Method for automated parking control, automated parking system and vehicle

Abstract

The invention relates to a method for automatic parking control, comprising: detecting surroundings information of a vehicle (1) when an automatic parking function of the vehicle (1) is activated, and determining a parking planned trajectory (S1) of the vehicle (1) on the basis of the detected surroundings information; determining a desired steering angle of each wheel of the vehicle (1) at a current position on the basis of the planned parking trajectory, and measuring a steering torque of each wheel of the vehicle (1) at the current position for adjusting a steering angle of the corresponding wheel of the vehicle (1) to the determined desired steering angle (S2); calculating a road surface friction coefficient at the current position based at least on the steering torque of each wheel of the vehicle (1) (S3); and adjusting a control parameter of an automatic parking function of the vehicle (1) based at least on the calculated road surface friction coefficient and controlling the vehicle (1) to park (S4).

Description

Technical Field

[0001] This application relates to the field of automatic parking, and in particular to a method for automatic parking control, an automatic parking system, a method for managing vehicle steering torque information, a cloud server, a vehicle including the automatic parking system according to this application, and a computer program product. Background Technology

[0002] Vehicles travel at lower speeds and require frequent steering maneuvers during parking, resulting in significantly greater tire wear compared to normal driving conditions. On certain road surfaces, parking can also produce harsh noise from the friction between the tires and the road surface, severely impacting the parking experience and drastically shortening tire lifespan.

[0003] Therefore, there is room for improvement in existing parking control methods. Summary of the Invention

[0004] The purpose of this application is to provide a method for automatic parking control, an automatic parking system, a method for managing vehicle steering torque information, a cloud server, a vehicle including the automatic parking system according to this application, and a computer program product, to at least partially solve the problems in the prior art.

[0005] According to a first aspect of this application, a method for automatic parking control is provided, the method comprising: -When the vehicle's automatic parking function is activated, it can detect the vehicle's surrounding environment information and determine the vehicle's parking planning trajectory based on the detected surrounding environment information. - The desired steering angle of each wheel of the vehicle at the current position can be determined based on the parking planning trajectory, and the steering torque of each wheel of the vehicle at the current position can be measured. The steering torque is used to adjust the steering angle of the corresponding wheel of the vehicle to the determined desired steering angle. - The coefficient of road surface friction at the current position can be calculated based at least on the steering torque of each wheel of the vehicle; - Adjust the control parameters of the vehicle's automatic parking function and control the vehicle to park based at least on the calculated road surface friction coefficient.

[0006] The core concept of this application includes at least the following: during the process of controlling the vehicle to perform automatic parking, calculating the road friction coefficient based on the steering torque measured at the vehicle's current position, and flexibly adjusting the control parameters of the vehicle's automatic parking function based at least on the calculated road friction coefficient. This not only avoids slippage, sideslip, and loss of control during parking, as well as overheating of the steering system's electric motor, but also effectively reduces noise generated during parking and reduces tire wear and steering system component wear, thereby effectively improving the vehicle's driving safety and handling stability during automatic parking, and extending the service life of the vehicle's tires and steering system components.

[0007] According to an optional embodiment of this application, the method may further include: - The slope information at the current position can be determined based on the steering torque of each wheel of the vehicle, wherein the slope information includes, for example, one or more of the following: slope existence information and slope gradient information, etc.

[0008] According to another optional embodiment of this application, if it is determined that there is a slope at the current location, the control parameters of the vehicle's automatic parking function can be adjusted and the vehicle can be controlled to park, at least based on the calculated road surface friction coefficient and the slope information.

[0009] According to another optional embodiment of this application, the control parameters of the vehicle's automatic parking function can be adjusted and the vehicle can be controlled to park based at least on the calculated road surface friction coefficient and vehicle load information. The vehicle load information includes, for example, one or more of the following parameters: the measured total weight of the vehicle, the estimated total weight of the vehicle based on the number of occupants, the measured load information of each wheel of the vehicle, and the measured load information of each axle of the vehicle.

[0010] According to another optional embodiment of this application, the control parameters may include one or more of the following parameters: activation and / or deactivation of the rear axle wheel steering function, vehicle speed, maximum steering angle of the rear axle wheels, and the parking planning trajectory, etc.

[0011] According to another alternative embodiment of this application, the maximum steering angle of the rear axle wheel can be adjusted at least based on the calculated road friction coefficient and one or more of the following information: vehicle speed, vehicle load information, and motor temperature information of the vehicle's steering system, etc.

[0012] According to another optional embodiment of this application, the rear axle wheel steering function of the vehicle can be turned off in road areas where the road surface friction coefficient is less than a predetermined first friction coefficient threshold; and / or the rear axle wheel steering function of the vehicle can be turned on in road areas where the road surface friction coefficient is greater than or equal to the predetermined first friction coefficient threshold.

[0013] According to another optional embodiment of this application, in road surface areas where the road surface friction coefficient is greater than or equal to a pre-given second friction coefficient threshold, the maximum steering angle of the vehicle's rear axle wheels can be reduced at least based on the road surface friction coefficient.

[0014] According to another optional embodiment of this application, in road surface areas where the road surface friction coefficient is less than a predetermined third friction coefficient threshold, the vehicle speed can be reduced at least based on the road surface friction coefficient.

[0015] According to another optional embodiment of this application, in road surface areas where the road surface friction coefficient is less than a pre-given fourth friction coefficient threshold, the vehicle's parking planning trajectory can be adjusted at least based on the road surface friction coefficient, thereby reducing the steering operations of the vehicle in the road surface area when driving along the parking planning trajectory.

[0016] According to another optional embodiment of this application, if it is determined based on the vehicle load information that the vehicle's load exceeds a pre-given load threshold, the rear axle wheel steering function of the vehicle can be turned off when the vehicle's driving speed is greater than zero, and / or the rear axle wheel steering function of the vehicle can be turned on when the vehicle's driving speed is equal to zero.

[0017] According to another optional embodiment of this application, if it is determined that there is a slope at the current location and the road surface friction coefficient of the road surface area is less than a pre-given fifth friction coefficient threshold, the rear axle wheel steering function of the vehicle can be turned off, and / or one or more of the following operations can be performed based on the calculated road surface friction coefficient and slope information: reducing the vehicle speed, reducing the maximum steering angle of the rear axle wheels, and adjusting the planned driving trajectory.

[0018] According to another optional embodiment of this application, the steering torque measured at the current position of each wheel of the vehicle can be compared with a standard steering torque used to adjust the steering angle of the corresponding wheel of the vehicle to a determined desired steering angle, wherein the standard steering torque is a pre-given value and / or adjusted based on the average value of the measured steering torque over time or vehicle speed. If the measured steering torque is less than the standard steering torque and the deviation between the measured steering torque and the standard steering torque is greater than or equal to a pre-given deviation threshold, the control parameters of the vehicle's automatic parking function can be adjusted, at least based on the calculated road friction coefficient, and the vehicle can be controlled to park.

[0019] According to another optional embodiment of this application, the method may further include: - The steering torque measured at the current position of each wheel of the vehicle and the current position information of the vehicle can be stored locally in a way that is correlated with each other; - The system can retrieve the steering torque associated with the vehicle's current location from the stored steering torque information based on the vehicle's current location information, and adjust the control parameters of the vehicle's automatic parking function based at least on the calculated road friction coefficient and the retrieved steering torque.

[0020] According to another optional embodiment of this application, the method may further include: - The steering torque of each wheel of the vehicle at its current position and the vehicle's current position information can be uploaded to the cloud server. - It can send the vehicle's current location information and a request for steering torque to the cloud server; - In response to the steering torque received from the cloud server in association with the vehicle's current location information, the control parameters of the vehicle's automatic parking function can be adjusted based at least on the calculated road friction coefficient and the received steering torque.

[0021] According to a third aspect of this application, an automatic parking system is provided, which may include the following components: - An environmental sensing unit configured to detect the vehicle's surrounding environment, wherein the environmental sensing unit includes, for example, one or more of the following devices: an onboard camera, millimeter-wave radar, lidar, and ultrasonic radar, etc. - A torque measurement unit, configured to measure the steering torque of each wheel of the vehicle at its current position; - An onboard control unit configured to at least assist in performing the method for automatic parking control according to this application.

[0022] According to another optional embodiment of this application, the automatic parking system may further include an onboard communication unit configured to interact with a cloud server.

[0023] According to another optional embodiment of this application, the vehicle control unit may be integrated into the environmental perception unit, and an end-to-end model is deployed in the vehicle control unit. The end-to-end model is used to at least assist in the execution of the method for automatic parking control according to this application, wherein the end-to-end model includes, for example, a vision-language-action model.

[0024] According to a fourth aspect of this application, a method for managing steering torque information of a vehicle is provided, the method comprising: - In response to the steering torque and current position information of the vehicle measured at the current position of each wheel of the vehicle received from the automatic parking system according to this application, the steering torque and the current position information of the vehicle are stored in the cloud in a manner that correlates them with each other; and / or - In response to the vehicle's current location information and the request information regarding steering torque received from the automatic parking system according to this application, the system can retrieve the steering torque associated with the vehicle's current location information based on the vehicle's current location information and send the retrieved steering torque to the automatic parking system.

[0025] According to a fifth aspect of this application, a cloud server is provided, which may include the following components: - A cloud communication unit configured to interact with an automated parking system according to this application; - A cloud-based control unit configured to at least assist in executing the method for managing steering torque information of a vehicle according to this application.

[0026] According to a sixth aspect of this application, a vehicle is provided that may include an automatic parking system according to this application.

[0027] According to a seventh aspect of this application, a computer program product, such as a computer-readable program carrier, is provided, comprising or storing computer program instructions that, when executed by a processor, at least assist in implementing the steps of the method described in this application. Attached Figure Description

[0028] The principles, features, and advantages of this application can be better understood by describing it in more detail below with reference to the accompanying drawings. The drawings show: Figure 1 A schematic diagram illustrating a vehicle and a cloud server according to an exemplary embodiment of this application is shown; Figure 2 A flowchart illustrating a method for automatic parking control according to an exemplary embodiment of this application is shown. Figure 3 A flowchart illustrating a method for automatic parking control according to another exemplary embodiment of this application is shown. Figure 4 A flowchart illustrating a method for automatic parking control according to another exemplary embodiment of this application is shown. Figure 5 A flowchart illustrating a method for automatic parking control according to another exemplary embodiment of this application is shown. Figure 6 A flowchart illustrating a method for managing steering torque information of a vehicle according to an exemplary embodiment of this application is provided. Figure 7 A flowchart illustrating a method for managing steering torque information of a vehicle according to another exemplary embodiment of this application is shown. Detailed Implementation

[0029] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit the scope of protection of this application.

[0030] Figure 1 A schematic diagram of a vehicle and a cloud server according to an exemplary embodiment of this application is shown.

[0031] like Figure 1 As shown, vehicle 1 may be equipped with an automatic parking system 10, which may include the following components: - An environmental detection unit 11 is configured to detect the surrounding environment of the vehicle 1, wherein the environmental sensing unit 11 includes, for example, one or more of the following devices: an on-board camera, a millimeter-wave radar, a lidar, and an ultrasonic radar, etc. - Torque measuring unit 12, configured to measure the steering torque of each wheel of vehicle 1 at its current position; and - Vehicle control unit 13, which is configured to at least assist in performing the method for automatic parking control according to this application.

[0032] Optionally, the vehicle control unit 13 can be integrated into the environmental perception unit 11, particularly into the vehicle camera, and an end-to-end model is deployed in the vehicle control unit 13. This end-to-end model includes, for example, a Vision-Language-Action Model (VLA model), which can directly output action commands executable by actuators or intelligent agents from inputs of images / videos, and / or radar point cloud data, and / or natural language commands. This reduces error accumulation in the intermediate stages from perception and planning to control, significantly improving the scene adaptability of the control function. Here, the end-to-end model can at least assist in executing the method for automatic parking control according to this application.

[0033] Optionally, the automatic parking system 10 may further include an onboard communication unit 14, which is configured to interact with the cloud server 2. The cloud server 2 may include the following components: - Cloud communication unit 21, configured to interact with the automatic parking system 10; and - Cloud control unit 22, which is configured to at least assist in performing the method for managing steering torque information of vehicle 1 according to the present application.

[0034] Figure 2 A flowchart illustrating a method for automatic parking control according to an exemplary embodiment of this application is shown. The following exemplary embodiments describe the method according to this application in more detail. The method for automatic parking control is performed by an automatic parking system 10 equipped with a vehicle 1.

[0035] like Figure 2 As shown, the method may include steps S1 to S4. In step S1, when the automatic parking function of vehicle 1 is activated, the surrounding environment information of vehicle 1 can be detected, and the parking planning trajectory of vehicle 1 can be determined based on the detected surrounding environment information. In the current embodiment of this application, vehicle 1 is equipped with an automatic parking system 10, which can automatically complete the parking operation of entering or exiting the target parking space without the driver's participation in the operation process. When the driver activates the automatic parking function of vehicle 1, the surrounding environment information of vehicle 1 can be detected by the environmental perception unit 11 of vehicle 1. Here, the environmental perception unit 11 includes one or more of the following devices, such as an on-board camera, millimeter-wave radar, lidar, and ultrasonic radar; the surrounding environment information includes one or more of the following information, such as the location information of the target parking space, the type information, size information, and location information of surrounding obstacles, etc. Based on the detected surrounding environment information, the parking planning trajectory of vehicle 1 entering the target parking space from the current position, or the parking planning trajectory of vehicle 1 exiting the current parking space, can be determined.

[0036] It should be noted that vehicle 1 may be equipped with only front-wheel steering, or it may be equipped with independent front-wheel steering and rear-wheel steering. Especially in relatively narrow parking environments, a parking trajectory in a crab walk mode can be planned for vehicle 1 equipped with independent front-wheel steering and rear-wheel steering. In the context of this application, the crab walk mode refers to all wheels of vehicle 1—including the two front wheels on the front axle and the two rear wheels on the rear axle—simultaneously pushing in the same steering angle in either the diagonal direction (i.e., wheel steering angle less than 90°) or the lateral direction (i.e., wheel steering angle of 90°), enabling vehicle 1 to move diagonally or laterally on the road surface.

[0037] In step S2, the desired steering angle of each wheel of vehicle 1 at its current position can be determined based on the parking planning trajectory, and the steering torque of each wheel of vehicle 1 at its current position can be measured. This steering torque is used to adjust the steering angle of the corresponding wheel of vehicle 1 to the determined desired steering angle. If vehicle 1 is only equipped with front-wheel steering, the desired steering angle of the front axle wheels of vehicle 1 at its current position can be determined based on the parking planning trajectory, and the steering torque of the front axle wheels at its current position can be measured by, for example, a torque measurement unit 12 integrated into the steering torsion bar. This steering torque is used to adjust the steering angle of the front axle wheels of vehicle 1 to the determined desired steering angle. If vehicle 1 is equipped with independent front-wheel steering and rear-wheel steering functions, the desired steering angles of the front axle wheels and the rear axle wheels of vehicle 1 at their current positions can be determined based on the parking planning trajectory. Especially when planning a parking trajectory in a crab-like driving mode in a narrow parking environment, the desired steering angles of the front and rear axle wheels of vehicle 1 at their current positions can be set to be equal, allowing vehicle 1 to move diagonally or laterally on the road surface in a crab-like mode. The torque measurement unit 12 can measure the steering torque of the front and rear axle wheels of vehicle 1 at their current positions, and this steering torque is used to adjust the steering angle of the corresponding wheels of vehicle 1 to the determined desired steering angle.

[0038] In step S3, the road surface friction coefficient at the current position can be calculated based at least on the steering torque of each wheel of vehicle 1. In the context of this application, the "road surface friction coefficient" is a physical parameter reflecting the frictional characteristics between the road surface and the tires of the vehicle's wheels. Since the tire wear conditions of each wheel of vehicle 1 are different, the road surface friction coefficient calculated using the steering torque of different wheels at the same road surface position may differ. Here, a tire force model can be established. When the wheel turns, sliding friction occurs between the tire tread and the ground. The resulting frictional force exerts a frictional resistance torque on the wheel. This frictional resistance torque can be obtained based on the steering torque of the wheel and the frictional torque of the steering system of vehicle 1—which is typically a calibrated value determined through standard testing. The road surface friction coefficient at the current position can then be calculated using the obtained frictional resistance torque.

[0039] In step S4, the control parameters of the automatic parking function of vehicle 1 can be adjusted at least based on the calculated road surface friction coefficient, and vehicle 1 can be controlled to park. Here, the steering torque measured at the current position of each wheel of vehicle 1 can be compared with a standard steering torque used to adjust the steering angle of the corresponding wheel of vehicle 1 to a determined desired steering angle. The standard steering torque can be a preset value stored in the on-board control unit 13 of vehicle 1, which is determined based on a dataset of steering torque collected by vehicle 1 on a standard road under standard test conditions (e.g., standard dry conditions). The standard steering torque can also be adjusted based on the average value of the measured steering torque over time or vehicle speed, thereby improving the matching degree between the standard steering torque and the actual operating conditions of the vehicle. If the measured steering torque is less than the standard steering torque and the deviation between the measured steering torque and the standard steering torque is greater than or equal to a preset deviation threshold—that is, the measured steering torque is significantly less than the standard steering torque—the control parameters of the automatic parking function of vehicle 1 can be adjusted at least based on the calculated road surface friction coefficient, and vehicle 1 can be controlled to park.

[0040] For example, the control parameters of the automatic parking function may include the activation and / or deactivation of the rear axle wheel steering function. For instance, in road areas where the road friction coefficient is less than a predetermined first friction coefficient threshold, the rear axle wheel steering function of vehicle 1 can be deactivated to prevent vehicle 1 from losing control or skidding during lateral or diagonal movement in crab mode, thereby preventing vehicle 1 from colliding with other objects in the surrounding environment during parking. In road areas where the road friction coefficient is greater than or equal to the predetermined first friction coefficient threshold, the rear axle wheel steering function of vehicle 1 can be activated, so that the crab mode of vehicle 1 is only enabled in road areas with a higher road friction coefficient.

[0041] For example, the control parameters of the automatic parking function may include the maximum steering angle of the rear axle wheels. Steering operations on roads with a high coefficient of friction can easily cause severe wear on the tires of vehicle 1 and may cause irreversible damage to the mechanical components and motor of the rear axle steering system. In particular, the temperature of the motor may continue to rise during vehicle parking, leading to overheating. Therefore, the maximum steering angle of the rear axle wheels of vehicle 1 can be adjusted at least based on the calculated coefficient of friction, especially in road areas where the coefficient of friction is greater than or equal to a pre-given second coefficient of friction threshold. This reduces the maximum steering angle of the rear axle wheels of vehicle 1 at least based on the coefficient of friction to reduce tire wear during parking and effectively extend the service life of the mechanical components and motor of the rear axle steering system.

[0042] Optionally, the maximum steering angle of the rear axle wheels can be adjusted based at least on the calculated road friction coefficient and one or more of the following information: vehicle speed, vehicle load information, and the motor temperature information of the steering system of vehicle 1. The vehicle load information may include, for example, one or more of the following parameters: the measured total vehicle weight, the estimated total vehicle weight based on the number of occupants, the measured load information of each wheel of vehicle 1, and the measured load information of each axle of vehicle 1. Specifically, a curve representing the change in the maximum steering angle of the rear axle wheels of vehicle 1 can be determined based on the calculated road friction coefficient and one or more of the following parameters, and the maximum steering angle of the rear axle wheels can be flexibly adjusted using this curve during the parking process of vehicle 1: vehicle speed, vehicle load information, and the motor temperature information of the steering system of vehicle 1.

[0043] For example, the control parameters of the automatic parking function may include vehicle speed. In road surface areas where the road surface friction coefficient is less than a pre-defined third friction coefficient threshold (e.g., icy roads, slippery roads), the vehicle speed can be reduced at least based on the road surface friction coefficient to prevent vehicle 1 from slipping during parking. Especially in narrow parking environments, vehicle 1 often drives close to other objects in the parking environment; limiting the vehicle speed can effectively prevent vehicle 1 from scraping or colliding with other objects in the parking environment due to slippage.

[0044] For example, the control parameters of the automatic parking function may include the parking planning trajectory of vehicle 1. In road areas where the road friction coefficient is less than a pre-defined fourth friction coefficient threshold, the parking planning trajectory of vehicle 1 can be adjusted at least based on the road friction coefficient, thereby reducing the steering operations of vehicle 1 in the road area when it travels along the parking planning trajectory. This not only avoids overheating of the steering system motor during the parking process of vehicle 1 along the parking planning trajectory, but also effectively reduces the noise generated by vehicle 1 during parking, and reduces tire wear and steering system component wear during parking.

[0045] Optionally, the control parameters of the automatic parking function of vehicle 1 can be adjusted and vehicle 1 can be controlled to park based at least on the calculated road friction coefficient and vehicle load information. The vehicle load information may include, for example, one or more of the following parameters: the measured total vehicle weight, the estimated total vehicle weight based on the number of occupants, the measured load information of each wheel of vehicle 1, and the measured load information of each axle of vehicle 1. For example, if the load of vehicle 1—including the weight of occupants and / or the weight of cargo in the trunk—is determined to be greater than a predetermined load threshold based on the vehicle load information, the rear axle wheel steering function of vehicle 1 can be deactivated when the vehicle speed is greater than zero—that is, when vehicle 1 is in motion—and / or activated only when the vehicle speed is equal to zero—that is, when vehicle 1 is stationary. This can avoid vehicle loss of control under excessive load and severe wear on the components of the rear axle steering system of vehicle 1.

[0046] According to the above embodiments of this application, during the process of controlling the vehicle to perform automatic parking, the road friction coefficient is calculated based on the steering torque measured at the current position of the vehicle, and the control parameters of the vehicle's automatic parking function are flexibly adjusted based at least on the calculated road friction coefficient. These parameters include the activation and / or deactivation of the rear axle wheel steering function, the vehicle speed, the maximum steering angle of the rear axle wheels, and the parking planning trajectory. This not only avoids slippage, sideslip, and loss of control during parking, as well as overheating of the steering system's motor, but also effectively reduces the noise generated by the vehicle during parking and reduces tire wear and steering system component wear. This effectively improves the vehicle's driving safety and handling stability during automatic parking and extends the service life of the vehicle's tires and steering system components.

[0047] Figure 3 A flowchart illustrating a method for automatic parking control according to another exemplary embodiment of this application is shown. The following only describes the... Figure 2 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.

[0048] like Figure 3As shown, the method for automatic parking control may further include step S40. In step S40, slope information at the current position can be determined based on the steering torque of each wheel of vehicle 1, wherein the slope information includes, for example, one or more of the following: slope existence information and slope gradient information, etc. When vehicle 1 drives onto or crosses a slope during parking, the load distribution of vehicle 1 changes because the vehicle body is no longer in a level state. For example, part of the load may be transferred from one wheel axle to another wheel axle, or from one side wheel to another. This change in load distribution will affect the steering torque required to adjust the steering angle of the corresponding wheel of vehicle 1 to the determined desired steering angle. Therefore, it is possible to determine whether a slope exists at the current position and calculate the slope of the slope existing at the current position based on the steering torque of each wheel of vehicle 1.

[0049] If a slope is determined to exist at the current location, in step S4, the control parameters of the automatic parking function of vehicle 1 can be adjusted and vehicle 1 can be controlled to park, based at least on the calculated road surface friction coefficient and the slope information. For example, if a slope is determined to exist at the current location and the road surface friction coefficient of the road area is less than a pre-defined fifth friction coefficient threshold, the rear axle wheel steering function of vehicle 1 can be deactivated to prevent vehicle 1 from moving laterally in a crab-like mode on the sloping road surface. Alternatively, the vehicle speed and / or the maximum steering angle of the rear axle wheels can be reduced, based at least on the calculated road surface friction coefficient and the slope information, to prevent vehicle 1 from losing control and / or skidding. Another example is that the planned driving trajectory can be adjusted, based at least on the calculated road surface friction coefficient and the slope information, so that the planned driving trajectory avoids the sloping road surface area with a low road surface friction coefficient.

[0050] According to an embodiment of this application, the slope information at the current position is determined based on the steering torque of each wheel of the vehicle, and the control parameters of the automatic parking function are adjusted using the determined slope information, thereby effectively improving the driving safety and handling stability of the vehicle in the sloping road area during parking.

[0051] Figure 4 A flowchart illustrating a method for automatic parking control according to another exemplary embodiment of this application is shown. The following only describes the... Figure 2 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.

[0052] like Figure 4As shown, the method for automatic parking control may further include steps S5 and S6. In step S5, the steering torque measured at the current position of each wheel of vehicle 1 and the current position information of vehicle 1 can be locally stored in a manner correlated with each other. Here, the dataset of measured steering torque with respect to vehicle position information can be locally stored in the memory of the on-board control unit 13, for example, in the form of a lookup table or function. Exemplarily, during the process of vehicle 1 parking multiple times in a dedicated parking space—including a private parking space in a user's residence and / or a dedicated parking space in a workplace—the steering torque measured in the dedicated parking space and its surrounding area of ​​vehicle 1 can be collected and locally stored. The road surface friction coefficient at different locations in the dedicated parking space and its surrounding area may vary significantly due to factors such as road surface material and road surface smoothness, which will lead to differences in the steering torque measured at different locations.

[0053] In step S6, the steering torque associated with the current position information of vehicle 1 can be retrieved from the stored steering torque information based on the current position information of vehicle 1, and the control parameters of the automatic parking function of vehicle 1 can be adjusted based at least on the calculated road friction coefficient and the retrieved steering torque. For example, when vehicle 1 is parking in the designated parking space again, the steering torque measured by vehicle 1 in the designated parking space and its surrounding area can be retrieved and called. Then, the control parameters of the automatic parking function of vehicle 1 can be adjusted in advance as vehicle 1 approaches the designated parking space. For example, the rear axle wheel steering function of vehicle 1 can be turned off in advance when vehicle 1 approaches a road surface area with a low road friction coefficient. Or, the parking planning trajectory of vehicle 1 can be adjusted in advance when vehicle 1 approaches a road surface area with a low road friction coefficient, so as to reduce the steering operation of vehicle 1 in the road surface area when driving along the parking planning trajectory. Or, the maximum steering angle of the rear axle wheels of vehicle 1 can be reduced in advance when vehicle 1 approaches a road surface area with a high road friction coefficient, and so on.

[0054] According to embodiments of this application, by storing and recalling the steering torque associated with the vehicle's current location information, and using the recalled steering torque to adjust the control parameters of the vehicle's automatic parking function in advance, the driving safety and handling stability of the vehicle during parking are further improved.

[0055] Figure 5 A flowchart illustrating a method for automatic parking control according to another exemplary embodiment of this application is shown. The following only describes the... Figure 2 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.

[0056] like Figure 5As shown, the method for automatic parking control may include steps S7 to S9. In step S7, the steering torque measured at the current position of each wheel of vehicle 1 and the current position information of vehicle 1 can be uploaded to cloud server 2. For example, during the process of vehicle 1 parking multiple times in the designated parking space, the steering torque measured in the designated parking space and its surrounding area can be collected and uploaded to cloud server 2 via vehicle communication unit 14. Outdoor parking lots are prone to slippery surfaces in rainy or snowy weather and icy surfaces in winter. Therefore, under these climatic conditions, the steering torque measured in the outdoor parking space and its surrounding area during the process of vehicle 1 parking in an outdoor parking space can be collected and uploaded to cloud server 2 via vehicle communication unit 14.

[0057] After the cloud server 2 receives the steering torque and the current position information of the vehicle 1 from the automatic parking system 10 of the vehicle 1 through the cloud communication unit 21, the cloud server 2 can execute a method for managing the steering torque information of the vehicle. Figure 6 A flowchart illustrating a method for managing steering torque information of a vehicle according to an exemplary embodiment of this application is shown.

[0058] like Figure 6 As shown, the method for managing vehicle steering torque information may include step S1'. In step S1', in response to the steering torque measured at the current position of each wheel of vehicle 1 and the current position information of vehicle 1 received from the automatic parking system 10, the steering torque and the current position information of vehicle 1 may be stored in the cloud in a manner that correlates them with each other. For example, a function or lookup table of steering torque measured in and around the dedicated parking space of vehicle 1 as a function of vehicle position may be stored, and / or a function or lookup table of steering torque measured in and around the outdoor parking space of vehicle 1 as a function of vehicle position may be collected under specific climatic conditions—such as rainy, snowy days or winter—e.g., in outdoor parking spaces and surrounding areas.

[0059] It should be noted that cloud server 2 can establish communication connections and implement information exchange with multiple vehicles from the same vehicle manufacturer or multiple vehicles of the same model. Therefore, cloud server 2 can not only store the steering torque and current position information of vehicle 1, but also the steering torque and current position information of other vehicles.

[0060] During the automatic parking process of vehicle 1, the automatic parking system of vehicle 1 can continue to execute step S8 of the method for automatic parking control. In step S8, the current position information of vehicle 1 and the request information regarding steering torque can be sent to the cloud server 2. After receiving the current position information of vehicle 1 and the request information regarding steering torque, the cloud server 2 can continue to execute the method for managing the steering torque information of the vehicle.

[0061] Figure 7 A flowchart illustrating a method for managing steering torque information of a vehicle according to an exemplary embodiment of this application is shown. Figure 7 The method for managing vehicle steering torque information may further include step S2'. In step S2', in response to the current position information of vehicle 1 and the request information regarding steering torque received from the automatic parking system 10, the steering torque associated with the current position information of vehicle 1 can be retrieved based on the current position information of vehicle 1, and the retrieved steering torque can be sent to the automatic parking system 10. For example, during the process of vehicle 1 parking in a dedicated parking space, the steering torque collected by each wheel of vehicle 1 in the dedicated parking space and its surrounding area can be retrieved from the cloud server 2 and sent to vehicle 1. As another example, when vehicle 1 parks in an outdoor parking space, the steering torque measured by vehicle 1 and / or other vehicles in the outdoor parking space and its surrounding area can be retrieved from the cloud server 2 and sent to vehicle 1, thereby making full use of the collected data of all vehicles that have established communication connections with the cloud server 2 to support the automatic parking control of vehicle 1.

[0062] After receiving the steering torque via the vehicle communication unit 14, the automatic parking system 10 of vehicle 1 can continue to execute step S9 of the method for automatic parking control. In step S9, in response to the steering torque associated with the current position information of vehicle 1 received from the cloud server 2, the control parameters of the automatic parking function of vehicle 1 can be adjusted at least based on the calculated road friction coefficient and the received steering torque. For example, when vehicle 1 is parking in the designated parking space, the steering torque measured by vehicle 1 in the designated parking space and its surrounding area can be retrieved and called. This allows for advance adjustment of the control parameters of the automatic parking function of vehicle 1 as it approaches the designated parking space. For example, the rear axle wheel steering function of vehicle 1 can be turned off in advance when approaching a road surface area with a low road friction coefficient. Alternatively, the parking planning trajectory of vehicle 1 can be adjusted in advance when approaching a road surface area with a low road friction coefficient, thereby reducing the steering operation of vehicle 1 in the road surface area while traveling along the parking planning trajectory. Or, the maximum steering angle of the rear axle wheels of vehicle 1 can be reduced in advance when approaching a road surface area with a high road friction coefficient, and so on.

[0063] For example, when vehicle 1 is parking in an outdoor parking space, the steering torque measured by vehicle 1 and / or other vehicles in and around the outdoor parking space can be used to adjust the control parameters of vehicle 1's automatic parking function in advance as it approaches the outdoor parking space. Although the tire wear and onboard component conditions of vehicle 1 differ from those of other vehicles, the steering torque uploaded by other vehicles can be used to predict areas of low road friction, such as wet or icy surfaces, in the outdoor parking space and its surrounding area. The rear axle steering function of vehicle 1 can be deactivated in advance as vehicle 1 approaches these wet or icy areas, and / or the parking trajectory of vehicle 1 can be adjusted in advance as it approaches these areas. This reduces steering operations of vehicle 1 along the planned parking trajectory in wet or icy areas, preventing skidding, sideslip, or loss of control in these areas.

[0064] According to the embodiments of this application, the steering torque information of all vehicles stored in the cloud is fully utilized to predict the road surface friction coefficient of the parking space and its surrounding area. When a road surface friction coefficient that is too large or too small is predicted on the planned parking path, the control parameters of the automatic parking function of vehicle 1 are adjusted in advance, thereby further improving the driving safety and handling stability of the vehicle's automatic parking.

[0065] In addition, it should be noted that the step numbers described herein do not necessarily represent the order of steps, but are merely a reference numeral. The order may be changed depending on the specific circumstances, as long as the technical objective of this application can be achieved.

[0066] It should be understood that the terms “first,” “second,” “third,” etc., used in this document are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated.

[0067] If an embodiment includes an "and / or" association between a first feature and a second feature, it should be interpreted as follows: according to one implementation, the embodiment has not only the first feature but also the second feature; according to another implementation, the embodiment has either only the first feature or only the second feature.

[0068] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of this application, even when only a single embodiment is described with respect to a particular feature. The feature examples provided in this application are intended for illustrative purposes and not for limitation, unless otherwise stated. In practice, multiple features may be combined with each other as needed and where technically feasible. Various substitutions, modifications, and alterations are also conceived without departing from the spirit and scope of this application.

Claims

1. A method for automatic parking control, the method comprising: When the automatic parking function of the vehicle (1) is activated, the surrounding environment information of the vehicle (1) is detected, and the parking planning trajectory of the vehicle (1) is determined based on the detected surrounding environment information. Based on the parking planning trajectory, the desired steering angle of each wheel of the vehicle (1) at the current position is determined, and the steering torque of each wheel of the vehicle (1) at the current position is measured. The steering torque is used to adjust the steering angle of the corresponding wheel of the vehicle (1) to the determined desired steering angle. The road surface friction coefficient at the current position is calculated based at least on the steering torque of each wheel of the vehicle (1); The control parameters of the automatic parking function of the vehicle (1) are adjusted based at least on the calculated road friction coefficient, and the vehicle (1) is controlled to park.

2. The method according to claim 1, characterized in that, The method further includes: The slope information at the current position is determined based on the steering torque of each wheel of the vehicle (1), wherein the slope information includes, for example, one or more of the following: slope existence information and slope gradient information.

3. The method according to claim 2, characterized in that, If a slope is determined to exist at the current location, the control parameters of the automatic parking function of the vehicle (1) are adjusted based at least on the calculated road surface friction coefficient and the slope information, and the vehicle (1) is controlled to park.

4. The method according to claim 1, characterized in that, The control parameters of the automatic parking function of the vehicle (1) are adjusted and the vehicle (1) is controlled to park based at least on the calculated road friction coefficient and vehicle load information, wherein the vehicle load information includes, for example, one or more of the following parameters: the measured total weight of the vehicle, the estimated total weight of the vehicle based on the number of occupants, the measured load information of each wheel of the vehicle (1), and the measured load information of each axle of the vehicle (1).

5. The method according to any one of claims 1 to 4, characterized in that, The control parameters include one or more of the following parameters: activation and / or deactivation of rear axle wheel steering function, vehicle speed, maximum steering angle of rear axle wheels, and the parking planning trajectory.

6. The method according to claim 5, characterized in that, The maximum steering angle of the rear axle wheels is adjusted based at least on the calculated road friction coefficient and one or more of the following information: vehicle speed, vehicle load information and motor temperature information of the vehicle's (1) steering system.

7. The method according to claim 5, characterized in that, The rear axle wheel steering function of the vehicle (1) is turned off in road areas where the road friction coefficient is less than a pre-given first friction coefficient threshold, and / or the rear axle wheel steering function of the vehicle (1) is turned on in road areas where the road friction coefficient is greater than or equal to the pre-given first friction coefficient threshold.

8. The method according to claim 5, characterized in that, In road surface regions where the road surface friction coefficient is greater than or equal to a pre-given second friction coefficient threshold, reduce the maximum steering angle of the rear axle wheels of vehicle (1) at least based on the road surface friction coefficient; and / or In road areas where the road surface friction coefficient is less than a pre-defined third friction coefficient threshold, the vehicle speed is reduced at least based on the road surface friction coefficient.

9. The method according to claim 5, characterized in that, In road areas where the road friction coefficient is less than a pre-given fourth friction coefficient threshold, the parking planning trajectory of the vehicle (1) is adjusted at least based on the road friction coefficient, thereby reducing the steering operations of the vehicle (1) in the road area when it travels along the parking planning trajectory.

10. The method according to claim 5, characterized in that, If the load of vehicle (1) exceeds a pre-given load threshold based on the vehicle load information, the rear axle wheel steering function of vehicle (1) is turned off when the vehicle speed is greater than zero, and / or the rear axle wheel steering function of vehicle (1) is turned on when the vehicle speed is equal to zero.

11. The method according to claim 5, characterized in that, If it is determined that there is a slope at the current location and the road surface friction coefficient of the road surface area is less than a pre-given fifth friction coefficient threshold, the rear axle wheel steering function of the vehicle (1) is turned off, and / or one or more of the following operations are performed based on the calculated road surface friction coefficient and slope information: reducing the vehicle speed, reducing the maximum steering angle of the rear axle wheels, and adjusting the planned driving trajectory.

12. The method according to any one of claims 1 to 11, characterized in that, The steering torque measured at the current position of each wheel of the vehicle (1) is compared with a standard steering torque used to adjust the steering angle of the corresponding wheel of the vehicle (1) to the determined desired steering angle, wherein the standard steering torque is a pre-given value and / or adjusted based on the average value of the measured steering torque over time or vehicle speed. If the measured steering torque is less than the standard steering torque and the deviation between the measured steering torque and the standard steering torque is greater than or equal to a pre-given deviation threshold, the control parameters of the automatic parking function of the vehicle (1) are adjusted based at least on the calculated road friction coefficient, and the vehicle (1) is controlled to park.

13. The method according to claim 12, characterized in that, The method further includes: The steering torque of each wheel of the vehicle (1) at its current position and the current position information of the vehicle (1) are stored locally in a manner that correlates them with each other. Based on the current position information of the vehicle (1), the steering torque associated with the current position information of the vehicle (1) is retrieved from the stored steering torque, and the control parameters of the automatic parking function of the vehicle (1) are adjusted based at least on the calculated road friction coefficient and the retrieved steering torque.

14. The method according to claim 12, characterized in that, The method further includes: The steering torque of each wheel of the vehicle (1) at the current position and the current position information of the vehicle (1) are uploaded to the cloud server (2). Send the current location information of the vehicle (1) and the request information about the steering torque to the cloud server (2); In response to the steering torque received from the cloud server (2) in association with the current position information of the vehicle (1), the control parameters of the automatic parking function of the vehicle (1) are adjusted based at least on the calculated road friction coefficient and the received steering torque.

15. An automatic parking system (10), the automatic parking system (10) comprising the following components: An environmental sensing unit (11) is configured to detect the surrounding environment of the vehicle (1); A torque measuring unit (12) is configured to measure the steering torque of each wheel of the vehicle (1) at its current position; The vehicle control unit (13) is configured to at least assist in performing the method according to any one of claims 1 to 14.

16. The automatic parking system (10) according to claim 15, characterized in that, The automatic parking system (10) also includes an onboard communication unit (14) configured to interact with a cloud server (2); and / or The vehicle control unit (13) is integrated into the environment perception unit (11), and an end-to-end model is deployed in the vehicle control unit (13) to at least assist in performing the method according to any one of claims 1 to 14, wherein the end-to-end model includes, for example, a vision-language-action model, and wherein the environment perception unit (11) includes, for example, one or more of the following devices: vehicle camera, millimeter-wave radar, lidar and ultrasonic radar.

17. A method for managing steering torque information of a vehicle (1), the method comprising: In response to the steering torque of each wheel of the vehicle (1) at the current position and the current position information of the vehicle (1) received from the automatic parking system (10) according to claim 15 or 16, the steering torque and the current position information of the vehicle (1) are stored in the cloud in a manner that associates them with each other. and / or In response to the current position information of the vehicle (1) and the request information regarding the steering torque received from the automatic parking system (10) according to claim 15 or 16, the steering torque associated with the current position information of the vehicle (1) is retrieved based on the current position information of the vehicle (1), and the retrieved steering torque is sent to the automatic parking system (10).

18. A cloud server (2), the cloud server (2) comprising the following components: A cloud communication unit (21) is configured to interact with the automatic parking system (10) according to claim 15 or 16; A cloud control unit (22) is configured to at least assist in performing the method according to claim 17.

19. A vehicle (1) comprising an automatic parking system (10) according to claim 15 or 16.

20. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions that, when executed by a processor, at least partially implement the steps of the method according to any one of claims 1 to 14 and 17.

Images