Parking control method and device of unmanned vehicle and vehicle

Abstract

The invention relates to a parking control method and device for an unmanned vehicle and the vehicle, and the method can start a parking detection function once the abnormal displacement of the vehicle is detected in a normal working state of a parking system, and controls the parking system to implement full-amount service braking in an unauthorized manner; and after the abnormal displacement is eliminated, unauthorized control is released, and the parking system is restored to the normal working state. If the abnormal displacement does not occur after the system returns to normal and the intelligent driving instruction is successfully executed, exiting the parking detection function; and if abnormal displacement is detected again after recovery, unauthorized braking is triggered again, and abnormal analysis of the parking system is carried out. According to the method, the vehicle sliding risk in a real parking environment can be effectively identified, and the problems of detection lag, low accuracy and the like caused by dependence on manual spot inspection in the prior art are solved, so that the automation degree and the detection accuracy of parking brake detection of the unmanned vehicle are improved.

Description

Technical Field

[0001] This invention relates to the fields of smart mining, autonomous driving, and vehicle technology, specifically to a parking control method, device, and vehicle for an unmanned vehicle. Background Technology

[0002] Currently, with the rapid development of autonomous driving technology, the number of driverless vehicles being actually used is increasing day by day.

[0003] In practice, it has been found that autonomous vehicles park more frequently and experience faster wear and tear on their parking brakes compared to manually driven vehicles. Therefore, testing the parking brake performance of autonomous vehicles is particularly important. Furthermore, in some special application scenarios, such as mining, autonomous mining vehicles face challenges such as their large tonnage and the numerous slopes in mining environments, significantly increasing the difficulty of parking (e.g., requiring greater parking braking force to meet the parking demands of their heavy loads; and needing to handle situations such as vehicle breakdowns ahead or spoil heap management leading to vehicle congestion, thus necessitating parking on slopes).

[0004] However, currently, the parking brake status of autonomous vehicles relies on manual inspection, which often requires the vehicle to be unloaded, making it impossible to identify the risk of rollback in real-world parking scenarios such as on slopes. Furthermore, manual inspection is highly dependent on the inspectors, whose professionalism and sense of responsibility are difficult to control. Therefore, current methods for detecting the parking brake of autonomous vehicles have low automation levels and their accuracy needs improvement. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a parking control method, device and vehicle for unmanned vehicles, which can improve the automation level and detection accuracy of parking brake detection of unmanned vehicles.

[0006] According to a first aspect of the present invention, a parking control method for an unmanned vehicle is provided, comprising: If the parking system of the autonomous vehicle is in normal working condition and an abnormal displacement of the vehicle is detected, the parking detection function is activated, and the parking system is overstepped to perform full-scale driving braking. After detecting that the abnormal vehicle displacement has disappeared, the unauthorized control is released, and the parking system returns to its normal operating state. If the abnormal displacement disappears after returning to the normal working state, and the driverless vehicle successfully executes the instructions of the intelligent driving system, then the parking detection function is exited. If the abnormal displacement is detected after returning to the normal working state, the system will again exceed its authority to control the parking system to apply full-force service braking and perform an anomaly analysis of the parking system.

[0007] According to a second aspect of the present invention, a parking control device for an unmanned vehicle is provided, comprising: The parking detection unit is used to activate the parking detection function and perform full-scale driving braking if the parking system of the unmanned vehicle is in normal working condition and abnormal displacement of the vehicle is detected. The parking control unit is used to release the unauthorized control after detecting that the abnormal displacement of the vehicle has disappeared, so that the parking system returns to the normal working state; The parking detection unit is also used to exit the parking detection function if the abnormal displacement disappears after returning to the normal working state and the unmanned vehicle successfully executes the instructions of the intelligent driving system. The parking control unit is also used to, if the abnormal displacement is detected after returning to the normal working state, to again exceed its authority to control the parking system to perform full-scale driving braking and to perform anomaly analysis of the parking system.

[0008] According to a third aspect of the present invention, a vehicle is provided, comprising: At least one processor; and a memory communicatively connected to said at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the method described above.

[0009] According to a fourth aspect of the present invention, a non-transitory computer-readable storage medium is provided storing computer instructions for causing a computer to perform the above-described method. Under normal operating conditions, once abnormal vehicle displacement is detected, the parking detection function is activated, and the system is given unauthorized control to apply full-force service braking. Once the abnormal displacement is eliminated, the unauthorized control is released, allowing the parking system to return to normal operation. If no abnormal displacement occurs after the system returns to normal and the intelligent driving command is successfully executed, the parking detection function is deactivated. If abnormal displacement is detected again after recovery, the unauthorized braking is re-triggered, and anomaly analysis of the parking system is performed. This method effectively identifies the risk of vehicle rollover in real-world parking environments, overcoming the problems of detection lag and low accuracy caused by reliance on manual inspections, thereby improving the automation and accuracy of parking brake detection in autonomous vehicles.

[0010] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0011] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0012] Figure 1 This is a flowchart illustrating a parking control method for an unmanned vehicle according to an exemplary embodiment; Figure 2 This is a schematic diagram illustrating the overall execution flow of parking control for an unmanned vehicle according to an exemplary embodiment; Figure 3 This is a schematic block diagram of a parking control device 300 for an unmanned vehicle according to an exemplary embodiment; Figure 4 This is a schematic diagram of an internal control circuit of a vehicle according to an exemplary embodiment. Detailed Implementation

[0013] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0014] Figure 1 This is a flowchart illustrating a parking control method for an unmanned vehicle according to an exemplary embodiment, such as... Figure 1 As shown, this method is applicable to autonomous vehicles and includes: Step S11: If the parking system of the unmanned vehicle is in normal working condition and abnormal displacement of the vehicle is detected, the parking detection function is activated, and the parking system is overridden to perform full-scale driving braking.

[0015] In this embodiment of the invention, the executing entity can be an unmanned vehicle or an autonomous vehicle, and it is particularly suitable for parking control of unmanned vehicles and autonomous vehicles in mining scenarios. For mining unmanned vehicles, there are scenarios where they are large in tonnage, the mining production environment has many slopes, and during unmanned operation, the vehicle needs to be parked on the slope due to the failure of the vehicle in front or the management of the spoil heap. Therefore, the performance requirements of the parking system are higher.

[0016] In response, this invention provides a parking control method for unmanned vehicles, which can effectively and automatically identify parking brake performance degradation problems of unmanned vehicles by combining the operational characteristics of unmanned driving production and operation, and promptly carry out parking problem handling measures such as anomaly analysis and maintenance notification to ensure vehicle safety.

[0017] Specifically, when the autonomous vehicle's parking system is functioning normally, it can determine if there is any abnormal displacement of the vehicle; that is, it can determine if the vehicle is rolling away (abnormal displacement) when the parking system is activated. If the autonomous vehicle has successfully triggered the parking system (the parking system response is fault-free) and detects that the vehicle has undergone uninstructed displacement when it should have remained stationary, then it is determined that there is abnormal displacement. The parking detection function of this solution is then activated, firstly by overstepping its authority to apply full-force service braking to the parking system to deal with sudden rolling away and to maximize the protection of the vehicle's driving safety. Here, the parking system refers to a subsystem that maintains the vehicle's stationary state after it stops and prevents unintended movement; full-force service braking refers to applying braking force to the braking system that can 100% ensure the vehicle remains stationary. This can be the maximum braking force that the braking system can provide or 80% of the braking force, as long as it can reliably keep the vehicle stationary. The braking system refers to the main braking device used to decelerate or stop the vehicle when it is moving or stationary.

[0018] Step S12: After the abnormal displacement of the vehicle is detected to have disappeared, release the unauthorized control and allow the parking system to return to the normal working state.

[0019] In this embodiment of the invention, if the abnormal vehicle displacement disappears, it indicates that the vehicle has stopped rolling, and the unauthorized control is released, allowing the parking system to return to normal operation. The disappearance of abnormal displacement means that the risk of vehicle rolling has been eliminated, for example, the vehicle's position has been within a stable coordinate range for a period of time. Since unauthorized full-force braking is a temporary measure to handle sudden rolling, it can be released once the risk of rolling has been eliminated, and full-force braking is no longer maintained. Instead, the parking system resumes normal operation and performs parking control.

[0020] Step S13: If the abnormal displacement disappears after returning to the normal working state, and the unmanned vehicle successfully executes the instructions of the intelligent driving system, then the parking detection function is exited.

[0021] In this embodiment of the invention, after the parking system returns to normal operation, the system continues to monitor whether the abnormal displacement has disappeared. If the abnormal displacement disappears, it indicates that the risk of vehicle rollover has been eliminated after temporary full braking, and that no further rollover occurs after the braking system takes over braking control. At this point, the autonomous vehicle can successfully execute the instructions of the intelligent driving system, and the risk of rollover is considered to be completely eliminated, thus exiting the parking detection function. For example, the instructions of the intelligent driving system can be instructions for controlling vehicle start-up. If the autonomous vehicle starts successfully, it is determined that the instructions of the intelligent driving system have been successfully executed, and the parking detection function is exited. Specifically, a successful start can be considered if the first vehicle speed collected by the vehicle navigation system is greater than the starting speed threshold (e.g., 3 km / h) and the vehicle is in a forward gear. Alternatively, a successful start can be considered if the first vehicle speed collected by the vehicle navigation system is less than the starting speed threshold and the vehicle is in a reverse gear.

[0022] Step S14: If the abnormal displacement is detected after returning to the normal working state, the system will again exceed its authority to control the parking system to perform full-scale driving braking and perform anomaly analysis of the parking system.

[0023] In this embodiment of the invention, after the parking system returns to normal operating status, if abnormal displacement is detected again, it indicates that the risk of vehicle rollover has not been eliminated. Therefore, the system again oversteps its authority to apply full-force service braking. Furthermore, due to the repeated occurrence of vehicle rollover, further anomaly analysis of the parking system is performed.

[0024] In this embodiment of the invention, under normal operating conditions of the parking system, once abnormal vehicle displacement is detected, the parking detection function is activated, and the system is given unauthorized control to apply full-force service braking. After the abnormal displacement is eliminated, the unauthorized control is released, allowing the parking system to return to normal operating conditions. If no abnormal displacement occurs after the system returns to normal and the intelligent driving command is successfully executed, the parking detection function is deactivated. If abnormal displacement is detected again after recovery, the unauthorized braking is re-triggered, and anomaly analysis of the parking system is performed. This method can effectively identify the risk of vehicle rollover in real parking environments, overcoming the problems of detection lag and low accuracy caused by existing reliance on manual inspections, thereby improving the automation level and detection accuracy of parking brake detection for autonomous vehicles.

[0025] Optionally, the following steps may also be performed: If the parking status parameters of the parking system match the parking command of the intelligent driving system, then the parking system is determined to be in normal working condition.

[0026] In this implementation, if the autonomous vehicle's intelligent driving system sends a parking command to the parking system, it checks whether the parking status parameters of the parking system after responding to the parking command match the parking command. If they match, it indicates that the parking system can respond to the parking command normally and is in a normal working state. If they do not match, it indicates that the parking system cannot respond to the parking command normally and is in an abnormal working state.

[0027] Optionally, the parking status parameters may include at least: current gear, current parking status, and parking braking force, and may also include the following steps: If the current gear is the parking gear, the current parking status indicates that the parking brake has been applied, and the parking braking force has reached the parking braking force threshold, then it is determined that the parking status parameters match the parking command of the intelligent driving system.

[0028] In this embodiment, the parking status parameters may include the current gear, the current parking status, and the parking braking force. The parking system's response to the intelligent driving system's parking command is verified by comprehensively judging these three key parameters: specifically, if the current gear is engaged in parking (e.g., P), the current parking status clearly indicates that the parking brake has been successfully applied (e.g., the electronic parking brake (EPB) is active), and the actual applied parking braking force has reached or exceeded a preset parking braking force threshold (this threshold is set according to vehicle load, slope, and other operating conditions, sufficient to keep the vehicle stationary), then the parking status parameters and the parking command issued by the intelligent driving system are functionally and effectively consistent, i.e., they match, thus confirming that the parking system is in normal working condition. This multi-dimensional matching mechanism not only avoids misjudgments that may arise from relying solely on a single signal (such as gear position or EPB status), but also effectively reflects the actual braking capability of the parking system under real-world conditions, providing a reliable basis for determining whether subsequent unauthorized intervention (such as full-force service braking) is necessary.

[0029] Optionally, the abnormal displacement situation refers to an unexpected movement of the vehicle when it should remain stationary.

[0030] Optionally, after the unauthorized control of the parking system applies full service braking, the method further includes: If the abnormal displacement is determined to constitute a valid parking runaway event, the parking runaway count will be incremented by 1. Furthermore, after the parking system returns to the normal working state, the abnormal displacement disappears, and the unmanned vehicle successfully executes the instructions of the intelligent driving system, the number of times the vehicle has rolled away while parked is reduced by 1. The minimum number of times the vehicle rolls off the road while parked is 0.

[0031] The criteria for determining a valid parking rollback event include: The vehicle displacement value is greater than the distance threshold; and, The first vehicle speed collected by the vehicle navigation system is greater than a first vehicle speed threshold; or, the second vehicle speed calculated from the vehicle's wheel speed is greater than a second vehicle speed threshold.

[0032] In addition, in the mining sector, the determination of a valid parking runaway event takes effect when the vehicle is not in the process of loading or unloading.

[0033] In this embodiment, a distance threshold can be pre-set based on the usage scenario of the unmanned vehicle (e.g., vehicle load, slope, etc.). If the vehicle displacement value is greater than the distance threshold, and the second vehicle speed converted from the first vehicle speed or wheel speed collected by the vehicle's integrated navigation is greater than the vehicle speed threshold, and the vehicle is not in the process of loading or unloading, then a valid parking rollover event is determined to have occurred.

[0034] The first vehicle speed collected by the vehicle integrated navigation system is the primary speed used by the autonomous vehicle. This solution introduces a second vehicle speed, calculated from the vehicle's wheel speed, to verify whether the vehicle is actually moving. Only when both the first and second vehicle speeds exceed corresponding thresholds is the vehicle confirmed to be moving. If only the first vehicle speed is used for judgment, in certain special scenarios (such as vehicle swaying), the first speed may be generated without generating the second speed, leading to misjudgment. Therefore, by introducing the judgment of both vehicle speeds, combined with the judgment of vehicle displacement value and the judgment of vehicle loading / unloading status, a more accurate and effective judgment of vehicle slippage can be achieved.

[0035] In this embodiment, the accuracy of the parking detection function can be improved by introducing statistics on the number of times the vehicle rolls back while parked. Specifically, after each instance of unauthorized control of the parking system to apply full braking, it is further determined whether the abnormal displacement constitutes a valid parking rollback event. If it does, the parking rollback count is incremented by 1. After each time the parking system returns to normal operation, if the abnormal displacement disappears and the autonomous vehicle successfully executes the instructions from the intelligent driving system, the parking rollback count is decremented by 1. Optionally, if the abnormal displacement does not constitute a valid parking rollback event, the unauthorized control can be released, the parking system can be returned to normal operation, and then the abnormal displacement can be checked again. Optionally, the parking system anomaly analysis includes: If the number of times the vehicle rolls back while parked reaches a certain threshold, an anomaly analysis of the parking system will be performed.

[0036] In this implementation, parking system anomaly analysis can be performed when the number of times the vehicle rolls back into the parking space reaches a threshold, thereby improving the accuracy of triggering the parking system anomaly analysis. That is, parking system anomaly analysis is performed after multiple instances of valid vehicle rollback. If the number of rollbacks has not reached the threshold, the unauthorized control can be released again, allowing the parking system to return to normal operation. The system is then reassessed to determine if abnormal displacement still occurs after returning to normal operation. If the abnormal displacement disappears before reaching the threshold, the parking system anomaly analysis is not performed, and it is assumed that the vehicle can return to normal parking status through temporary full-force service braking.

[0037] Optionally, the parking system anomaly analysis includes: Report a parking malfunction message to request manual takeover of the vehicle and return it to a repair shop for maintenance.

[0038] In this embodiment, a management platform for maintaining parking performance degradation can be pre-built. When the parking system detects multiple instances of effective vehicle slippage and the vehicle cannot be restored to normal operation via temporary full-force service braking, a parking fault warning message is reported to the management platform. This message indicates a degradation in parking performance and requests on-site human intervention to take over the vehicle and return it to a repair shop for inspection. During this process, the vehicle maintains full-force service braking until it is taken over by human intervention. This enables timely handling of unattended parking performance degradation, improving vehicle safety.

[0039] Please refer to the following: Figure 2 , Figure 2 This is a schematic diagram illustrating the overall execution flow of parking control for an unmanned vehicle according to an exemplary embodiment, such as... Figure 2 As shown, if the driverless vehicle rolls away during autonomous driving operation (abnormal vehicle displacement is detected), the system first confirms that the parking system is in normal working condition, i.e., the current gear is a parking-permitted gear, the parking brake is applied, and the parking pressure reaches a preset threshold. Under these conditions, the control system will activate the parking detection function and, exceeding its authority, control the parking system to apply full-force service braking to achieve emergency stopping protection.

[0040] Subsequently, the system checks whether parking is complete (not illustrated). The criteria for determining parking completion include: current vehicle speed below 0.3 km / h, gear in neutral (N), parking status set to "implemented," and parking pressure normal. Once parking is confirmed, the system enters the valid parking rollback event assessment phase.

[0041] Specifically, the criteria for determining a valid parking runaway event include: the absolute value of the vehicle speed collected by the vehicle's integrated navigation system is greater than 0.8 km / h; the absolute value of the vehicle speed calculated from the wheel speed is greater than 0.2 km / h; the vehicle displacement value is greater than a distance threshold; and the vehicle is not currently in the process of loading or unloading (in a mining scenario). If all of the above conditions are met simultaneously, the abnormal displacement is recognized as a valid parking runaway event, and the parking runaway count is incremented by 1.

[0042] If the number of times the vehicle rolls back while parked reaches a threshold (e.g., 3 times), the system will maintain full braking force and will report a "parking performance degradation" fault message, requesting manual takeover of the vehicle and return it to a repair shop for maintenance. If the number of times the vehicle rolls back while parked does not reach the threshold, the system will automatically release full braking force, returning the parking system to normal operating status, and will continuously monitor for any further abnormal displacement and determine whether the abnormal displacement constitutes a valid parking rollback event.

[0043] If the vehicle stops rolling and successfully executes the instructions of the intelligent driving system, the number of times the vehicle has rolled back into the parking area will be reduced by 1, and normal operation will resume, exiting the parking detection function. If abnormal displacement is detected again, the unauthorized braking will be triggered again, and the above judgment and diagnosis process will be repeated.

[0044] This solution achieves closed-loop management from real-time safety intervention to long-term performance degradation diagnosis. By monitoring abnormal displacement and judging effective parking runaway events, it can count the number of valid parking runaway events. When the number of parking runaway events reaches the threshold, it can perform parking system anomaly analysis, which not only ensures operational safety but also avoids false alarms and ensures that the number of parking runaway events truly reflects the trend of system performance degradation.

[0045] Based on the same inventive concept Figure 3 This is a schematic block diagram of a parking control device 300 for an unmanned vehicle according to an exemplary embodiment, such as... Figure 3 As shown, the device 300 includes: The parking detection unit 301 is used to activate the parking detection function and exceed its authority to control the parking system to perform full-scale driving braking if the parking system of the unmanned vehicle is in normal working condition and abnormal displacement of the vehicle is detected. The parking control unit 302 is used to release the unauthorized control after detecting that the abnormal displacement of the vehicle has disappeared, so that the parking system returns to the normal working state. The parking detection unit 301 is also used to exit the parking detection function if the abnormal displacement disappears after returning to the normal working state and the unmanned vehicle successfully executes the instructions of the intelligent driving system. The parking control unit 302 is also used to, if the abnormal displacement is detected after returning to the normal working state, to again exceed its authority to control the parking system to perform full-scale driving braking and to perform anomaly analysis of the parking system.

[0046] In this embodiment of the invention, under normal operating conditions of the parking system, once abnormal vehicle displacement is detected, the parking detection function is activated, and the system is given unauthorized control to apply full-force service braking. After the abnormal displacement is eliminated, the unauthorized control is released, allowing the parking system to return to normal operating conditions. If no abnormal displacement occurs after the system returns to normal and the intelligent driving command is successfully executed, the parking detection function is deactivated. If abnormal displacement is detected again after recovery, the unauthorized braking is re-triggered, and anomaly analysis of the parking system is performed. This method can effectively identify the risk of vehicle rollover in real parking environments, overcoming the problems of detection lag and low accuracy caused by existing reliance on manual inspections, thereby improving the automation level and detection accuracy of parking brake detection for autonomous vehicles.

[0047] Optionally, the device further includes: The parking determination unit is used to determine that the parking system is in normal working condition if the parking status parameters of the parking system match the parking command of the intelligent driving system.

[0048] Optionally, the parking status parameters include at least: current gear, current parking status, and parking braking force. The parking determination unit is also used for: If the current gear is the parking gear, the current parking status indicates that the parking brake has been applied, and the parking braking force has reached the parking braking force threshold, then it is determined that the parking status parameters match the parking command of the intelligent driving system.

[0049] Optionally, the abnormal displacement refers to an unexpected movement of the vehicle when it should remain stationary.

[0050] Optionally, the device may also include a count unit, which can be used to increment the parking slip count by 1 after the unauthorized control of the parking system performs full service braking and the abnormal displacement is determined to constitute a valid parking slip event. Furthermore, after the parking system returns to the normal working state, the abnormal displacement disappears, and the unmanned vehicle successfully executes the instructions of the intelligent driving system, the number of times the vehicle has rolled away while parked is reduced by 1. The minimum number of times the vehicle rolls off the road while parked is 0.

[0051] The criteria for determining a valid parking rollback event include: The vehicle displacement value is greater than the distance threshold; and, The first vehicle speed collected by the vehicle navigation system is greater than a first vehicle speed threshold; or, the second vehicle speed calculated from the vehicle's wheel speed is greater than a second vehicle speed threshold.

[0052] Optionally, the parking system anomaly analysis includes: If the number of times the vehicle rolls back while parked reaches a certain threshold, an anomaly analysis of the parking system will be performed.

[0053] Optionally, the parking system anomaly analysis includes: Report a parking malfunction message to request manual takeover of the vehicle and return it to a repair shop for maintenance.

[0054] The implementation methods and beneficial effects of each module in this embodiment can be found in the description of the corresponding method steps in the above embodiments, and will not be repeated in this embodiment.

[0055] Based on the same inventive concept Figure 4 This is a schematic diagram of an internal control circuit of a vehicle according to an exemplary embodiment, such as... Figure 4 As shown, the vehicle includes: At least one processor 401, a communication interface 402; and a memory 403 communicatively connected to the at least one processor 401; The processor 401, communication interface 402, and memory 403 communicate with each other via communication bus 404; the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the above-described method.

[0056] A non-transitory computer-readable storage medium storing computer instructions is shown according to an exemplary embodiment, characterized in that the computer instructions are used to cause a computer to perform the above-described method.

[0057] The computer-readable storage media disclosed in this embodiment include, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0058] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0059] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Herein, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0060] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of the invention includes implementations thereof in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0061] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0062] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0063] In this invention, the functional units in various embodiments can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0064] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0065] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0066] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A parking control method of an unmanned vehicle, characterized by, The method comprises: If the parking system of the unmanned vehicle is in a normal working state, and an abnormal displacement condition of the vehicle is detected, a parking detection function is started, and the parking system is controlled to perform full-amount service braking; After the abnormal displacement condition of the vehicle is detected to disappear, the over-ride control is released, and the parking system returns to the normal working state; If the abnormal displacement condition disappears after returning to the normal working state, and the unmanned vehicle successfully executes the instruction of the intelligent driving system, the parking detection function is exited; If the abnormal displacement condition is detected after returning to the normal working state, the parking system is again controlled to perform full-amount service braking, and parking system abnormality analysis is performed.

2. The method of claim 1, wherein, The method further comprises: If the parking state parameter of the parking system matches the parking instruction of the intelligent driving system, it is determined that the parking system is in the normal working state.

3. The method of claim 2, wherein, The parking state parameter at least comprises: a current gear, a current parking state, and a parking braking force, and the method further comprises: If the current gear is a parking gear, the current parking state indicates that the parking brake has been applied, and the parking braking force reaches a parking braking force threshold, it is determined that the parking state parameter matches the parking instruction of the intelligent driving system.

4. The method of claim 1, wherein, The abnormal displacement condition refers to an unexpected movement condition of the vehicle in a state that should be kept stationary.

5. The method of claim 4, wherein, After the parking system is controlled to perform full-amount service braking, the method further comprises: In a case where it is determined that the abnormal displacement condition constitutes a valid parking roll-back event, the parking roll-back number is increased by 1; And in a case where the abnormal displacement condition disappears after the parking system returns to the normal working state, and the unmanned vehicle successfully executes the instruction of the intelligent driving system, the parking roll-back number is decreased by 1; Wherein, the minimum value of the parking roll-back number is 0.

6. The method of claim 5, wherein, The judgment conditions of the valid parking roll-back event include: a vehicle displacement value is greater than a distance threshold; and, A first vehicle speed collected by a vehicle combined navigation is greater than a first vehicle speed threshold; or, a second vehicle speed converted from a wheel speed of the vehicle is greater than a second vehicle speed threshold.

7. The method of claim 6, wherein, The parking system abnormality analysis comprises: If the parking roll-back number reaches a number threshold, the parking system abnormality analysis is performed.

8. The method according to any one of claims 1 to 7, characterized in that, The parking system abnormality analysis comprises: Parking fault prompt information is reported to request manual takeover of the vehicle and return to a repair factory for maintenance processing.

9. A parking control device of an unmanned vehicle, characterized by comprising: The method comprises: A parking detection unit is configured to start a parking detection function, and control the parking system to perform full-amount service braking, if the parking system of the unmanned vehicle is in a normal working state, and an abnormal displacement condition of the vehicle is detected; A parking control unit is configured to release the over-ride control, and return the parking system to the normal working state, after the abnormal displacement condition of the vehicle is detected to disappear; The parking detection unit is further configured to exit the parking detection function, if the abnormal displacement condition disappears after returning to the normal working state, and the unmanned vehicle successfully executes the instruction of the intelligent driving system; The parking control unit is further configured to again control the parking system to perform full-amount service braking, and perform parking system abnormality analysis, if the abnormal displacement condition is detected after returning to the normal working state.

10. A vehicle characterized by comprising: A parking control method for an unmanned vehicle according to any one of claims 1-8.

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