] Optionally, the road surface slope is represented by the longitudinal acceleration of the vehicle when it is parked; the parking release module 12, when executing the determination of the required braking pressure to keep the vehicle stationary based on the road surface slope, is specifically used for:

[0096] The required braking pressure to keep the vehicle stationary is calculated based on the longitudinal acceleration, vehicle mass, front axle braking efficiency, front wheel radius, rear axle braking efficiency, and rear wheel radius.

[0097] Optionally, when the parking release module 12 executes the calculation of the required braking pressure to maintain the vehicle stationary based on the longitudinal acceleration, vehicle mass, front axle braking efficiency, front wheel radius, rear axle braking efficiency, and rear wheel radius, it is specifically used for:

[0098]

[0099] Wherein, P is the required braking pressure, m is the vehicle mass, a is the longitudinal acceleration, C1 is the front axle braking efficiency, C2 is the rear axle braking efficiency, R1 is the front wheel radius, R2 is the rear wheel radius, and K is a calibrable coefficient.

[0100] The above-described apparatus embodiments correspond to the method embodiments, and detailed descriptions can be found in the description of the method embodiments section, which will not be repeated here. The apparatus embodiments are derived based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments; detailed descriptions can be found in the corresponding method embodiments.

[0101] The present invention also provides a storage medium that can store multiple instructions, which are adapted to be loaded and executed by a processor using the parking release method as described in the above embodiments. For the specific execution process, please refer to the detailed description in the above embodiments, which will not be repeated here.

[0102] The present invention also provides a computer program product that stores at least one instruction, which is loaded by the processor and executed as the parking release method of the above embodiments. For the specific execution process, please refer to the specific description of the above embodiments, which will not be repeated here.

[0103] In one embodiment, the present invention also provides Figure 3 The diagram shows the structure of the vehicle controller. Figure 3 At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, memory 24, and non-volatile memory 25, and may also include other hardware required for business operations. The vehicle controller can be installed in the vehicle, where the processor 21 reads the corresponding computer program from the non-volatile memory 25 into memory and then runs it to implement the aforementioned parking release method.

[0104] In one embodiment, the present invention also provides a vehicle that may include a parking release device or a vehicle controller as described above, to perform a parking release method through the parking release device or the vehicle controller, thereby improving the convenience of parking release.

[0105] Finally, the various embodiments in this invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0106] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A parking release method, comprising: In response to the vehicle entering parking mode, the road surface slope where the vehicle is located is obtained, and the brake pedal status and gear status are monitored. When the system detects that the user has pressed the brake pedal and the vehicle has shifted to drive, it determines whether to release the parking brake based on the road slope.

2. The method according to claim 1, wherein determining whether to release the parking brake based on the road surface slope includes: The required braking pressure to keep the vehicle stationary is determined based on the road surface slope. If, during the period when the user depresses the brake pedal, the vehicle braking pressure corresponding to the brake pedal opening is detected to be greater than or equal to the required braking pressure, then parking release is performed.

3. The method according to claim 2, further comprising: If the road surface slope is less than or equal to a preset slope threshold, the parking release will be executed directly.

4. The method according to claim 2, further comprising: If the road surface slope is greater than a preset slope threshold, the vehicle's direction of movement is determined based on the road surface slope and the drive gear. If the vehicle is moving in a downhill direction, then the parking release is executed; If the vehicle is moving in an uphill direction, then the step of determining the required braking pressure to keep the vehicle stationary based on the road slope is performed.

5. The method according to claim 1, wherein obtaining the road surface slope includes: Obtain the longitudinal acceleration corresponding to the vehicle; The road surface slope is determined based on the longitudinal acceleration.

6. The method according to claim 1, wherein monitoring the brake pedal state and gear state comprises: In response to detecting that the user has pressed the brake pedal, gear status monitoring is activated; If the vehicle gear shifts to drive gear within a preset time range, it is confirmed that the user has pressed the brake pedal and the vehicle gear has shifted to drive gear.

7. The method according to claim 2, wherein the road surface slope is expressed as the longitudinal acceleration of the vehicle when it is parked; Determining the required braking pressure to keep the vehicle stationary based on the road surface slope includes: The required braking pressure to keep the vehicle stationary is calculated based on the longitudinal acceleration, vehicle mass, front axle braking efficiency, front wheel radius, rear axle braking efficiency, and rear wheel radius.

8. The method according to claim 7, wherein calculating the required braking pressure for maintaining the vehicle stationary based on the longitudinal acceleration, vehicle mass, front axle braking efficiency, front wheel radius, rear axle braking efficiency, and rear wheel radius comprises: Wherein, P is the required braking pressure, m is the vehicle mass, a is the longitudinal acceleration, C1 is the front axle braking efficiency, C2 is the rear axle braking efficiency, R1 is the front wheel radius, R2 is the rear wheel radius, and K is a calibrable coefficient.

9. A parking release device, comprising: The status monitoring module is used to respond to the vehicle entering the parking state, obtain the road surface slope where the vehicle is located, and monitor the brake pedal status and gear status in real time. The parking release module is used to determine whether to release the parking brake based on the road slope when it detects that the user has pressed the brake pedal and the vehicle gear has been switched to drive gear.

10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 8.

11. A vehicle controller, comprising: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method as claimed in any one of claims 1 to 8.

12. A vehicle comprising a parking release device as claimed in claim 9 or a vehicle controller as claimed in claim 11.

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