Parking control method, vehicle, storage medium and program product

Abstract

The invention discloses a parking control method, a vehicle, a storage medium and a program product. The method comprises the steps that when parking control conditions are met, target driving force is determined; vehicle starting control is conducted according to the target driving force and the first driving force control parameters; monitoring the rotating speed of a motor in the vehicle starting process, and controlling the vehicle to brake if determining that the vehicle finishes starting according to the rotating speed of the motor; the problem that precise and safe parking cannot be achieved in the ultra-short distance is solved. When the parking control condition is met, the target driving force is determined, the vehicle is controlled to start slowly according to the target driving force and the first driving force control parameter, meanwhile, the motor rotating speed in the vehicle starting process is monitored to judge the starting completion time of the vehicle, and the result of recognizing the starting completion time of the vehicle through motor related data is more accurate; after starting of the vehicle is completed, the vehicle is directly controlled to be braked and stopped, it is guaranteed that the vehicle can stably advance by an extremely short stepping distance at a time, and collision is avoided when the vehicle is parked by an extremely short distance.

Description

Technical Field

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

[0002] In real-world parking scenarios on flat ground, there may be some extremely narrow parking spaces. After automatic parking is activated, the vehicle needs to move a short distance (less than 10cm) at a time during parking and exiting to adjust the relative position of the vehicle body with the surrounding environment in order to complete the automatic parking process.

[0003] The current technical solution for controlling the precision of short-distance longitudinal movement of a vehicle is to increase the driving force when the vehicle starts, and when the vehicle speed is detected to be higher than a certain threshold, it is determined that the vehicle has completed the start-up. The vehicle speed is then adjusted by acceleration control, and the vehicle is simultaneously braked to the target point.

[0004] The disadvantages of this method are: 1. The planned distance to the target point must be greater than a certain length (usually greater than 10cm) before the vehicle is allowed to start. When the vehicle is too close to an obstacle, there is a possibility that the vehicle will get stuck because the planned distance to the target point does not reach the threshold. 2. Since the vehicle acceleration information needs to be calculated from the wheel speed information of the wheel speed sensor for at least two cycles, and the vehicle will move about 2.5cm when a single wheel speed pulse occurs, it is difficult to achieve the accuracy required for the vehicle to move extremely short distances under acceleration control. 3. When the vehicle starts, it already has a certain speed. If the required travel distance is extremely short at this time, the vehicle speed may not have time to decrease after completing the distance, causing the vehicle to continue moving and exceed the required distance. When the vehicle moves an extremely short distance and is close to an obstacle, there is a risk of overtaking and collision. Summary of the Invention

[0005] This invention provides a parking control method, a vehicle, a storage medium, and a program product to solve the problem of inaccurate and safe parking over very short distances.

[0006] According to one aspect of the present invention, a parking control method is provided, comprising:

[0007] When the parking control conditions are met, determine the target driving force;

[0008] Vehicle start-up control is performed based on the target driving force and the predetermined first driving force control parameters;

[0009] Monitor the motor speed during vehicle start-up. If the vehicle has completed start-up based on the motor speed, control the vehicle to brake to a stop.

[0010] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0011] At least one processor, and a memory communicatively connected to said at least one processor;

[0012] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the parking control method according to any embodiment of the present invention.

[0013] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the parking control method according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the parking control method according to any embodiment of the present invention.

[0015] The technical solution of this invention, when parking control conditions are met, determines the target driving force; performs vehicle start-up control based on the target driving force and pre-determined first driving force control parameters; monitors the motor speed during vehicle start-up, and if the vehicle has completed start-up based on the motor speed, controls the vehicle to stop; solves the problem of inaccurate and safe parking over extremely short distances; when parking control conditions are met, the target driving force is determined, and the vehicle is controlled to start slowly based on the target driving force and the first driving force control parameters, while simultaneously monitoring the motor speed during start-up to determine the time when the vehicle completes start-up. This method, without relying on vehicle speed, uses motor-related data to more accurately identify the timing of vehicle start-up; after the vehicle completes start-up, it does not rely on acceleration closed-loop control, but directly controls the vehicle to stop, ensuring that the vehicle can stably travel a very short step distance in a single operation, avoiding collisions during extremely short-distance parking and improving parking safety.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a flowchart of a parking control method provided in Embodiment 1 of the present invention;

[0019] Figure 2 This is a flowchart of a parking control method provided according to Embodiment 2 of the present invention;

[0020] Figure 3 This is a comparative diagram of different parameters in the parking control process according to Embodiment 2 of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of a parking control device according to Embodiment 3 of the present invention;

[0022] Figure 5 This is a schematic diagram of the vehicle structure for implementing the parking control method of this invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] Example 1

[0026] Figure 1 This is a flowchart of a parking control method provided in Embodiment 1 of the present invention. This embodiment is applicable to precise parking of vehicles over very short distances. The method can be executed by a parking control device, which can be implemented in hardware and / or software and can be configured in the vehicle. Figure 1 As shown, the method includes:

[0027] S101. When the parking control conditions are met, determine the target driving force.

[0028] In this embodiment, parking control conditions can be understood as conditions used to determine whether the vehicle needs to be parked. Target driving force can be understood as the maximum driving force required to drive the vehicle.

[0029] Parking control conditions can be preset, which can be set according to the distance the vehicle needs to travel when parking. For example, the distance the vehicle needs to travel may be less than or greater than a certain threshold; or the parking control conditions may be based on receiving a parking command triggered by the user or determining that the user has triggered the automatic parking function based on user operation. For example, the user controls the vehicle through a mobile terminal, and the user triggers the corresponding automatic parking function by clicking, swiping, or other operations on the control interface of the mobile terminal; or the user triggers the automatic parking function through the control interface of the vehicle's operating system, and so on. After the automatic parking function is started, the driver drives the vehicle to find a parking space, selects the desired parking space, clicks the screen, and then the vehicle automatically parks itself in the parking space at a low and smooth speed without driver intervention.

[0030] When the vehicle is detected to meet parking control conditions, the system acquires vehicle condition data to calculate the target driving force, or acquires a pre-set target driving force based on parameters such as the vehicle model. Vehicle condition data can be data about the vehicle itself, such as its weight, position, or one or more other factors; it can also be data about the vehicle's environment, such as the slope of the road; or it can include both vehicle data and environmental data simultaneously. For example, the driving force required to start the vehicle under the given conditions can be calculated based on the road slope combined with the vehicle's own data, and this driving force is used as the target driving force.

[0031] S102. Perform vehicle start-up control based on the target driving force and the predetermined first driving force control parameters.

[0032] In this embodiment, the first driving force control parameter can be understood as a parameter used to control the change of driving force during the vehicle start-up process; for example, the driving force change slope, the driving force change time, etc.

[0033] A first driving force control parameter is preset. This parameter can be a fixed value, used regardless of the target driving force. There can also be multiple first driving force control parameters, which can be associated with different driving forces or different driving force ranges. For example, the relationships between different first driving force control parameters and different driving forces can be preset and stored. After determining the target driving force, the driving force closest to the target driving force (or with the smallest difference) in the stored driving forces is identified, and the first driving force control parameter associated with this driving force is used as the first driving force control parameter corresponding to the target driving force for vehicle start-up control. Alternatively, after determining the target driving force, the driving force range corresponding to the target driving force in the stored driving forces is determined. This involves selecting a first driving force greater than the target driving force and a second driving force less than the target driving force from the stored driving forces. The first driving force is selected from all driving forces greater than the target driving force. The minimum driving force and the second driving force are the largest driving forces among all driving forces less than the target driving force. The two first driving force control parameters associated with the first driving force are weighted and averaged, and the result is used as the first driving force control parameter corresponding to the target driving force for vehicle start control. Alternatively, the association between different driving force ranges and the first driving force control parameters is preset and stored. After determining the target driving force, the driving force range that matches the target driving force (i.e., the driving force range that includes the target driving force) is determined, and the first driving force control parameter corresponding to this driving force range is used as the first driving force control parameter corresponding to the target driving force for vehicle start control.

[0034] After determining the target driving force and the corresponding first driving force control parameters, the vehicle is controlled to drive or simultaneously drive and brake according to the first driving force control parameters and the target driving force; the vehicle is controlled to drive slowly by the first driving force control parameters so that the vehicle's driving force increases to the target driving force so as to drive the vehicle to move; or, the vehicle is controlled to drive and brake simultaneously by the first driving force control parameters so that the vehicle's driving force increases to the target driving force and the vehicle's braking force decreases, thereby reducing the vehicle's motion resistance so as to drive the vehicle to move.

[0035] During vehicle start-up, driving force can be periodically sent to the corresponding actuators or execution systems of the vehicle according to a certain cycle. The actuators or execution systems then drive the vehicle based on the received driving force, controlling the vehicle to start. Braking force can also be sent to the actuators or execution systems during vehicle start-up.

[0036] S103. Monitor the motor speed during vehicle start-up. If the vehicle has completed start-up based on the motor speed, control the vehicle to stop.

[0037] Since vehicle start-up requires a certain amount of time, the motor speed is monitored during this process. There may be multiple motors in the vehicle, which can be positioned in different locations. During motor monitoring, all motors can be monitored, or only the selected motors can be pre-set for monitoring. The motor speed is monitored, and the magnitude and trend of the speed change are used to determine whether the vehicle has completed starting. For example, analyzing the motor speed and determining that it is steadily increasing indicates that the vehicle has completed starting. After the vehicle has started, it is directly controlled to brake to a stop. This braking can be achieved by increasing the braking force and decreasing the driving force to bring the vehicle to a complete stop.

[0038] This invention provides a parking control method that, when parking control conditions are met, determines a target driving force; performs vehicle start-up control based on the target driving force and pre-determined first driving force control parameters; monitors the motor speed during vehicle start-up, and if the motor speed indicates that the vehicle has completed start-up, controls the vehicle to stop; solves the problem of inaccurate and safe parking over extremely short distances; when parking control conditions are met, the target driving force is determined, and the vehicle is controlled to start slowly based on the target driving force and the first driving force control parameters, while simultaneously monitoring the motor speed during start-up to determine the time when the vehicle completes start-up. This method, which does not rely on vehicle speed for judgment, uses motor-related data to more accurately identify the timing of vehicle start-up; after the vehicle completes start-up, it does not rely on acceleration closed-loop control, but directly controls the vehicle to stop, ensuring that the vehicle can stably travel a very short step distance in a single operation; this avoids collisions during extremely short-distance parking and improves parking safety.

[0039] Example 2

[0040] Figure 2 This is a flowchart of a parking control method provided in Embodiment 2 of the present invention. This embodiment is a refinement based on the above embodiments. Figure 2 As shown, the method includes:

[0041] S201. When the parking control conditions are met, determine the target driving force.

[0042] In some embodiments, the parking control condition is: when the vehicle starts, the remaining distance to the destination is less than a preset distance threshold and greater than the minimum distance threshold that allows starting.

[0043] In this embodiment, the preset distance threshold and the minimum distance threshold can be preset, with the preset distance threshold being greater than the minimum distance threshold. When the vehicle starts and it is determined that parking is required, the remaining distance to the starting point is obtained. This remaining distance can be calculated based on the vehicle's current position and the parking space. For example, after the parking function is activated, the vehicle can perform a single movement. The calculation unit in the vehicle calculates and determines the travel trajectory distance, or the vehicle obtains the travel trajectory distance from a server or other calculation unit after being connected to the network. Under the condition that the starting requirements of the parking function are met, the method of controlling the vehicle's movement is determined based on the determined remaining distance to the starting point. If the remaining distance to the starting point is less than the preset distance threshold but greater than the minimum allowable starting distance threshold, the parking control conditions are met, and the parking control method provided in this application is used to control the vehicle to park, achieving extremely short-distance parking. When the remaining distance to the starting point is not less than the preset distance threshold, the vehicle can output the target force to the actuator through the conventional control scheme of vehicle longitudinal control, using static open-loop start control - acceleration closed-loop control - static open-loop braking control. When the vehicle starts, if the remaining distance to the destination is not greater than the minimum allowable starting distance threshold, the vehicle is controlled to maintain pressure and does not start.

[0044] The minimum distance threshold is smaller than the distance threshold for the remaining distance to the starting point when the vehicle starts in existing automatic parking technologies. For example, in existing technologies, the distance threshold for the remaining distance to the starting point when the vehicle starts is 10cm, while the minimum distance threshold in this embodiment can be 9cm, 5cm, etc. The preset distance threshold can be the distance threshold for the remaining distance to the starting point when the vehicle starts in existing technologies, or it can be a value greater than this distance threshold. Since this embodiment determines the time for the vehicle to complete starting by the motor speed and brakes immediately after the vehicle completes starting, the distance traveled by the vehicle in a single trip can be reduced to a very short value, and the minimum distance threshold can be set to a correspondingly smaller value.

[0045] S202. Drive force control for vehicle start-up is performed based on the target driving force and the first driving force control parameters.

[0046] The vehicle's driving force is controlled to gradually increase to the target driving force according to the first driving force control parameter. For example, if the first driving force control parameter is time t1, the vehicle's driving force needs to be controlled to increase from 0 to the target driving force at time t1. The driving force magnitude at different times is calculated and the vehicle is started according to the driving force magnitude at different times.

[0047] In some embodiments, the first driving force control parameter includes a first driving force change slope, and driving force control for vehicle start-up is performed based on the target driving force and the first driving force control parameter, including:

[0048] A1. Determine the starting driving force at different times based on the slope of the change of the target driving force and the first driving force.

[0049] In this embodiment, the first driving force change slope can be understood as a slope used to describe the trend of driving force change, which can be the slope of driving force change over time, for example, the driving force changes by 500N in 1 second; the starting driving force can be understood as the driving force that controls the vehicle to start.

[0050] During vehicle start-up, the driving force needs to gradually increase from 0 to the target driving force. This application pre-sets a first driving force change slope, and the driving force changes according to this slope until the target driving force is reached. Since multiple starting driving forces need to be sent to control vehicle start-up, embodiments of this application can pre-set the cycle for sending the starting driving force. The magnitude of the starting driving force to be sent in each cycle is determined based on the cycle length and the first driving force change slope, i.e., the starting driving force at different times, until the starting driving force reaches the target driving force. In some special cases, it may occur that when sending the starting driving force at a fixed cycle, the penultimate sending of the starting driving force is less than the target driving force, but the last sending of the starting driving force is greater than the target driving force. In this case, the time of the last sending of the starting driving force can be changed so that the last sending of the starting driving force is exactly equal to the target driving force. Embodiments of this application can also set the cycle for sending the starting driving force according to the first driving force change slope, so that the time for sending the starting driving force is exactly when the starting driving force equals the target driving force. The starting driving force at different times is determined by analyzing and calculating the target driving force and the first driving force change slope.

[0051] A2. The starting driving force at each moment is sent to the driving force system in sequence so that the driving force system can control the vehicle to start according to the received starting driving force.

[0052] In this embodiment, when sending each starting driving force, the starting driving force can be sent to the driving force system at corresponding times. For example, the starting driving force at time t1 is F1, the starting driving force at time t2 is F2, and so on. By monitoring the system time, the starting driving force F1 is sent to the driving force system at time t1, and the starting driving force F2 is sent to the driving force system at time t2. After receiving the starting driving force, the driving force system controls the vehicle to start according to the received starting driving force. Alternatively, each time and its corresponding starting driving force can be sent to the driving force system in advance. After receiving the starting driving force at each time, the driving force system saves it and monitors the system time itself. After reaching each time, it controls the vehicle to start according to the starting driving force corresponding to each time.

[0053] In this embodiment, the slope of the first driving force change can be set to a low value; the slower the driving force rises, the slower and smoother the movement trend of the vehicle when it starts, thus ensuring a smoother starting process when the stepping function is activated. At the same time, the motor speed can be increased more smoothly during the starting process, thereby more accurately determining the timing of starting.

[0054] S203. Braking force control for vehicle start-up is performed based on the first driving force control parameters and the predetermined minimum braking force threshold.

[0055] In this embodiment, the minimum braking force threshold can be preset to limit the magnitude of the vehicle's braking force. The vehicle's braking force is controlled to decrease to the minimum braking force threshold based on the first driving force control parameter. For example, if the first driving force control parameter is time t1, then the vehicle's braking force needs to be controlled to decrease to the minimum braking force threshold at time t1. The braking force magnitude at different times is calculated, and the vehicle is controlled to start moving based on the braking force magnitude at different times.

[0056] In some embodiments, the first driving force control parameter includes a first driving force change slope, and braking force control for vehicle start-up is performed based on the first driving force control parameter and a predetermined minimum braking force threshold, including:

[0057] B1. Determine the change time based on the slope of the change of the target driving force and the first driving force.

[0058] In this embodiment, the change time can be understood as the time required for the driving force to rise to the target driving force. Since the driving force rises from 0 to the target driving force, the change time, i.e., the time it takes for the driving force to rise from 0 to the target driving force, can be calculated based on the slope of the change between the target driving force and the first driving force.

[0059] B2. Determine the starting braking force at different times based on the change time, minimum braking force threshold, and predetermined holding pressure force.

[0060] In this embodiment, the holding pressure force is the holding pressure force when the vehicle is stationary. When the vehicle is stationary, a holding pressure force is set to ensure vehicle safety. This ensures that the vehicle remains stationary after the driver releases the brake pedal, preventing the vehicle from sliding and ensuring driving safety. The starting braking force can be understood as the braking force used to brake the vehicle during the starting process.

[0061] A pre-determined holding pressure force is used to maintain the vehicle's stationary state when it is stationary. To ensure normal vehicle starting and prevent the holding pressure force from affecting the starting process, the braking force needs to be controlled to decrease from the holding pressure force to the minimum braking force threshold. This decrease is controlled based on the change time, i.e., controlling the holding pressure force to decrease to the minimum braking force threshold. The time taken for this descent is called the change time. By analyzing and calculating the change time, the minimum braking force threshold, and the holding pressure force, a functional relationship is established. Substituting different braking force transmission times yields the starting braking force at different times. In this embodiment, the starting braking force can be transmitted simultaneously with the driving braking force. Therefore, after determining the different transmission times or periods of the starting driving force, this period or time is used as the starting braking force time and substituted into the functional relationship to calculate the starting braking force corresponding to different times.

[0062] B3. The starting braking force at each moment is sent to the braking force system in sequence so that the braking force system can control the vehicle to start according to the received starting braking force.

[0063] In this embodiment, when sending the starting braking forces, the starting braking forces can be sent to the braking system at corresponding times. For example, the starting braking force at time t1 is F3, the starting braking force at time t2 is F4, and so on. By monitoring the system time, starting braking force F3 is sent to the braking system at time t1, starting braking force F4 is sent to the braking system at time t2, and so on. After receiving the starting braking forces, the braking system controls the vehicle to start based on the received starting braking forces. Alternatively, the starting braking forces at each time can be sent to the braking system in advance. After receiving the starting braking forces at each time, the braking system saves them and monitors the system time itself. Upon reaching each time, the braking system controls the vehicle to start based on the starting braking force corresponding to that time.

[0064] S204. Monitor the motor speed during vehicle start-up. If the vehicle start-up is determined based on the motor speed, control the vehicle's braking force to achieve the target braking force, and control the driving force for stopping the vehicle based on the second driving force control parameters.

[0065] In this embodiment, the target braking force can be understood as the magnitude of the braking force required to bring the vehicle to a stop; the second driving force control parameter can be understood as a parameter used to control the change in driving force during the vehicle's braking process; for example, the driving force change slope, the driving force change time, etc.

[0066] The motor speed is monitored during vehicle start-up. If the vehicle has completed its start-up based on the motor speed, the vehicle is controlled to stop. Controlling vehicle braking typically involves controlling the increase of braking force and the decrease of driving force. In this embodiment, the vehicle's braking force is controlled to increase to the target braking force. Simultaneously, the driving force is controlled to decrease to ensure rapid braking. The trend of the decreasing driving force is determined based on a second driving force control parameter, and the driving force is then controlled to decrease, thereby bringing the vehicle to a stop. Compared to existing technologies that control the decrease of driving force only after the vehicle has stopped to the target braking force, the method provided in this embodiment controls the decrease of driving force as the vehicle's braking force begins to increase, ensuring rapid braking and preventing excessive vehicle movement.

[0067] In some embodiments, the second driving force control parameter includes a second driving force change slope, and driving force control for vehicle braking based on the second driving force control parameter includes:

[0068] C1. Determine the braking driving force at different times based on the slope of the change of the target driving force and the second driving force.

[0069] In this embodiment, the second driving force change slope can be understood as a slope used to describe the trend of driving force change. It can be the slope of driving force change over time, and it can be the same as or different from the first driving force change slope. The second driving force change slope can be greater than the first driving force change slope so that the vehicle can stop quickly. The braking driving force can be understood as the magnitude of the driving force during vehicle braking.

[0070] During vehicle braking, the driving force needs to decrease from the target driving force to 0. This application pre-sets a second driving force change slope, and the driving force changes according to this slope until it decreases from the target driving force to 0. Since multiple braking driving forces need to be sent to control vehicle braking, embodiments of this application can also pre-set the cycle for sending the braking driving force, or set the cycle for sending the braking driving force according to the second driving force change slope. The principle can be found in the relevant description of the sending cycle of the starting driving force. By analyzing and calculating the target driving force and the second driving force change slope, the braking driving force at different times is determined.

[0071] C2. The braking driving force at each moment is sent to the driving force system in sequence so that the driving force system can control the vehicle to stop according to the received braking driving force.

[0072] In this embodiment, when sending braking driving forces, the braking driving forces can be sent to the driving force system at corresponding times. For example, the braking driving force at time t3 is F5, the braking driving force at time t4 is F6, and so on. By monitoring the system time, braking driving force F5 is sent to the driving force system at time t3, braking driving force F6 is sent to the driving force system at time t4, and so on. After receiving the braking driving forces, the driving force system controls the vehicle driving force to reduce the driving force according to the received braking driving forces, thereby achieving vehicle braking. Alternatively, the braking driving forces at each time and their corresponding values ​​can be sent to the driving force system in advance. After receiving the braking driving forces at each time, the driving force system saves them and monitors the system time itself. Upon reaching each time, the driving force system controls the vehicle driving force to reduce the driving force according to the braking driving force corresponding to each time, thereby achieving vehicle braking.

[0073] In some embodiments, determining whether the vehicle has completed starting based on the motor speed includes:

[0074] D1. If the direction of motor speed matches the corresponding gear, determine the motor speed deviation.

[0075] In this embodiment, the motor speed deviation can be understood as the difference in speed at different times during the motor rotation process.

[0076] During vehicle start-up, it's necessary to determine in real-time whether the vehicle has completed the start-up process. This involves real-time monitoring of the motor speed direction and the vehicle's current gear. Taking time T1 as an example, at time T1, the motor speed direction and the vehicle's gear are determined. It's then compared to the vehicle's motion trend indicated by the motor speed direction. If they match, the motor speed direction and gear are considered a match; otherwise, they are considered mismatched. The motion trend can be forward or backward. After determining the match, the motor speed values ​​over a period of time are acquired, and the motor speed deviation is determined based on these values. Since motor speed values ​​can be positive or negative, the deviation can be calculated using either positive or negative numbers, or by taking the absolute value, etc.

[0077] For example, if the motor speed is positive and the corresponding gear is D, the direction of the motor speed is matched with the corresponding gear. If the motor speed is negative and the corresponding gear is R, the direction of the motor speed is matched with the corresponding gear. Alternatively, if the vehicle has two motors (front and rear axles), and both motor speeds are positive and the current gear is D, the direction of the motor speed is matched with the corresponding gear. If both motor speeds are negative and the current gear is R, the direction of the motor speed is matched with the corresponding gear. By matching the direction of the motor speed with the corresponding gear, the direction of the current vehicle movement is determined to be consistent with the actual gear.

[0078] D2. If the motor speed deviation meets the deviation condition, determine whether the cumulative duration for which the absolute value of the sum of the front axle motor speed and the rear axle motor speed exceeds the speed threshold exceeds the preset time threshold. If so, determine that the vehicle has completed the start.

[0079] In this embodiment, the deviation condition can be that the motor speed deviation of one motor in the vehicle is within a certain range, or that the motor speed deviation of any motor in the vehicle is within the corresponding range, etc., and can be set according to the number and location of the motors in the vehicle. Both the speed threshold and the preset time threshold can be calibrated in advance.

[0080] The motor speed deviation is compared with a pre-set deviation condition. If the deviation condition is met, the absolute value of the sum of the front axle motor speed and the rear axle motor speed is calculated. It is then determined whether the cumulative duration for which the absolute value exceeds the speed threshold exceeds a preset time threshold. If so, the vehicle is confirmed to have completed its start. Taking the determination of whether the vehicle has completed its start at time T2 as an example, when determining whether the cumulative duration for which the absolute value exceeds the speed threshold exceeds the preset time threshold, the absolute value of the sum of the front axle motor speed and the rear axle motor speed at time T2 can be calculated first. Then, it is determined whether this absolute value exceeds the speed threshold. If so, the cumulative duration is accumulated. If not, no operation can be performed on the cumulative duration, or the cumulative duration can be cleared to 0. The accumulated duration after accumulation is then determined whether it exceeds the preset time threshold. If so, the vehicle is confirmed to have completed its start. If not, the next detection time T3 is waited for the determination of whether the vehicle has completed its start.

[0081] As an electric drive vehicle, the motor and wheels are directly connected (the effect of the reducer needs to be considered), making the motor speed a way to represent the vehicle speed. When the vehicle speed exceeds a certain value, that is, when the cumulative time for the absolute value of the sum of the front axle motor speed and the rear axle motor speed to exceed the speed threshold exceeds a preset time threshold, it can be determined that the vehicle currently has the tendency to move in the gear direction, which is equivalent to the start being completed.

[0082] In some embodiments, determining the motor speed deviation includes:

[0083] E1. Obtain multiple front axle motor speed values ​​and multiple rear axle motor speed values ​​within a preset time period based on the current monitoring cycle.

[0084] In this embodiment, the current monitoring period can be understood as the current time during which vehicle monitoring is being performed. The front axle motor speed is the speed of the front axle motor; the rear axle motor speed is the speed of the rear axle motor.

[0085] Because the vehicle needs to be monitored in real time during the starting process to determine whether it has completed the start, the D1-D2 steps are executed every short interval. Each determination of whether the vehicle has completed the start can be considered a monitoring cycle. Therefore, taking time T2 as an example, when determining whether the vehicle has completed the start at time T2, time T2 can be considered the current monitoring cycle. Starting from the current monitoring cycle, the front axle motor speed and rear axle motor speed values ​​are acquired within a preset time period before the start point. For example, if the preset time is 10 seconds, all front axle motor speed values ​​and all rear axle motor speed values ​​collected within 10 seconds before time T3 are acquired. Alternatively, the preset time can be N cycles, where the cycle can refer to the period for monitoring whether the vehicle has completed the start (e.g., T3-T2) or the period for collecting motor speed data. The motor speed data collection cycle can be different from or the same as the period for monitoring whether the vehicle has completed the start.

[0086] E2. Determine the motor speed deviation of the front axle motor based on the absolute value of the difference between the maximum and minimum front axle motor speed values ​​among multiple front axle motor speed values.

[0087] In this embodiment, the maximum front axle motor speed value refers to the maximum value among the front axle motor speed values, and the minimum front axle motor speed value refers to the minimum value among the front and rear motor speed values. By comparing the magnitudes of each front axle motor speed value, the maximum and minimum front axle motor speed values ​​are determined. The difference between the maximum and minimum front axle motor speed values ​​is calculated, and the absolute value of the difference is taken. The result is the motor speed deviation of the front axle motor.

[0088] E3. Determine the motor speed deviation of the rear axle motor based on the absolute value of the difference between the maximum and minimum rear axle motor speed values ​​among multiple rear axle motor speed values.

[0089] In this embodiment, the maximum rear axle motor speed value refers to the maximum value among the rear axle motor speed values, and the minimum rear axle motor speed value refers to the minimum value among the rear axle motor speed values. By comparing the speed values ​​of each rear axle motor, the maximum and minimum rear axle motor speed values ​​are determined. The difference between the maximum and minimum rear axle motor speed values ​​is calculated, and the absolute value of the difference is taken. The result is the motor speed deviation of the rear axle motor.

[0090] It's important to know that the speed values ​​of the front axle motor and the rear axle motor can be either positive or negative. The front axle motor speed value and the rear axle motor speed value collected within a preset time period may also be the same.

[0091] In some embodiments, the motor speed deviation includes: the motor speed deviation of the front axle motor and the motor speed deviation of the rear axle motor;

[0092] Determining whether the motor speed deviation meets the deviation conditions includes: if the motor speed deviation of the front axle motor is not greater than the corresponding front axle speed deviation threshold and the motor speed deviation of the rear axle motor is not greater than the corresponding rear axle speed deviation threshold, then the motor speed deviation meets the deviation conditions.

[0093] In this embodiment, the front axle speed deviation threshold and the rear axle speed deviation threshold can be preset, and can be the same or different. The motor speed deviation of the front axle motor and its corresponding front axle speed deviation threshold are compared, and the motor speed deviation of the rear axle motor and its corresponding rear axle speed deviation threshold are also compared. If the motor speed deviation of the front axle motor is not greater than its corresponding front axle speed deviation threshold and the motor speed deviation of the rear axle motor is not greater than its corresponding rear axle speed deviation threshold, it indicates that the motor speed is stable, and the motor speed deviation is determined to meet the deviation condition.

[0094] During vehicle start-up, when the motor responds to the target force request and begins to work, its speed will exhibit unstable fluctuations, similar to spikes, for a period of time. If these unstable speed spikes are not monitored and avoided, they will interfere with the results of determining the vehicle's start-up completion time using motor speed. Therefore, this embodiment of the application avoids using the motor speed data during unstable speed spikes by monitoring the motor speed value, and determines whether the motor is stable by judging whether the motor speed deviation meets the deviation condition.

[0095] Once the vehicle has come to a complete stop and returned to a stationary state, the calculation unit detects a change in the remaining distance to the destination, and the ultra-short distance step control strategy is deactivated, thus ending the current parking control operation. Based on the changed remaining distance to the destination, it is determined whether the vehicle should maintain pressure and revert to the original longitudinal vehicle control strategy, or continue using the parking control method provided in this application embodiment to control the vehicle.

[0096] This application embodiment determines the vehicle's start-up time by measuring the motor speed and immediately brakes the vehicle after start-up, significantly reducing the vehicle's single-trip distance. Because the single-trip distance is significantly reduced, the minimum allowable start-up distance threshold during longitudinal vehicle control is also lowered, but the minimum allowable start-up distance threshold still exists. If the remaining distance to the starting point of the currently planned vehicle is lower than the minimum allowable start-up distance threshold, the vehicle will be controlled and will not start. This application embodiment divides the received planned trajectory distance. For example, taking a preset distance threshold of 9cm as an example, after executing the parking control method provided in this application once, if the recalculated remaining distance to the starting point is less than 9cm but greater than the minimum distance threshold, the parking method provided in this application embodiment is executed again. If, after completing one parking control operation, the recalculated remaining distance to the starting point is greater than or equal to 9cm, the vehicle control executes a conventional longitudinal vehicle motion control scheme to control the vehicle from start-up to braking. When it is determined that the entire automatic parking process has ended, the parking function normally responds to the planning and control request and exits the function handshake.

[0097] The method provided in this application, when controlling vehicle start-up during parking with a very short single travel distance (below a certain distance threshold), causes the vehicle to tend to move in the direction of the current gear as the driving force increases (i.e., the vehicle start-up control process), which is equivalent to the vehicle's acceleration process. When a motor speed signal that can represent this trend is detected, braking force is immediately applied to stop the vehicle (i.e., monitoring the motor speed during the vehicle start-up process; if it is determined based on the motor speed that the vehicle has completed starting, the vehicle is controlled to stop), which is equivalent to the vehicle's deceleration process. The single travel distance is controlled within 2-4 cm, effectively avoiding the risk of vehicle collision when parking with extremely short distances.

[0098] For example, Figure 3A schematic diagram comparing different parameters during parking control is provided. The diagram shows the changes of the same type of parameter at different times, as well as the values ​​of different parameters at the same time. As shown in the diagram, four coordinate systems are provided. The horizontal axis represents time, and the vertical axes represent braking force, driving force, remaining distance to the destination, and vehicle state, respectively. The units for braking force and driving force can be N, the unit for remaining distance to the destination can be cm, and the vehicle state includes stationary and non-stationary states, with the vehicle switching between these states. The unit for time can be s, ms, etc. "Step function activation" means controlling the vehicle using the parking control method provided in this embodiment, and "step function deactivation" means the end of the current vehicle control. The step function is activated at time t0, the vehicle completes the starting and braking phase at time t1, and the step function is deactivated at time t2. The braking force vertical axis is negative, i.e., 0 is at the top. From time 0 to t0, the vehicle is stationary and in the stationary pressure holding phase. At time t0, if parking control conditions are met, the stepping function is activated, initiating the starting phase. Simultaneously, the driving force increases from 0 to the target driving force, while the braking force decreases from the holding pressure to the minimum braking force threshold. During this process, the motor speed is monitored. Before the vehicle starts, since the driving force has reached the target driving force and the braking force has reached the minimum braking force threshold, both driving and braking forces remain constant. At time t2, if the vehicle starts, the braking phase begins. The driving force decreases from the target driving force to 0, while the braking force increases from the minimum braking force threshold to the target braking force, and the vehicle enters the stationary holding pressure phase. This embodiment ensures rapid vehicle braking by immediately controlling the decrease in driving force at the start of braking. Existing technologies typically control the decrease in driving force only after the braking force has increased to the target braking force, meaning the decrease begins during the stationary holding pressure phase, resulting in a slower braking process. The stepping function exits after the vehicle has come to a complete stop. The change in the remaining distance to the target parking point (i.e., the distance between the vehicle and the target parking point) during this process is shown in the figure. In the early stage of the vehicle's initial movement, the force acting on the vehicle is relatively small and insufficient to support its motion. At this time, the vehicle has a tendency to move, but has not yet actually moved, so the remaining distance to the target parking point remains unchanged. Once the vehicle begins to move, the distance starts to decrease. At the braking point, the vehicle will continue to move a certain distance before finally coming to a complete stop, at which point the distance no longer changes. Whether the vehicle is stationary affects the remaining distance to the target parking point; when the vehicle is stationary, the remaining distance to the target parking point remains unchanged; when the vehicle is not stationary, the remaining distance to the target parking point changes.

[0099] The parking control method provided in this invention, when the vehicle starts, controls the driving force to rise smoothly to the target driving force, while simultaneously controlling the braking force to decrease to the minimum braking force threshold, ensuring a smooth movement trend during vehicle start-up. Simultaneously, the motor speed can be increased relatively smoothly during start-up, allowing for more accurate determination of the timing to complete the start-up. The method utilizes motor speed to identify the forward movement trend during vehicle start-up and determines the timing to end the start-up phase based on motor speed, ensuring the vehicle has a very low speed upon completion of the start-up. This effectively reduces the distance the vehicle travels in a single step, significantly lowering the minimum distance limit for starting during parking, and stably achieving an extremely short single-step distance. This reduces the probability of collision when the vehicle is close to an obstacle, improves the success rate of parking in extremely narrow spaces, and enhances parking safety. After the vehicle completes the start-up, instead of relying on closed-loop acceleration control, the method uses open-loop control of the target force to brake the vehicle, further ensuring that the vehicle can travel an extremely short distance.

[0100] Example 3

[0101] Figure 4 This is a schematic diagram of a parking control device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a target driving force determination module 31, a start control module 32, and a brake stop control module 33.

[0102] Among them, the target driving force determination module 31 is used to determine the target driving force when the parking control conditions are met;

[0103] The starting control module 32 is used to perform vehicle starting control based on the target driving force and the predetermined first driving force control parameters;

[0104] The braking control module 33 is used to monitor the motor speed during the vehicle's start-up process. If the vehicle is determined to have completed its start-up based on the motor speed, the module controls the vehicle to brake to a stop.

[0105] The parking control device provided in this invention determines a target driving force when parking control conditions are met; performs vehicle start-up control based on the target driving force and pre-determined first driving force control parameters; monitors the motor speed during vehicle start-up, and if the vehicle has completed start-up based on the motor speed, controls the vehicle to stop; solves the problem of inaccurate and safe parking over extremely short distances; determines a target driving force when parking control conditions are met, controls the vehicle to start slowly based on the target driving force and first driving force control parameters, and simultaneously monitors the motor speed during start-up to determine the time when the vehicle completes start-up, without relying on vehicle speed, and identifies the timing of vehicle start-up more accurately through motor-related data; after the vehicle completes start-up, it does not rely on acceleration closed-loop control, but directly controls the vehicle to stop, ensuring that the vehicle can stably travel a very short step distance in a single operation; avoids collisions during extremely short-distance parking, and improves parking safety.

[0106] Optionally, the start-up control module 32 includes:

[0107] A starting drive force control unit is used to control the drive force for vehicle starting based on the target drive force and the first drive force control parameters.

[0108] The starting braking force control unit is used to control the braking force of the vehicle for starting based on the first driving force control parameters and the predetermined minimum braking force threshold.

[0109] Optionally, the first driving force control parameter includes a first driving force change slope and a starting driving force control unit, specifically used for: determining the starting driving force at different times based on the target driving force and the first driving force change slope; and sequentially sending the starting driving force at each time to the driving force system so that the driving force system controls the vehicle to start based on the received starting driving force.

[0110] Optionally, the first driving force control parameters include a first driving force change slope and a starting braking force control unit, specifically used for: determining the change time based on the target driving force and the first driving force change slope; determining the starting braking force at different times based on the change time, the minimum braking force threshold, and a pre-determined holding pressure force; and sequentially sending the starting braking force at each time to the braking force system so that the braking force system controls the vehicle to start based on the received starting braking force.

[0111] Optionally, the brake control module 33 includes:

[0112] The motor speed deviation determination unit is used to determine the motor speed deviation if the motor speed direction matches the corresponding gear.

[0113] The vehicle start-up determination unit is used to determine whether the cumulative duration for which the absolute value of the sum of the front axle motor speed and the rear axle motor speed exceeds the speed threshold exceeds a preset time threshold if the motor speed deviation meets the deviation condition. If so, the vehicle is determined to have started.

[0114] Optionally, the motor speed deviation determination unit is specifically used to: obtain multiple front axle motor speed values ​​and multiple rear axle motor speed values ​​within a preset time period according to the current monitoring cycle; determine the motor speed deviation of the front axle motor based on the absolute value of the difference between the maximum and minimum front axle motor speed values ​​among the multiple front axle motor speed values; and determine the motor speed deviation of the rear axle motor based on the absolute value of the difference between the maximum and minimum rear axle motor speed values ​​among the multiple rear axle motor speed values.

[0115] Optionally, the motor speed deviation includes: the motor speed deviation of the front axle motor and the motor speed deviation of the rear axle motor;

[0116] The vehicle start-up determination unit is specifically used to: determine that the motor speed deviation meets the deviation condition if the motor speed deviation of the front axle motor is not greater than the corresponding front axle speed deviation threshold and the motor speed deviation of the rear axle motor is not greater than the corresponding rear axle speed deviation threshold.

[0117] Optionally, the brake control module 33 includes:

[0118] The braking drive force control unit is used to control the driving force of the vehicle to stop according to the second drive force control parameters when controlling the braking force of the vehicle to achieve the target braking force.

[0119] Optionally, the second driving force control parameter includes a second driving force change slope, and driving force control for vehicle braking based on the second driving force control parameter includes:

[0120] The braking driving force at different times is determined based on the target driving force and the slope of the change of the second driving force;

[0121] The braking driving force at each moment is sent sequentially to the driving force system so that the driving force system can control the vehicle to stop based on the received braking driving force.

[0122] Optionally, the parking control condition is: when the vehicle starts, the remaining distance to the destination is less than a preset distance threshold and greater than the minimum distance threshold that allows starting.

[0123] The parking control device provided in this embodiment of the invention can execute the parking control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0124] Example 4

[0125] Figure 5 A schematic diagram of the structure of a vehicle 40 that can be used to implement an embodiment of the present invention is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0126] like Figure 5 As shown, vehicle 40 includes at least one processor 41 and a memory, such as read-only memory (ROM) 42 and random access memory (RAM) 43, communicatively connected to at least one processor 41. The memory stores computer programs executable by at least one processor. Processor 41 can perform various appropriate actions and processes based on the computer program stored in ROM 42 or loaded from storage unit 48 into RAM 43. RAM 43 can also store various programs and data required for the operation of vehicle 40. Processor 41, ROM 42, and RAM 43 are interconnected via bus 44. Input / output (I / O) interface 45 is also connected to bus 44.

[0127] Multiple components in vehicle 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of displays, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows vehicle 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0128] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as parking control methods.

[0129] In some embodiments, the parking control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the parking control method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the parking control method by any other suitable means (e.g., by means of firmware).

[0130] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0131] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0132] This invention provides a computer program product, which includes a computer program that, when executed by a processor, implements the parking control method described in any embodiment of this invention.

[0133] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on 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.

[0134] To provide interaction with the user, the systems and technologies described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0135] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0136] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0137] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0138] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A parking control method characterized by, The method comprises: determining a target driving force when a parking control condition is met; controlling vehicle start-up according to the target driving force and a predetermined first driving force control parameter; monitoring motor speed during vehicle start-up, and stopping the vehicle if it is determined that the vehicle has completed start-up according to the motor speed.

2. The method of claim 1, wherein, The controlling vehicle start-up according to the target driving force and a predetermined first driving force control parameter comprises: controlling driving force for vehicle start-up according to the target driving force and the first driving force control parameter; controlling braking force for vehicle start-up according to the first driving force control parameter and a predetermined minimum braking force threshold.

3. The method of claim 2, wherein, The first driving force control parameter comprises a first driving force variation slope, and the controlling driving force for vehicle start-up according to the target driving force and the first driving force control parameter comprises: determining start-up driving force at different times according to the target driving force and the first driving force variation slope; sending the start-up driving force at each time to a driving force system so that the driving force system controls vehicle start-up according to the received start-up driving force.

4. The method of claim 2, wherein, The first driving force control parameter comprises a first driving force variation slope, and the controlling braking force for vehicle start-up according to the first driving force control parameter and a predetermined minimum braking force threshold comprises: determining a variation time according to the target driving force and the first driving force variation slope; determining start-up braking force at different times according to the variation time, the minimum braking force threshold and a predetermined pressure-maintaining braking force; sending the start-up braking force at each time to a braking force system so that the braking force system controls vehicle start-up according to the received start-up braking force.

5. The method of claim 1, wherein, The determining whether the vehicle has completed start-up according to the motor speed comprises: if the motor speed direction matches the corresponding gear, determining a motor speed deviation; if the motor speed deviation meets a deviation condition, determining whether the absolute value of the sum of the front axle motor speed and the rear axle motor speed exceeds a speed threshold for a cumulative time period that exceeds a preset time threshold, and if so, determining that the vehicle has completed start-up.

6. The method of claim 5, wherein, The determining a motor speed deviation comprises: obtaining a plurality of front axle motor speed values and a plurality of rear axle motor speed values within a preset time according to a current monitoring period; determining a front axle motor speed deviation according to the absolute value of the difference between the maximum front axle motor speed value and the minimum front axle motor speed value in the plurality of front axle motor speed values; determining a rear axle motor speed deviation according to the absolute value of the difference between the maximum rear axle motor speed value and the minimum rear axle motor speed value in the plurality of rear axle motor speed values.

7. The method of claim 5, wherein, The motor speed deviation comprises the front axle motor speed deviation and the rear axle motor speed deviation. The determining whether the motor speed deviation meets a deviation condition comprises: if the front axle motor speed deviation is not greater than a corresponding front axle speed deviation threshold and the rear axle motor speed deviation is not greater than a corresponding rear axle speed deviation threshold, determining that the motor speed deviation meets the deviation condition.

8. The method of claim 1, wherein, The stopping the vehicle comprises: controlling driving force for vehicle stoppage according to a second driving force control parameter while controlling the braking force of the vehicle to reach a target braking force.

9. The method of claim 8, wherein, The second driving force control parameter comprises a second driving force change slope, and the driving force control of the vehicle according to the second driving force control parameter comprises: determining the stop driving force at different times according to the target driving force and the second driving force change slope; sending the stop driving force at each time to the driving force system in sequence, so that the driving force system controls the vehicle to stop according to the received stop driving force.

10. The method according to any one of claims 1 to 9, characterized in that, The parking control condition is that the remaining distance to the point when the vehicle starts is less than a preset distance threshold and greater than a minimum distance threshold allowing the vehicle to start.

11. A vehicle characterized by comprising: The vehicle comprises: at least one processor, and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the parking control method of any one of claims 1-10.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to execute the parking control method of any one of claims 1-10.

13. A computer program product, characterised in that, The computer program product comprises a computer program, which, when executed by the processor, implements the parking control method according to any one of claims 1-10. The computer program product comprises a computer program, which, when executed by the processor, implements the parking control method according to any one of claims 1-10.

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