Vehicle control method, apparatus, device, storage medium, and program product

Abstract

The application discloses a vehicle control method, device, equipment, storage medium and program product, and belongs to the technical field of intelligent vehicle control. In the application, in response to the fact that the vehicle is in a ready state and the gear of the vehicle is not in a parking gear, vehicle speed, driving seat state data and brake pedal state data of the vehicle are acquired; in response to the fact that the vehicle speed is less than or equal to a specified vehicle speed and the brake pedal state data indicates that the brake pedal is in an unpressed state, whether a driver is in the driving seat is determined based on the driving seat state data; and in response to the fact that the driver is not in the driving seat, the vehicle is controlled to enter the parking gear. The application significantly reduces the probability of accidents caused by unexpected movement, and improves the reliability and real-time performance of the whole vehicle safety control.

Description

Technical Field

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

[0002] With the rapid development of automotive intelligent technology, vehicle safety control systems have gradually become an important component in ensuring the safety of drivers and passengers. Especially in scenarios such as temporary vehicle parking or unexpected driver departure, effectively preventing unintended vehicle movement has become one of the key issues in vehicle safety design.

[0003] In related technologies, some vehicles are equipped with driver absence detection functions, which typically use driver seat pressure sensors or seat belt status monitoring to determine whether the driver is in place and trigger an alarm when absence is detected.

[0004] However, simple alarm prompts cannot stop a vehicle that is already in a non-parking gear from continuing to coast or move, especially on slopes or when crawling at low speeds, which poses a significant safety hazard. Furthermore, they do not fully consider dynamic driving parameters such as vehicle speed and brake pedal status, which may lead to false or missed triggers during normal driver operation. Summary of the Invention

[0005] This application provides a vehicle control method, device, equipment, storage medium, and program product, which can solve the problem of a vehicle failing to accurately engage the parking gear. The technical solution is as follows: On the one hand, a vehicle control method is provided, the method comprising: In response to the vehicle being in a ready state and the vehicle not being in parking gear, the vehicle speed, driver's seat status data, and brake pedal status data are acquired. In response to the vehicle speed being less than or equal to a specified vehicle speed, and the brake pedal status data indicating that the brake pedal is not depressed, the driver is determined to be in the driver's seat based on the driver's seat status data. In response to the driver not being in the driver's seat, the vehicle is put into the parking position.

[0006] In one possible implementation, the driver's seat status data includes the door status data and seat status data of the driver's seat; Determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat status data indicating that the seat is not occupied, it is determined that the driver is not in the driver's seat; or, In response to the door status data indicating that the door is open and the seat status data indicating that the seat has changed from occupied to unoccupied, it is determined that the driver is not in the driver's seat.

[0007] In another possible implementation, the driver's seat status data includes the driver's seat door status data and the seat belt status data; Determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat belt status data indicating that the seat belt is unlocked, it is determined that the driver is not in the driver's seat; or, In response to the door status data indicating that the door is open and the seat belt status data indicating that the seat belt has changed from locked to unlocked, it is determined that the driver is not in the driver's seat.

[0008] In another possible implementation, the driver's seat status data includes driver's seat status data and seat belt status data; Determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the seat status data indicating that the seat changes from an occupied state to an unoccupied state, and the seatbelt status data indicating that the seatbelt is unlocked, it is determined that the driver is not in the driver's seat; or, In response to the seat status data indicating that the seat is not occupied and the seat belt status data indicating that the seat belt changes from locked to unlocked, it is determined that the driver is not in the driver's seat.

[0009] In another possible implementation, the method further includes: In response to the vehicle being in a ready state and the vehicle not being in parking gear, the vehicle speed, driver's seat status data, brake pedal status data, and accelerator pedal status data are acquired. In response to the vehicle speed being less than or equal to a specified vehicle speed, the brake pedal status data indicates that the brake pedal is not depressed, and the accelerator pedal status data indicates that the accelerator pedal is not depressed, and the driver's seat status data determines whether the driver is in the driver's seat. In response to the driver not being in the driver's seat, the vehicle is put into the parking position.

[0010] In another possible implementation, the method further includes: In response to the vehicle failing to enter the parking position, the system controls the vehicle to issue a failure message.

[0011] On the other hand, a vehicle control device is provided, the device comprising: The acquisition module is configured to acquire vehicle speed, driver's seat status data, and brake pedal status data in response to the vehicle being in a ready state and the vehicle not being in parking gear. A determination module is configured to determine whether the driver is in the driver's seat based on the driver's seat status data in response to the vehicle speed being less than or equal to a specified vehicle speed and the brake pedal status data indicating that the brake pedal is not depressed. The control module is configured to control the vehicle to enter the parking gear in response to the driver not being in the driver's seat.

[0012] In one possible implementation, the driver's seat status data includes the door status data and seat status data of the driver's seat; The determining module is used for: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat status data indicating that the seat is not occupied, it is determined that the driver is not in the driver's seat; or, In response to the door status data indicating that the door is open and the seat status data indicating that the seat has changed from occupied to unoccupied, it is determined that the driver is not in the driver's seat.

[0013] In another possible implementation, the driver's seat status data includes the driver's seat door status data and the seat belt status data; The determining module is used for: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat belt status data indicating that the seat belt is unlocked, it is determined that the driver is not in the driver's seat; or, In response to the door status data indicating that the door is open and the seat belt status data indicating that the seat belt has changed from locked to unlocked, it is determined that the driver is not in the driver's seat.

[0014] In another possible implementation, the driver's seat status data includes driver's seat status data and seat belt status data; The determining module is used for: In response to the seat status data indicating that the seat changes from an occupied state to an unoccupied state, and the seatbelt status data indicating that the seatbelt is unlocked, it is determined that the driver is not in the driver's seat; or, In response to the seat status data indicating that the seat is not occupied and the seat belt status data indicating that the seat belt changes from locked to unlocked, it is determined that the driver is not in the driver's seat.

[0015] In another possible implementation, the acquisition module is used to: in response to the vehicle being in a ready state and the vehicle not being in parking gear, acquire the vehicle speed, driver's seat status data, brake pedal status data, and accelerator pedal status data. The determining module is used to: in response to the vehicle speed being less than or equal to a specified vehicle speed, the brake pedal status data indicating that the brake pedal is not depressed, and the accelerator pedal status data indicating that the accelerator pedal is not depressed, determine whether the driver is in the driver's seat based on the driver's seat status data. The control module is used to: control the vehicle to enter the parking gear in response to the driver not being in the driver's seat.

[0016] In another possible implementation, the control module is used for: In response to the vehicle failing to enter the parking position, the system controls the vehicle to issue a failure message.

[0017] On the other hand, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the method described in any of the above.

[0018] On the other hand, a non-transitory computer-readable storage medium is provided, the non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method described in any of the preceding claims.

[0019] On the other hand, a computer program product is provided, including computer program instructions that, when run on a computer, cause the computer to perform the method described in any of the preceding claims.

[0020] The beneficial effects of the technical solution provided in this application are as follows: by integrating the comprehensive judgment of vehicle speed, brake pedal status and driver's seat status, when the vehicle is ready and not in parking gear, driver's seat detection is triggered only when the vehicle speed is below the safety threshold and the brake pedal is not pressed, thereby accurately identifying risk scenarios where the driver leaves the vehicle; when the driver leaves the vehicle, the vehicle is controlled to enter parking gear, directly preventing the vehicle from continuing to coast or move, significantly reducing the probability of accidents caused by unexpected movement, and improving the reliability and real-time performance of the vehicle safety control. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application; Figure 2 This is a flowchart of the vehicle control method provided in the embodiments of this application; Figure 3 This is a schematic diagram of the vehicle control device structure provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0024] With the rapid development of intelligent vehicle technology, vehicle safety control technology is becoming increasingly mature. To improve vehicle safety during use and avoid safety hazards such as vehicle rollaway or movement caused by the driver not parking the vehicle in time after exiting the vehicle, more and more vehicles are adopting automatic parking functions based on driver absence detection. When the vehicle detects that the driver has left the driver's seat, the system automatically controls the vehicle to enter the parking position, thereby ensuring that the vehicle is in a stable stopped state.

[0025] In related technologies, the judgment conditions based on the driver's absence or intention to leave the vehicle mainly include the following approaches: The first method is based on changes in the driver's door status and vehicle speed. Specifically, the judgment conditions are: the driver's door changes from closed to open, and the vehicle speed is less than or equal to 2 km / h. When both conditions are met simultaneously, it is determined that the driver intends to leave the vehicle or has already left, and the vehicle is automatically put into Parking Gear (P). The second method uses a combination of multiple conditions. The judgment conditions are: two of the following three conditions are met: the driver's door is open, the driver's seatbelt is not fastened, and the driver's seat is not occupied; the vehicle speed is less than or equal to 2 km / h; and the brake pedal and accelerator pedal are not depressed. This comprehensive judgment of multiple states reduces the risk of misjudgment. The third method is also based on a combination of state changes. The judgment criteria are: two of the following three conditions must be met: the driver's door changes from closed to open, the driver's seatbelt changes from fastened to unfastened, and the driver's seat changes from occupied to unoccupied. In addition, the vehicle speed is less than or equal to 2 km / h, and the brake pedal and accelerator pedal are not pressed. The judgment focuses on the change of state rather than the state itself, which can more accurately capture the driver's departure behavior.

[0026] However, current technology still has the following shortcomings: First, the function triggering conditions are too simple and lack redundancy. Taking technical solution one as an example, this solution only triggers automatic P gear shifting when the driver's door changes from closed to open and the vehicle speed is less than or equal to 2 km / h. Although the triggering is simple, there are obvious failure scenarios. When the driver's door sensor malfunctions, or the door is damaged in a collision and is in a normally open or normally closed state, the "door changes from closed to open" condition is no longer met, and the vehicle will not be able to trigger the automatic P gear shifting function. In this fault state, even if the driver has left the driver's seat, the vehicle will not automatically enter the parking gear, posing a serious safety hazard. Second, the function design lacks convenience and has failure scenarios. For technical solution two, this solution triggers when two of the following three conditions are met: the driver's door is open, the driver's seatbelt is not fastened, and the driver's seat is not occupied. However, when the driver's door or seat is permanently open or permanently occupied due to sensor malfunction, if the user is not wearing a seatbelt, the vehicle will continuously meet two conditions, automatically triggering the P gear. This results in the gear remaining in P for an extended period, preventing the user from shifting into other gears and severely impacting normal vehicle use. For technical solution three, this triggers when two of the following three conditions are met: the driver's door changes from closed to open; the driver's seatbelt changes from fastened to unfastened; and the driver's seat changes from occupied to unoccupied. Similarly, when the driver's seatbelt is not fastened, and the driver's door and seat remain in a single state due to malfunction or other reasons (e.g., the door is permanently open or closed, and the seat is permanently occupied or unoccupied), two of these three conditions cannot be met, causing the automatic P gear shift function to completely fail and ineffectively ensuring vehicle safety after the driver leaves the vehicle.

[0027] This application provides a vehicle control method applied to a vehicle. The vehicle typically includes a vehicle controller. The vehicle controller is used to execute the vehicle control method provided in this application, such as... Figure 1 As shown, in some embodiments, the vehicle controller includes a processor 110, a memory 120, and a communication component 130, etc. The following describes each component separately: The processor 110 may be a central processing unit (CPU), which can be used to execute the vehicle control method described above.

[0028] The memory 120 can be various volatile or non-volatile memory, such as solid-state disk (SSD), dynamic random access memory (DRAM), etc. The memory can be used to store pre-stored data, intermediate data, and result data in the vehicle control processing, such as vehicle speed, driver's seat status data, and brake pedal status data.

[0029] The communication component 130 can be a wired network connector, a wireless fidelity (WiFi) module, a Bluetooth module, a cellular communication module, etc. The communication component can be used to transmit control commands to control other devices, such as controlling a vehicle to enter parking mode.

[0030] This application provides a vehicle control method, such as... Figure 2 As shown, in some embodiments, the method includes: S201. In response to the vehicle being in a ready state and the vehicle not being in parking gear, acquire the vehicle speed, driver's seat status data, and brake pedal status data.

[0031] The ready state refers to a working state where, after the vehicle is powered on and completes its system self-test, all Electronic Control Units (ECUs) have initialized, and the vehicle control system is capable of responding to operational commands. In the ready state, the vehicle's core components, such as the powertrain, braking system, and transmission system, have all passed the self-test program and are confirmed to be functioning normally, capable of responding to driver operations or automatic control commands from the system. The vehicle's ready state can usually be determined through the ready indicator light on the instrument panel, vehicle communication bus data, or status signals from the onboard gateway. The Parking Gear (P) is a mechanical locking position of the vehicle's transmission, fixing the transmission system to the wheels through a mechanical locking mechanism to prevent accidental movement of the vehicle. In the Parking Gear state, the parking pawl inside the transmission engages with the parking gear, locking the wheels. The Parking Gear status can be monitored by the gear position sensor. When the gear position signal displays P, it indicates that the vehicle is in a parked state; when the gear position signal displays a non-P gear (such as D, R, N, etc.), it indicates that the vehicle is in a drivable state.

[0032] When the vehicle is detected to be in a ready state and the gear is not in park, the vehicle speed is collected. This speed is usually obtained from wheel speed sensors or vehicle speed sensors, reflecting the current driving speed of the vehicle, and the unit is usually kilometers per hour or meters per second. Driver's seat status data comes from door status sensors, seat occupancy sensors (seat pressure sensors or seat occupancy detection sensors), and seat belt status sensors (seat belt locking status sensors) located in the driver's seat. Driver's seat status data can reflect the real-time status of the driver's seat, including whether the door is open or closed, whether the seat is occupied, and whether the seat belt is fastened. Brake pedal status data comes from brake pedal position sensors or brake switches, and is used to determine whether the driver is pressing the brake pedal.

[0033] S202. In response to the vehicle speed being less than or equal to a specified vehicle speed, and the brake pedal status data indicating that the brake pedal is not depressed, determine whether the driver is in the driver's seat based on the driver's seat status data.

[0034] In practice, the collected vehicle speed is compared with a specified speed. The specified speed can be set according to vehicle characteristics and safety standards, for example, 2 km / h. If the vehicle speed is greater than the specified speed, it indicates the vehicle is traveling at a higher speed. In this case, the driver is unlikely to leave the driver's seat and will not perform automatic parking, thus avoiding potential transmission system shocks or safety risks from automatic shifting to parking. If the vehicle speed is less than or equal to the specified speed, the brake pedal status data is checked. If the brake pedal status data indicates the brake pedal is not depressed, the driver's presence is determined based on the driver's seat status data. If the brake pedal is depressed, it indicates the driver is still actively controlling the vehicle, and a judgment is made after the brake pedal is released. Furthermore, the accelerator pedal status data can also be used for judgment. If both the brake and accelerator pedal status data indicate the brake pedal is not depressed, the driver's presence is determined based on the driver's seat status data, increasing the rigor of the judgment and ensuring that the driver's presence is only determined when the vehicle is indeed stationary or traveling at low speed and the driver is not simultaneously operating the brake and accelerator pedals.

[0035] Then, based on the collected driver's seat status data, it is determined whether the driver is still in the driver's seat. The specific composition and judgment logic of the driver's seat status data can be flexibly set according to the vehicle's configuration and design, including judgments based on door status data, seat status data, and seat belt status data. Specifically, if any two of the door status data, seat status data, and seat belt status data meet a first specified condition, and any one of those two data points that meet the first specified condition meets a second specified condition, it can be determined that the driver has left the driver's seat. For example, if the door status data indicates that the door is open and the seat status data indicates that the seat is not occupied, then the door status data and seat status data meet the first specified condition. If the door status data indicates that the door has changed from a closed state to an open state, then the door status data also meets the second specified condition, and it can be determined that the driver has left the driver's seat.

[0036] S203, In response to the driver not being in the driver's seat, control the vehicle to enter the parking gear.

[0037] In practice, if it is determined that the driver is not in the driver's seat, a parking command is immediately sent to the transmission control unit to shift the vehicle into park. The execution of the parking command typically involves the vehicle control unit or body control module sending a shift request to the transmission control unit. The transmission control unit then controls the shift actuator to shift to P gear, simultaneously activating the parking lock mechanism. Once parking is complete, the parking status can be displayed on the instrument panel or a notification message can be sent to the user via the vehicle information system.

[0038] In this embodiment, by automatically engaging the parking gear when the driver leaves, the system effectively prevents the driver from forgetting to switch to parking when temporarily needing to leave the vehicle, thus improving parking safety and reducing the amount of attention and operation required from the driver. When the driver needs to temporarily leave the vehicle while it is ready, the parking operation is completed automatically, eliminating the need for the driver to manually switch to parking each time, thus improving ease of use.

[0039] In some embodiments, the driver's seat status data includes door status data and seat status data for the driver's seat; determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat status data indicating that the seat is not occupied, it is determined that the driver is not in the driver's seat.

[0040] Door status data refers to sensor signal data reflecting the physical opening and closing status of the doors. Door status sensors are typically installed in the driver's seat area to detect whether the door is open or closed. Door status sensors can be implemented using mechanical switches (such as door lock interlock switches), magnetic induction sensors, or Hall effect sensors. Door status data not only reflects the current instantaneous state but can also be used to detect changes in state (such as changing from closed to open, or from open to closed). Seat status data refers to sensor data reflecting whether the driver's seat is occupied (i.e., whether the seat is occupied). This data is usually collected by a seat occupancy sensor, which is located inside the seat cushion and senses whether the seat surface is bearing human weight. Seat occupancy sensors typically use pressure-sensing technology (such as resistive pressure sensors or capacitive pressure sensors) or capacitive sensing technology. Seat status data can reflect the current occupancy status of the seat and can also be used to detect changes in state (such as changing from occupied to unoccupied, or from unoccupied to occupied).

[0041] If the door status data indicates that the door has changed from closed to open (i.e., the action of the door changing from closed to open is detected), and the seat status data indicates that the seat is unoccupied (i.e., there is no one on the seat; unoccupied status includes the seat always being unoccupied or changing from occupied to unoccupied status), then it is determined that the driver is not in the driver's seat. This is generally applicable in the following scenarios: the driver has already opened the door and left the seat; if it is confirmed that the seat is unoccupied at the moment the door is detected to be open, it can be determined that the driver has left the driver's seat.

[0042] In response to the door status data indicating that the door is open and the seat status data indicating that the seat has changed from occupied to unoccupied, it is determined that the driver is not in the driver's seat.

[0043] In practice, if the door status data indicates that the door is open (open status includes being always open or changing from closed to open), and the seat status data indicates that the seat has changed from occupied to unoccupied (i.e., the action of a person leaving the seat is detected), then it is determined that the driver is not in the driver's seat. This is typically applicable to the following scenarios: the driver begins to get up from the seat before opening the door or at the same time as opening the door. By detecting the change in seat status from occupied to unoccupied, combined with the fact that the door is already open, it is determined that the driver has left the driver's seat.

[0044] In this embodiment, a dual-verification driver presence determination mechanism is constructed by combining door status data and seat status data, which can effectively eliminate false judgments. For example, if the seat sensor falsely reports that the seat is not occupied due to a malfunction, it will not be mistakenly determined that the driver has left if the door is still closed; similarly, if the door is briefly opened due to external interference (such as the door being ejected due to a rear vehicle collision), it will not be mistakenly determined if the seat is still occupied.

[0045] In some embodiments, the driver's seat status data includes driver's seat door status data and seat belt status data; determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat belt status data indicating that the seat belt is unlocked, it is determined that the driver is not in the driver's seat.

[0046] The seatbelt status data reflects the sensor signal data indicating the tightness of the driver's seatbelt. The seatbelt locking status sensor is located inside the seatbelt buckle and detects whether the seatbelt is correctly fastened. When the seatbelt is fastened and locked, the sensor outputs a "locked" signal; when the seatbelt is unfastened (i.e., the seatbelt is released), the sensor outputs a "unlocked" signal. The seatbelt status data not only reflects the current locking status but can also be used to detect changes in status (such as changing from locked to unlocked).

[0047] If the door status data indicates that the door has changed from closed to open (i.e., the action of the door changing from closed to open is detected), and the seat belt status data indicates that the seat belt is unlocked (i.e., the seat belt is unfastened; unlocked status includes situations where the seat belt is always unlocked or changes from locked to unlocked), then it is determined that the driver is not in the driver's seat. This applies to the following scenarios: the driver has unfastened the seat belt and opened the door to leave the vehicle. If the seat belt is confirmed to be unfastened at the moment the door is detected opening, it can be determined that the driver has left the driver's seat. Under normal driving conditions, a driver typically will not remain in the driver's seat with the seat belt unfastened; therefore, the combination of an unlocked seat belt and an open door can serve as a signal that the driver has left the driver's seat.

[0048] In response to the door status data indicating that the door is open and the seat belt status data indicating that the seat belt has changed from locked to unlocked, it is determined that the driver is not in the driver's seat.

[0049] In practice, if the door status data indicates the door is open (i.e., the door is open and remains open), and the seatbelt status data indicates the seatbelt has changed from locked to unlocked (i.e., the driver has been detected unfastening the seatbelt), then it is determined that the driver is not in the driver's seat. If the driver unfastens the seatbelt after opening the door, or opens the door while unfastening the seatbelt, the change in seatbelt status from locked to unlocked, combined with the fact that the door is already open, is used to determine that the driver has left the driver's seat.

[0050] In this embodiment, the reliance on data from a single sensor is reduced by combining the door status and seatbelt status for judgment. If only the seatbelt status is used for judgment, misjudgments may occur due to reasons such as poor seatbelt buckle contact or sensor malfunction.

[0051] In some embodiments, the driver's seat status data includes driver's seat status data and seatbelt status data; determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the seat status data indicating that the seat changes from an occupied state to an unoccupied state, and the seat belt status data indicating that the seat belt is unlocked, it is determined that the driver is not in the driver's seat.

[0052] In practice, if the seat status data indicates that the seat has changed from an occupied state to an unoccupied state (i.e., the action of a person leaving the seat is detected), and at the same time the seatbelt status data indicates that the seatbelt is unlocked (i.e., the seatbelt is unfastened), then it is determined that the driver is not in the driver's seat. The simultaneous occurrence of seat leaving and seatbelt unlocking indicates that the driver has both left the seat and unfastened the seatbelt. This only happens when the driver is preparing to leave the vehicle; therefore, it can be determined that the driver has left the driver's seat.

[0053] In response to the seat status data indicating that the seat is not occupied and the seat belt status data indicating that the seat belt changes from locked to unlocked, it is determined that the driver is not in the driver's seat.

[0054] In practice, if the seat status data indicates that the seat is unoccupied (i.e., there is no one in the seat), and the seatbelt status data indicates that the seatbelt has changed from locked to unlocked (i.e., the driver's action of unfastening the seatbelt is detected), then it is determined that the driver is not in the driver's seat. The driver first leaves the seat (the seat becomes unoccupied), and then unfastens the seatbelt. By detecting the change in seatbelt status from locked to unlocked, combined with the fact that the seat is already unoccupied, it is determined that the driver has left the driver's seat.

[0055] In this embodiment, under certain special scenarios, the driver may not exit the vehicle from the driver's side door, but from the passenger side or other doors. In this case, if the judgment logic relies on changes in the door status, it may miss the judgment of the driver leaving the vehicle. The judgment logic combining seat status and seat belt status does not depend on which specific door is opened, and can cover scenarios where the driver exits from any door, thus having broader applicability.

[0056] In some embodiments, the method further includes: In response to the vehicle failing to enter the parking position, the system controls the vehicle to issue a failure message.

[0057] In practice, when a failure is detected after executing a parking command, the fault code and timestamp are first recorded in the vehicle's fault memory for subsequent maintenance and diagnosis. Then, a failure message is generated, and an appropriate message delivery method is selected based on the current vehicle status and user settings. Simultaneously with sending the failure message, other safety measures can be implemented, such as activating the electronic parking brake and maintaining braking system pressure to prevent rollover, ensuring the vehicle remains safe even after a parking failure.

[0058] In summary, addressing the issues of overly simplistic triggering conditions and lack of redundancy in the first related technical solution, this application provides multiple combined judgment methods based on door and seat status, door and seatbelt status, and seat and seatbelt status, achieving sensor redundancy design. When the door status of the first related technical solution is abnormal due to a door sensor malfunction, preventing automatic parking, this application, even with a failed door sensor, can still accurately identify the driver's intention to leave the vehicle through a combination of seat and seatbelt status judgments, ensuring the normal operation of the automatic parking function and significantly improving the system's reliability and fault tolerance.

[0059] To address the issue of false triggering caused by sensor malfunctions in related technical solution two, which relies on static state combination judgments, this application employs state change logic, requiring a change in the door state, seat state, or seatbelt state, rather than simply a static state. In related technical solution two, when a sensor malfunction causes the door to remain open or the seat to remain occupied, and the user is not wearing a seatbelt, it may incorrectly trigger the P gear, preventing the shifting of other gears. This application, by requiring a state change, ensures that even if the sensor is malfunctioning, as long as the state does not change, it will not trigger an incorrect judgment, effectively avoiding false triggering and guaranteeing the convenience and usability of the function.

[0060] To address the issue of functional failure in related technical solution three when the seatbelt is not fastened and the door or seat position is fixed, this application provides flexible judgment logic through multiple combination judgment schemes. When related technical solution three fails due to two out of the three changing conditions not being met—the seatbelt is not fastened and the door or seat position is fixed—this application can select a combination judgment based on the door and seat positions or a combination judgment based on the seat and seatbelt positions, depending on the actual scenario. By accurately judging the driver's intention to leave the vehicle through changes in the seat position, it ensures that the function can work normally under different driving habits and scenarios, improving the applicability and universality of the solution.

[0061] In some embodiments, the method further includes: The system obtains the slope of the road where the vehicle is located. If the slope is greater than a specified slope (e.g., 5°), a relative difference is determined based on this greater-than-specified slope: Relative difference = (Slope - Specified slope) / Specified slope. An adjustment coefficient is then determined based on this relative difference to adjust the specified vehicle speed. If the adjustment coefficient is greater than 1, the relative difference is positively correlated with the adjustment coefficient; that is, the larger the relative difference, the larger the adjustment coefficient, and the higher the specified vehicle speed. The adjustment coefficient can be calculated using the following formula: ; Where Z represents the adjustment coefficient, X represents the slope, X0 represents the specified slope, and e represents the natural constant.

[0062] After determining the adjustment coefficient, the product of the specified vehicle speed and the adjustment coefficient can be used as the adjusted specified vehicle speed. When the vehicle speed is less than or equal to the specified vehicle speed, and the brake pedal status data indicates that the brake pedal is not depressed, the driver's seat status data is used to determine whether the driver is in the driver's seat. If the driver is not in the driver's seat, the vehicle is controlled to enter the parking gear.

[0063] In this embodiment, the vehicle speed is adaptively adjusted based on the slope to effectively eliminate the risk window of rollback on slopes. The greater the slope, the more exponentially the adjustment coefficient increases, triggering driver absence detection and parking control earlier. This aligns perfectly with the nonlinear cumulative effect of gravitational potential energy, while ensuring a smooth transition at critical slopes and strong safety redundancy at extreme slopes. Early activation of the parking position reduces the impact speed of the parking pawl and the peak current of the motor, extending actuator life and optimizing energy consumption.

[0064] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0065] Based on the same inventive concept, and corresponding to the vehicle control method provided in the embodiments of this application, this application also provides a vehicle control device.

[0066] refer to Figure 3 The vehicle control device includes: The acquisition module 301 is configured to acquire vehicle speed, driver's seat status data and brake pedal status data in response to the vehicle being in a ready state and the vehicle not being in parking gear. The determination module 302 is configured to determine whether the driver is in the driver's seat based on the driver's seat status data in response to the vehicle speed being less than or equal to a specified vehicle speed and the brake pedal status data indicating that the brake pedal is not depressed. The control module 303 is configured to control the vehicle to enter the parking gear in response to the driver not being in the driver's seat.

[0067] In one possible implementation, the driver's seat status data includes the door status data and seat status data of the driver's seat; The determining module 302 is used for: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat status data indicating that the seat is not occupied, it is determined that the driver is not in the driver's seat; or, In response to the door status data indicating that the door is open and the seat status data indicating that the seat has changed from occupied to unoccupied, it is determined that the driver is not in the driver's seat.

[0068] In another possible implementation, the driver's seat status data includes the driver's seat door status data and the seat belt status data; The determining module 302 is used for: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat belt status data indicating that the seat belt is unlocked, it is determined that the driver is not in the driver's seat; or, In response to the door status data indicating that the door is open and the seat belt status data indicating that the seat belt has changed from locked to unlocked, it is determined that the driver is not in the driver's seat.

[0069] In another possible implementation, the driver's seat status data includes driver's seat status data and seat belt status data; The determining module 302 is used for: In response to the seat status data indicating that the seat changes from an occupied state to an unoccupied state, and the seatbelt status data indicating that the seatbelt is unlocked, it is determined that the driver is not in the driver's seat; or, In response to the seat status data indicating that the seat is not occupied and the seat belt status data indicating that the seat belt changes from locked to unlocked, it is determined that the driver is not in the driver's seat.

[0070] In another possible implementation, the acquisition module 301 is used to: in response to the vehicle being in a ready state and the vehicle not being in parking gear, acquire the vehicle speed, driver's seat status data, brake pedal status data, and accelerator pedal status data. The determining module 302 is used to: in response to the vehicle speed being less than or equal to a specified vehicle speed, the brake pedal status data indicating that the brake pedal is not depressed, and the accelerator pedal status data indicating that the accelerator pedal is not depressed, determine whether the driver is in the driver's seat based on the driver's seat status data. The control module 303 is used to: control the vehicle to enter the parking gear in response to the driver not being in the driving position.

[0071] In another possible implementation, the control module 303 is used for: In response to the vehicle failing to enter the parking position, the system controls the vehicle to issue a failure message.

[0072] It should be noted that the vehicle control device provided in the above embodiments is only illustrated by the division of the above functional modules when controlling a vehicle. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device and the vehicle control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0073] Based on the same inventive concept, corresponding to the vehicle control method provided in the embodiments of this application, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the vehicle control method described in the above embodiments.

[0074] Figure 4 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0075] The processor 1010 can be implemented using a general-purpose CPU (central processing unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0076] The memory 1020 can be implemented in the form of ROM (read-only memory), RAM (random access memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0077] The input / output interface 1030 is used to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0078] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0079] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0080] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0081] The electronic devices described above are used to implement the corresponding vehicle control methods in the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0082] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including instructions that can be executed by a processor in a terminal to perform the vehicle control method described above. This computer-readable storage medium can be non-transitory. For example, the computer-readable storage medium can be ROM (read-only memory), RAM (random access memory), CD-ROM (compact disc read-only memory), magnetic tape, floppy disk, and optical data storage devices, etc.

[0083] In an exemplary embodiment, a computer program product is also provided, including computer program instructions that, when executed on a computer, cause the computer to perform the vehicle control method described above.

[0084] It should be noted that the information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals (including but not limited to signals transmitted between user terminals and other devices, etc.) involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0085] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0086] It should be understood that "multiple" as used herein refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, the step numbers described herein are merely illustrative of one possible execution order. In some other embodiments, the steps may not be executed in numerical order, such as two steps with different numbers being executed simultaneously, or two steps with different numbers being executed in the reverse order of the illustration. This application does not limit this.

[0087] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: In response to the vehicle being in a ready state and the vehicle not being in parking gear, the vehicle speed, driver's seat status data, and brake pedal status data are acquired. In response to the vehicle speed being less than or equal to a specified vehicle speed, and the brake pedal status data indicating that the brake pedal is not depressed, the driver is determined to be in the driver's seat based on the driver's seat status data. In response to the driver not being in the driver's seat, the vehicle is put into the parking position.

2. The vehicle control method according to claim 1, characterized in that, The driver's seat status data includes the door status data and seat status data of the driver's seat; Determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat status data indicating that the seat is not occupied, it is determined that the driver is not in the driver's seat; or, In response to the door status data indicating that the door is open and the seat status data indicating that the seat has changed from occupied to unoccupied, it is determined that the driver is not in the driver's seat.

3. The vehicle control method according to claim 1, characterized in that, The driver's seat status data includes the driver's seat door status data and the seat belt status data; Determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the door status data indicating that the door changes from a closed state to an open state, and the seat belt status data indicating that the seat belt is unlocked, it is determined that the driver is not in the driver's seat; or, In response to the door status data indicating that the door is open and the seat belt status data indicating that the seat belt has changed from locked to unlocked, it is determined that the driver is not in the driver's seat.

4. The vehicle control method according to claim 1, characterized in that, The driver's seat status data includes the driver's seat status data and the seat belt status data; Determining whether the driver is in the driver's seat based on the driver's seat status data includes: In response to the seat status data indicating that the seat changes from an occupied state to an unoccupied state, and the seat belt status data indicating that the seat belt is unlocked, it is determined that the driver is not in the driver's seat; or, In response to the seat status data indicating that the seat is not occupied and the seat belt status data indicating that the seat belt changes from locked to unlocked, it is determined that the driver is not in the driver's seat.

5. The vehicle control method according to claim 1, characterized in that, The method further includes: In response to the vehicle being in a ready state and the vehicle not being in parking gear, the vehicle speed, driver's seat status data, brake pedal status data, and accelerator pedal status data are acquired. In response to the vehicle speed being less than or equal to a specified vehicle speed, the brake pedal status data indicates that the brake pedal is not depressed, and the accelerator pedal status data indicates that the accelerator pedal is not depressed, and the driver's seat status data determines whether the driver is in the driver's seat. In response to the driver not being in the driver's seat, the vehicle is put into the parking position.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that, The method further includes: In response to the vehicle failing to enter the parking position, the system controls the vehicle to issue a failure message.

7. A vehicle control device, characterized in that, include: The acquisition module is configured to acquire vehicle speed, driver's seat status data, and brake pedal status data in response to the vehicle being in a ready state and the vehicle not being in parking gear. A determination module is configured to determine whether the driver is in the driver's seat based on the driver's seat status data in response to the vehicle speed being less than or equal to a specified vehicle speed and the brake pedal status data indicating that the brake pedal is not depressed. The control module is configured to control the vehicle to put it into parking gear in response to the driver not being in the driver's seat.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method described in any one of claims 1 to 6.

10. A computer program product comprising computer program instructions, characterized in that, When the computer program instructions are executed on a computer, the computer causes the computer to perform the method as described in any one of claims 1 to 6.

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