Parking control method and device of vehicle, vehicle control unit, storage medium and product

Abstract

The application discloses a parking control method and device of a vehicle, a vehicle controller, a storage medium and a product, and belongs to the technical field of intelligent driving vehicle control. The method comprises the following steps: in the case that the high-voltage power-on state is completed, a first torque state signal is sent to an intelligent driving computing center of the vehicle, and the first torque state signal is used for representing that the output torque of the vehicle is available; when a parking instruction is received, the intelligent driving computing center is used for performing parking control on the vehicle; based on vehicle state information, a current scene in which the vehicle is located is determined; in the case that the current scene belongs to a power output prohibited scene, a second torque state signal is sent to the intelligent driving computing center, the second torque state signal is used for representing that the output torque is unavailable in the current scene, the intelligent driving computing center exits the parking control on the vehicle, and a first locking signal is sent to an electronic hand brake of the vehicle through a CAN bus, and the first locking signal is used for controlling the electronic hand brake to be in a locking state.

Description

Technical Field

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

[0002] With the development of automotive intelligence, automatic parking functions have been widely applied in mass-produced passenger vehicles. Users can automatically park and exit the vehicle through the vehicle's intelligent driving computing center, greatly improving parking convenience. In real-world scenarios, users may exit the vehicle before parking is complete, causing parking to pause, and then proceed to plug in a charger. If the torque status signal between the vehicle's controller and the intelligent driving computing center fails to update in time, the electronic parking brake may release, causing the vehicle to roll away, posing a serious safety hazard. Summary of the Invention

[0003] This application provides a vehicle parking control method, device, vehicle controller, storage medium, and product. The technical solution is as follows: On the one hand, a parking control method for a vehicle is provided, the method comprising: Determine the vehicle's high-voltage power-on status; When the high-voltage power-on state is completed, a first torque status signal is sent to the intelligent driving computing center of the vehicle. The first torque status signal is used to characterize the availability of the vehicle's output torque. When a parking instruction is received, the intelligent driving computing center performs parking control on the vehicle. The intelligent driving computing center is used to perform parking control on the vehicle when the output torque is available. During the parking control process of the vehicle, the vehicle status information is determined; Based on the vehicle status information, the current scenario in which the vehicle is located is determined; When the current scenario is a scenario where power output is prohibited, a second torque status signal is sent to the intelligent driving computing center. The second torque status signal is used to indicate that the output torque is unavailable in the current scenario. When the output torque is unavailable, the intelligent driving computing center is used to exit the parking control of the vehicle and send a first locking signal to the electronic parking brake of the vehicle through the controller area network CAN bus. The first locking signal is used to control the electronic parking brake to be in a locked state.

[0004] In one possible implementation, determining the current scenario of the vehicle based on the vehicle status information includes: The vehicle status information includes the status of the vehicle's charging gun and the vehicle's mode; if the charging gun is in a connected state and the vehicle is in a charging mode, then the current scenario of the vehicle is determined to be a plug-in charging scenario. The vehicle status information includes the status of the vehicle's discharge function. If the discharge function is activated, the current scenario of the vehicle is determined to be an external discharge scenario. The vehicle status information includes collision information. When the collision information indicates that the vehicle has been involved in a collision, the current scenario of the vehicle is determined to be a collision scenario. Among them, the plug-in charging scenario, the external discharge scenario, and the collision scenario belong to the prohibited power output scenario.

[0005] In another possible implementation, the method further includes: In the event of a vehicle malfunction, the fault level of the vehicle is determined. If the fault level is higher than or equal to the level threshold, a third torque status signal is sent to the intelligent driving computing center. The third torque status signal is used to indicate that the vehicle has a serious fault that causes the output torque to be unavailable. The intelligent driving computing center is used to exit parking control of the vehicle when the output torque is unavailable. If the fault level is lower than the level threshold, a fourth torque status signal is sent to the intelligent driving computing center. The fourth torque status signal is used to indicate that the output torque of the vehicle is available, and the output torque corresponding to the fourth torque status signal is less than the output torque corresponding to the first torque status signal. The intelligent driving computing center is used to limit the speed of the vehicle when the output torque is available.

[0006] In another possible implementation, the method further includes: When the vehicle exits the prohibited power output scenario, it sends the first torque status signal to the intelligent driving computing center, which is used to regain intelligent driving control authority over the vehicle when the output torque is available.

[0007] In another possible implementation, the method further includes: A second locking signal is sent to the electronic parking brake via a hard wire, the second locking signal being used to control the electronic parking brake to be in a locked state.

[0008] In another possible implementation, the method further includes: The system sends safety status information to other processors in the vehicle. The safety status information is used to control the other processors to be in a safe mode. The other processors are processors in the vehicle other than the vehicle controller and the intelligent driving computing center.

[0009] On the other hand, a parking control device for a vehicle is provided, the device comprising: The first determining module is used to determine the high-voltage power-on status of the vehicle; The first transmitting module is used to send a first torque status signal to the intelligent driving computing center of the vehicle when the high voltage power-on state is completed. The first torque status signal is used to characterize the availability of the vehicle's output torque. The control module is used to control the vehicle to park through the intelligent driving computing center when a parking instruction is received. The intelligent driving computing center is used to control the vehicle to park when the output torque is available. The second determining module is used to determine the vehicle status information of the vehicle during the parking control process of the vehicle. The third determining module is used to determine the current scene in which the vehicle is located based on the vehicle status information; The second sending module is used to send a second torque status signal to the intelligent driving computing center when the current scenario is a scenario where power output is prohibited. The second torque status signal is used to indicate that the output torque is unavailable in the current scenario. The intelligent driving computing center is used to exit parking control of the vehicle when the output torque is unavailable, and send a first locking signal to the electronic parking brake of the vehicle through the controller area network CAN bus. The first locking signal is used to control the electronic parking brake to be in a locked state.

[0010] In one possible implementation, the vehicle status information includes the status of the vehicle's charging gun and the vehicle's mode; the third determining module is used to determine that the current scenario of the vehicle is a plug-in charging scenario when the charging gun is in a connected state and the vehicle is in a charging mode. The vehicle status information includes the status of the vehicle's discharge function. The third determining module is used to determine that the current scenario of the vehicle is an external discharge scenario when the discharge function is activated. The vehicle status information includes collision information. The third determining module is used to determine the current scenario of the vehicle as a collision scenario when the collision information indicates that the vehicle has been in a collision. Among them, the plug-in charging scenario, the external discharge scenario, and the collision scenario belong to the prohibited power output scenario.

[0011] In another possible implementation, the device further includes: The acquisition module is used to acquire the fault level of the vehicle when the vehicle malfunctions. The third sending module is used to send a third torque status signal to the intelligent driving computing center when the fault level is higher than or equal to the level threshold. The third torque status signal is used to indicate that the vehicle has a serious fault that causes the output torque to be unavailable. The intelligent driving computing center is used to exit parking control of the vehicle when the output torque is unavailable. The fourth sending module is used to send a fourth torque status signal to the intelligent driving computing center when the fault level is lower than the level threshold. The fourth torque status signal is used to indicate that the output torque of the vehicle is available, and the output torque corresponding to the fourth torque status signal is less than the output torque corresponding to the first torque status signal. The intelligent driving computing center is used to perform speed limiting on the vehicle when the output torque is available.

[0012] In another possible implementation, the device further includes: The fifth sending module is used to send the first torque status signal to the intelligent driving computing center when the vehicle exits the prohibited power output scenario. The intelligent driving computing center is used to regain intelligent driving control authority of the vehicle when the output torque is available.

[0013] In another possible implementation, the device further includes: The sixth transmitting module is used to send a second locking signal to the electronic parking brake via a hard wire connected to the electronic parking brake. The second locking signal is used to control the electronic parking brake to be in a locked state.

[0014] In another possible implementation, the device further includes: The seventh sending module is used to send safety status information to other processors in the vehicle. The safety status information is used to control the other processors to be in a safe mode. The other processors are processors in the vehicle other than the vehicle controller and the intelligent driving computing center.

[0015] On the other hand, a vehicle controller is provided, which includes a main control module, a processor and a memory, wherein the memory stores at least one piece of program code, which is loaded and executed by the processor to implement the above-mentioned vehicle parking control method.

[0016] On the other hand, a computer-readable storage medium is provided, wherein at least one piece of program code is stored in the storage medium, the at least one piece of program code being loaded and executed by a processor to implement the above-described vehicle parking control method.

[0017] On the other hand, a computer program product is provided, the product storing at least one piece of program code, the at least one piece of program code being executed by a processor to implement the above-described vehicle parking control method.

[0018] In this embodiment, during the parking control process of the vehicle through the intelligent driving computing center, the current scenario of the vehicle is determined based on the vehicle status information. If the current scenario is a scenario where power output is prohibited, the intelligent driving computing center is informed that the output torque is unavailable in the current scenario, causing the intelligent driving computing center to exit the parking control of the vehicle and lock the electronic parking brake. Since the intelligent driving computing center will not continue to park the vehicle at this time, and the electronic parking brake is locked, it can be ensured that the vehicle will not roll away, thereby reducing the safety hazards of the vehicle.

[0019] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this disclosure. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a vehicle parking control method in an exemplary embodiment of this application; Figure 2 This is a schematic diagram illustrating a vehicle parking control method in the related art according to an exemplary embodiment of this application; Figure 3 This is a schematic diagram illustrating a vehicle parking control method in the related art, as shown in another exemplary embodiment of this application; Figure 4 This is a flowchart illustrating a vehicle parking control method in another exemplary embodiment of this application; Figure 5 This is a flowchart illustrating a vehicle parking control method in another exemplary embodiment of this application; Figure 6 This is a flowchart illustrating a vehicle parking control method in another exemplary embodiment of this application; Figure 7 This is a block diagram illustrating a parking control device for a vehicle, as shown in an exemplary embodiment of this application; Figure 8 This is a block diagram illustrating a vehicle controller in an exemplary embodiment of this application. Detailed Implementation

[0021] To make the technical solution and advantages of this application clearer, the embodiments of this application will be described in further detail below.

[0022] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0023] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals 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.

[0024] Please refer to Figure 1 This illustrates a structural schematic diagram of a vehicle according to an exemplary embodiment of this application. (Reference) Figure 1 The vehicle is equipped with a vehicle controller 10 and an intelligent driving computing center 20; the vehicle controller 10 and the intelligent driving computing center 20 are connected via a Controller Area Network (CAN) bus. The intelligent driving computing center 20 is used for intelligent driving control of the vehicle; the vehicle controller 10 is used to determine the state of the vehicle's output torque and send a torque state signal to the intelligent driving computing center 20. The torque state signal is used to characterize the state of the output torque, enabling the intelligent driving computing center 20 to obtain or release intelligent driving control permissions for the vehicle based on the torque state signal, thereby normally requesting drive or exiting control and prohibiting drive.

[0025] The torque status signals include a first torque status signal, a second torque status signal, a third torque status signal, and a fourth torque status signal. For example, referring to Table 1, the trigger condition for the first torque status signal is the completion of high-voltage power-on, with no output prohibition conditions. The signal value of the first torque status signal can be 0x1, and it is used to characterize that the vehicle's output torque is available and the driving force is 100%. The trigger condition for the second torque status signal is a power output prohibition scenario. The signal value of the second torque status signal can be 0x0, and it is used to characterize that the vehicle's output torque is unavailable in the current scenario. The trigger condition for the third torque status signal is a system fault with a fault level higher than or equal to the level threshold (level 6). The signal value of the third torque status signal can be 0x3, and it is used when a serious vehicle fault causes the output torque to be unavailable. The trigger condition for the fourth torque status signal is a system fault with a fault level lower than the level threshold. The signal value of the fourth torque status signal can be 0x2, and it is used to characterize that the vehicle's output torque is available, but the performance is degraded, that is, the output torque corresponding to the fourth torque status signal is less than the output torque corresponding to the first torque status signal. For example, the fourth torque status signal limits the vehicle speed to no more than a preset speed, which can be 60 km / h.

[0026] Table 1

[0027] In one possible implementation, upon receiving the first torque status signal and the fourth torque status signal, the intelligent driving computing center 20 acquires intelligent driving control authority over the vehicle. For example, referring to Table 1, upon receiving the first torque status signal, the intelligent driving computing center 20 normally requests drive; upon receiving the fourth torque status signal, the intelligent driving computing center 20 limits the preset vehicle speed and prompts the user; upon receiving the second and third torque status signals, the intelligent driving computing center 20 releases intelligent driving control authority over the vehicle. For example, referring to Table 1, upon receiving the second and fourth torque status signals, the intelligent driving computing center 20 exits control and prohibits start-up.

[0028] The vehicles are new energy vehicles, such as pure electric vehicles, plug-in hybrid electric vehicles, and fuel cell electric vehicles. Please refer to relevant technologies. Figure 2After the intelligent driving computing center 20 obtains intelligent driving control authority over the vehicle, during the parking process, the user may exit the vehicle before parking is completed, causing parking to pause, followed by a charging operation. If the torque status signal between the vehicle controller 10 and the intelligent driving computing center 20 fails to update in time, the vehicle's electronic parking brake may release, causing the vehicle to roll away, posing a serious safety hazard.

[0029] For example, please refer to Figure 3 The user triggers a parking command to the vehicle controller 10, which then sends the command to the intelligent driving computing center 20. The intelligent driving computing center 20 controls the vehicle's parking based on the command. During this parking control process, the electronic parking brake is released, specifically during time periods t1 and t2. If the user exits the vehicle and stops parking during time period t2, the intelligent driving computing center 20 will pause its parking control. Because the vehicle controller 10 does not send a second torque status signal to the intelligent driving computing center 20 during time period t2, the vehicle may roll away during this period. Furthermore, if the user plugs in the charging adapter, the vehicle controller 10 exits the handshake request, engages the Parking gear (P), and pulls the electronic parking brake (while the electronic parking brake is engaged). The intelligent driving computing center 20 then requests a handshake with the vehicle controller 10 again, at which point the electronic parking brake is engaged. During time period t4, the Intelligent Driving Computing Center 20 and the electronic parking brake continue to communicate, while simultaneously requesting the electronic parking brake to be released. During time period t5, the Intelligent Driving Computing Center 20 requests the electronic parking brake to be engaged after the communication timeout with the Vehicle Controller 10. Furthermore, if the communication timeout between the Intelligent Driving Computing Center 20 and the Vehicle Controller 10 also occurs, the Intelligent Driving Control Authority is released. During time period t6, there are no requests for the electronic parking brake status, and the electronic parking brake status is changed from "releasing" to "released". Figure 3 The pulled-up state in the example corresponds to the locked state in subsequent embodiments.

[0030] In this embodiment, during the parking control process of the vehicle through the intelligent driving computing center, the current scenario of the vehicle is determined based on the vehicle status information. If the current scenario is a scenario where power output is prohibited, the intelligent driving computing center is informed that the output torque is unavailable in the current scenario, causing the intelligent driving computing center to exit the parking control of the vehicle and lock the electronic parking brake. Since the intelligent driving computing center will not continue to park the vehicle at this time, and the electronic parking brake is locked, it can be ensured that the vehicle will not roll away, thereby reducing the safety hazards of the vehicle.

[0031] Please refer to Figure 4 The diagram illustrates a flowchart of a vehicle parking control method according to an exemplary embodiment of this application. (Reference) Figure 4The method includes: Step 401: Determine the high-voltage power-on status of the vehicle.

[0032] For example, please refer to Figure 5 Upon receiving a power-on command, the vehicle controller performs an initialization operation. This initialization operation checks the status of the vehicle controller, the intelligent driving computing center, and other controllers in the vehicle. If the status of the vehicle controller, the intelligent driving computing center, and other controllers are all normal, the initialization operation is completed, and then, in response to the power-on command, the vehicle is powered on with high voltage. "Other controllers" refers to all controllers in the vehicle other than the normal controllers and the intelligent driving computing center.

[0033] During the process of applying high-voltage power to the vehicle, the high-voltage power-on status is determined; if the high-voltage power-on status is completed, step 402 is executed; for example, please continue to refer to Figure 5 If the high-voltage power-on state is incomplete, a second torque status signal is sent to the intelligent driving calculation center, and then the step of determining the vehicle status information in step 404 is executed.

[0034] The second torque status signal is used to indicate that the output torque is unavailable in the current scenario. The signal value of the second torque status signal can be 0x0, and the form of the second torque status signal can be VCU_12PtqAvl. In this case, the vehicle controller sends VCU_12PtqAvl=0x0 to the intelligent driving computing center.

[0035] The vehicle controller can determine the high-voltage power-on status by the status of the vehicle's high-voltage relay; if the high-voltage relay is not closed, the high-voltage power-on status is determined to be incomplete; if the high-voltage relay is closed, the high-voltage power-on status is determined to be complete.

[0036] Step 402: When the high voltage power-on state is completed, send a first torque status signal to the vehicle's intelligent driving computing center. The first torque status signal is used to characterize the availability of the vehicle's output torque.

[0037] For example, please continue to refer to Figure 5 The signal value of the first torque state signal can be 0x1, and the form of the first torque state signal can be VCU_12PtqAvl. Then the vehicle controller sends VCU_12PtqAvl=0x1 to the intelligent driving computing center.

[0038] The vehicle controller and the intelligent driving computing center are connected via a CAN bus. In this step, a first torque status signal is sent to the intelligent driving computing center. The vehicle controller also sends the first torque status signal to the intelligent driving computing center based on a first transmission cycle. The intelligent driving computing center receives the first torque status signal and updates the vehicle's output torque status based on it; for example, it updates the vehicle's output torque status to available based on the first torque status signal.

[0039] The first transmission period can be set and changed as needed. In this embodiment, the first transmission period is not specifically limited; for example, the first transmission period is 10 milliseconds. In this embodiment, the first torque status signal is transmitted periodically, once every 10 milliseconds, to ensure the real-time performance of the first torque status signal.

[0040] Step 403: When a parking instruction is received, the intelligent driving computing center controls the vehicle to park. The intelligent driving computing center is used to control the vehicle to park when the output torque is available.

[0041] When the vehicle controller receives a parking command, it sends the parking command to the intelligent driving computing center; the intelligent driving computing center receives the parking command and determines the status of the vehicle's output torque; if the vehicle's output torque is available, it performs parking control on the vehicle, that is, it starts automatic parking.

[0042] The steps for the intelligent driving computing center to control vehicle parking are as follows: the intelligent driving computing center sends a request for drive torque to the vehicle controller and parks the vehicle in the parking space based on the planned path.

[0043] During parking, the driver may need to get out of the car urgently. In this case, the user opens the door and unbuckles the seatbelt. The vehicle controller detects the driver leaving the seat and instructs the intelligent driving computing center to automatically pause parking. At this time, the vehicle remains stationary, and the electronic parking brake is locked. The locked state can be understood as the engaged state, meaning that when the electronic parking brake is locked, the vehicle is in a braking state and remains stationary.

[0044] Step 404: During the parking control process, determine the vehicle status information.

[0045] In one possible implementation, the vehicle status information includes the status of the vehicle's charging gun and the vehicle's mode; the status of the charging gun can be connected or disconnected, and the vehicle's mode can be charging mode or non-charging mode.

[0046] In another possible implementation, the vehicle status information includes the status of the vehicle's discharge function; the status of the discharge function can be active or inactive.

[0047] In another possible implementation, the vehicle status information includes collision information. The collision information is used to characterize whether a collision has occurred.

[0048] In another possible implementation, the vehicle status information includes the status of safety monitoring; the status of safety monitoring can be triggered or not triggered.

[0049] Step 405: Determine the current scene of the vehicle based on the vehicle status information.

[0050] In one possible implementation, the vehicle status information includes the status of the vehicle's charging gun and the vehicle's mode; if the charging gun is in a connected state and the vehicle is in a charging mode, then the current scenario of the vehicle is determined to be a plug-in charging scenario; if the charging gun is in a disconnected state or the vehicle is in a non-charging mode, then the current scenario of the vehicle is determined to be a non-plug-in charging scenario.

[0051] For example, when the driver gets out of the car and plugs in the charging gun, the charging gun connection signal is sent from the charging pile controller to the vehicle controller via the CAN bus. The vehicle controller determines that the charging gun is connected based on the charging gun connection signal. At this time, the vehicle controller determines the vehicle mode. If the vehicle mode is charging mode, the current scenario is determined to be a plug-in charging scenario.

[0052] In another possible implementation, the vehicle status information includes the status of the vehicle's discharge function. If the discharge function is activated, the current scenario of the vehicle is determined to be an external discharge scenario; if the discharge function is deactivated, the current scenario of the vehicle is determined to be a non-external discharge scenario.

[0053] In another possible implementation, the vehicle state information includes collision information. If the collision information indicates that the vehicle has been in a collision, the current scenario of the vehicle is determined to be a collision scenario. If the collision information indicates that the vehicle has not been in a collision, the current scenario of the vehicle is determined to be a non-collision scenario.

[0054] Among them, plug-in charging scenario, external discharge scenario, and collision scenario are all prohibited power output scenarios; therefore, if it is determined that the current scenario belongs to plug-in charging scenario, external discharge scenario, or collision scenario, the current scenario is determined to be a prohibited power output scenario; if it is determined that the current scenario does not belong to plug-in charging scenario, external discharge scenario, or collision scenario, the current scenario is determined not to be a prohibited power output scenario.

[0055] If the current scenario is a scenario where power output is prohibited, proceed to step 406; if the current scenario is not a scenario where power output is prohibited, continue to send the first torque status signal to the intelligent driving computing center, so that the intelligent driving computing center determines that the vehicle's output torque is available based on the first torque status signal, and continues to perform parking control on the vehicle.

[0056] In another possible implementation, the vehicle status information includes the status of safety monitoring; if the safety monitoring status is triggered, the vehicle's current scenario is determined to be a safety monitoring triggered scenario; if the safety monitoring status is not triggered, the vehicle's current scenario is determined not to be a safety monitoring triggered scenario. The safety monitoring triggered scenario is a scenario where power output is prohibited.

[0057] In related technologies, after the vehicle is powered on by high voltage, the vehicle controller sends a first torque status signal to the intelligent driving computing center; however, it does not consider scenarios where power output is prohibited, such as plug-in charging. In this embodiment, by introducing a torque status signal update mechanism, the torque status signal is adjusted in real time according to scenarios such as plug-in charging, external discharge, and collision. This establishes a state linkage mechanism between the vehicle controller and the intelligent driving computing center, ensuring that the intelligent driving computing center can promptly exit control in scenarios where power output is prohibited, preventing vehicle rollover and effectively preventing rollover accidents, thus ensuring the safety of personnel and vehicles, and improving the safety of personnel and vehicles. Furthermore, improved safety reduces after-sales complaints, enhances brand trust, and increases user satisfaction. It also avoids repair costs and legal risks caused by rollover, reducing after-sales maintenance costs. Moreover, this embodiment can adapt to scenarios such as plug-in charging, external discharge, and collision, thereby enhancing system robustness. Furthermore, this control logic is applicable to various vehicle models and intelligent driving systems, possessing good portability and scalability, thus facilitating platform-based promotion.

[0058] Step 406: In the case that the current scenario is a scenario where power output is prohibited, a second torque status signal is sent to the intelligent driving computing center. The second torque status signal is used to indicate that the output torque is unavailable in the current scenario. The intelligent driving computing center is used to exit the parking control of the vehicle when the output torque is unavailable, and send a first locking signal to the vehicle's electronic parking brake through the controller area network CAN bus. The first locking signal is used to control the electronic parking brake to be in a locked state.

[0059] The vehicle controller sends a second torque status signal to the intelligent driving computing center based on the second transmission cycle. The intelligent driving computing center receives the second torque status signal and updates the status of the vehicle's output torque based on it; for example, it updates the status of the vehicle's output torque to unavailable based on the second torque status signal. At this time, the intelligent driving computing center immediately cuts off the drive request and exits parking control of the vehicle.

[0060] The intelligent driving computing center includes a safety monitoring module and an Automatic Parking Assist (APA) system; the safety monitoring module immediately cuts off the drive request; the APA then relinquishes parking control of the vehicle. For example, please refer to [link to relevant documentation]. Figure 5 If the current scenario is one in which power output is prohibited, the torque status signal is updated to 0x0 and sent to the intelligent driving computing center; the intelligent driving computing center receives 0x0, immediately exits parking control, and prohibits the vehicle from driving.

[0061] In this embodiment of the application, when the intelligent driving computing center exits the parking control of the vehicle, the electronic handbrake is locked to prevent the vehicle from rolling away.

[0062] The second transmission period and the first transmission period can be the same or different; in this embodiment, the example is that the second transmission period and the first transmission period are the same; for example, both the second transmission period and the first transmission period are 10 milliseconds. In this embodiment, the second torque status signal is transmitted periodically, once every 10 milliseconds, to ensure the real-time performance of the second torque status signal.

[0063] For example, if the vehicle's current scenario is a plug-in charging scenario, which is a scenario where power output is prohibited, the vehicle controller will update the torque status signal from the first torque status signal to the second torque status signal, and send the second torque status signal to the intelligent driving computing center in the next transmission cycle.

[0064] In one possible implementation, a second locking signal is sent to the electronic parking brake via a hardwire connection. This second locking signal controls the electronic parking brake to be in a locked state. For example, please refer to [reference needed]. Figure 5 The vehicle controller keeps the electronic parking brake locked to keep the vehicle stationary.

[0065] In this embodiment, the intelligent driving computing center sends a first locking signal to the electronic parking brake via the CAN bus, and the vehicle controller sends a second locking signal to the electronic parking brake via a hard wire. This dual guarantee of the electronic parking brake being locked through both CAN signals and hard wire signals ensures absolute safety and achieves redundant safety protection for the vehicle.

[0066] In another possible implementation, when the electronic parking brake is locked, the vehicle controller enters a safe standby state. Furthermore, when the vehicle exits a scenario where power output is prohibited, a first torque status signal is sent to the intelligent driving computing center. The intelligent driving computing center receives the first torque status signal and, based on it, modifies the output torque status from unavailable to available, then regains intelligent driving control authority over the vehicle. At this point, upon receiving a parking command, parking control of the vehicle is available; upon receiving an autonomous driving command, autonomous driving control of the vehicle is initiated.

[0067] For example, when the charging gun's status changes from connected to disconnected, the vehicle controller exits the safe standby state and waits for the vehicle to power on. Alternatively, when the charging gun's status changes from connected to disconnected, the vehicle controller exits the safe standby state and sends a first torque status signal to the intelligent driving computing center. The intelligent driving computing center receives the first torque status signal and, based on it, changes the output torque status from unavailable to available.

[0068] In this embodiment, after the vehicle exits the prohibited power output scenario, the intelligent driving computing center regains its intelligent driving control authority through the first torque status signal, thereby enabling intelligent driving control of the vehicle and improving the vehicle's intelligence.

[0069] In another possible implementation, when the vehicle exits the scenario where power output is prohibited, it is determined whether the vehicle has malfunctioned; if the vehicle has not malfunctioned, a first torque status signal is sent to the intelligent driving computing center. If the vehicle has malfunctioned, a second torque status signal is sent to the intelligent driving computing center.

[0070] In another possible implementation, after sending the second torque status signal to the intelligent driving computing center, safety status information can also be sent to other processors in the vehicle. This safety status information is used to control these other processors to be in a safe mode. These other processors are those other than the vehicle controller and the intelligent driving computing center. For example, these other controllers could be any of the following: motor controller, battery management system, transmission controller, vehicle stability control system, electronic power steering system, body control module, etc.

[0071] In this embodiment, after sending the second torque status signal to the intelligent driving computing center, safety status information is sent to other controllers, thereby controlling other processors to be in a safe mode, thus reducing vehicle safety hazards.

[0072] In this embodiment, during the parking control process of the vehicle through the intelligent driving computing center, the current scenario of the vehicle is determined based on the vehicle status information. If the current scenario is a scenario where power output is prohibited, the intelligent driving computing center is informed that the output torque is unavailable in the current scenario, causing the intelligent driving computing center to exit the parking control of the vehicle and lock the electronic parking brake. Since the intelligent driving computing center will not continue to park the vehicle at this time, and the electronic parking brake is locked, it can be ensured that the vehicle will not roll away, thereby reducing the safety hazards of the vehicle.

[0073] Please refer to Figure 6 The diagram illustrates a flowchart of a vehicle parking control method according to an exemplary embodiment of this application. (Reference) Figure 6 The method includes: Step 601: Determine the high-voltage power-on status of the vehicle.

[0074] In some embodiments, this step is the same as step 401, and will not be described again here.

[0075] Step 602: When the high voltage power-on state is completed, send a first torque status signal to the vehicle's intelligent driving computing center. The first torque status signal is used to characterize the availability of the vehicle's output torque.

[0076] In some embodiments, this step is the same as step 402, and will not be described again here.

[0077] Step 603: When a parking instruction is received, the intelligent driving computing center controls the vehicle to park. The intelligent driving computing center is used to control the vehicle to park when the output torque is available.

[0078] In some embodiments, this step is the same as step 402, and will not be described again here.

[0079] Step 604: During the parking control process, if a vehicle malfunctions, obtain the vehicle's fault level.

[0080] If the fault level is higher than or equal to the level threshold, proceed to step 605; if the fault level is lower than the level threshold, proceed to step 606. The level threshold can be set and changed as needed. In this embodiment, the level threshold is not specifically limited; for example, the level threshold can be 6.

[0081] In one possible implementation, after obtaining intelligent driving control authority for the vehicle from the intelligent driving computing center, the vehicle controller can periodically perform fault detection on the vehicle; and in the event of a vehicle fault, obtain the vehicle's fault level. That is, after executing steps 601-602, the step of "obtaining the vehicle's fault level in the event of a vehicle fault" in step 604 is executed directly.

[0082] Step 605: If the fault level is higher than or equal to the level threshold, send a third torque status signal to the intelligent driving computing center. The third torque status signal is used to indicate that the vehicle has a serious fault that causes the output torque to be unavailable. The intelligent driving computing center is used to exit parking control of the vehicle when the output torque is unavailable.

[0083] The value of the third torque status signal can be 0x3. Furthermore, the vehicle controller sends the third torque status signal to the intelligent driving computing center based on the third transmission cycle. The intelligent driving computing center receives the third torque status signal and updates the status of the vehicle's output torque based on it; for example, it updates the status of the vehicle's output torque to unavailable based on the third torque status signal. At this point, the intelligent driving computing center immediately cuts off the drive request and exits parking control of the vehicle.

[0084] The third transmission period, the second transmission period, and the first transmission period can be the same or different; in this embodiment, the example is that the third transmission period, the second transmission period, and the first transmission period are the same; for example, the third transmission period, the second transmission period, and the first transmission period are all 10 milliseconds.

[0085] Step 606: When the fault level is lower than the level threshold, a fourth torque status signal is sent to the intelligent driving computing center. The fourth torque status signal is used to indicate that the output torque of the vehicle is available, and the output torque corresponding to the fourth torque status signal is less than the output torque corresponding to the first torque status signal. The intelligent driving computing center is used to limit the speed of the vehicle when the output torque is available.

[0086] The signal value of the fourth torque status signal can be 0x2. Furthermore, the vehicle controller sends the fourth torque status signal to the intelligent driving computing center based on the fourth transmission cycle. The intelligent driving computing center receives the fourth torque status signal and updates the vehicle's output torque status based on it; for example, based on the fourth torque status signal, it updates the vehicle's output torque status to available but with reduced performance and a preset speed limit.

[0087] The fourth transmission period, the third transmission period, the second transmission period, and the first transmission period can be the same or different; in this embodiment, the example is that the fourth transmission period, the third transmission period, the second transmission period, and the first transmission period are the same; for example, the fourth transmission period, the third transmission period, the second transmission period, and the first transmission period are all 10 milliseconds.

[0088] In this embodiment, during the parking control process of the vehicle through the intelligent driving computing center, fault detection is performed on the vehicle. If a fault is detected and the fault level is higher than or equal to the level threshold, the intelligent driving computing center is notified that a serious fault has occurred and the output torque is unavailable. This causes the intelligent driving computing center to withdraw from parking control of the vehicle and lock the vehicle's electronic parking brake. Since the intelligent driving computing center will not continue to park the vehicle at this time and the electronic parking brake is locked, it can be ensured that the vehicle will not roll away, thereby reducing the vehicle's safety hazards.

[0089] Please refer to Figure 7 This illustration shows a block diagram of a vehicle parking control device according to an exemplary embodiment of this application. The device includes: The first determining module 701 is used to determine the high-voltage power-on status of the vehicle; The first transmitting module 702 is used to send a first torque status signal to the intelligent driving computing center of the vehicle when the high voltage power-on state is completed. The first torque status signal is used to characterize the availability of the vehicle's output torque. The control module 703 is used to control the vehicle to park through the intelligent driving computing center when a parking instruction is received. The intelligent driving computing center is used to control the vehicle to park when the output torque is available. The second determining module 704 is used to determine the vehicle status information of the vehicle during the parking control process of the vehicle. The third determining module 705 is used to determine the current scene in which the vehicle is located based on the vehicle status information; The second sending module 706 is used to send a second torque status signal to the intelligent driving computing center when the current scenario is a scenario where power output is prohibited. The second torque status signal is used to indicate that the output torque is unavailable in the current scenario. The intelligent driving computing center is used to exit parking control of the vehicle when the output torque is unavailable, and send a first locking signal to the electronic parking brake of the vehicle through the controller area network CAN bus. The first locking signal is used to control the electronic parking brake to be in a locked state.

[0090] In one possible implementation, the vehicle status information includes the status of the vehicle's charging gun and the vehicle's mode; the third determining module 705 is used to determine that the current scenario of the vehicle is a plug-in charging scenario when the charging gun is in a connected state and the vehicle is in a charging mode. The vehicle status information includes the status of the vehicle's discharge function. The third determining module 705 is used to determine that the current scenario of the vehicle is an external discharge scenario when the discharge function is activated. The vehicle status information includes collision information. The third determining module 705 is used to determine the current scene of the vehicle as a collision scene when the collision information indicates that the vehicle has been involved in a collision. Among them, the plug-in charging scenario, the external discharge scenario, and the collision scenario belong to the prohibited power output scenario.

[0091] In another possible implementation, the device further includes: The acquisition module is used to acquire the fault level of the vehicle when the vehicle malfunctions. The third sending module is used to send a third torque status signal to the intelligent driving computing center when the fault level is higher than or equal to the level threshold. The third torque status signal is used to indicate that the vehicle has a serious fault that causes the output torque to be unavailable. The intelligent driving computing center is used to exit parking control of the vehicle when the output torque is unavailable. The fourth sending module is used to send a fourth torque status signal to the intelligent driving computing center when the fault level is lower than the level threshold. The fourth torque status signal is used to indicate that the output torque of the vehicle is available, and the output torque corresponding to the fourth torque status signal is less than the output torque corresponding to the first torque status signal. The intelligent driving computing center is used to perform speed limiting on the vehicle when the output torque is available.

[0092] In another possible implementation, the device further includes: The fifth sending module is used to send the first torque status signal to the intelligent driving computing center when the vehicle exits the prohibited power output scenario. The intelligent driving computing center is used to regain intelligent driving control authority of the vehicle when the output torque is available.

[0093] In another possible implementation, the device further includes: The sixth transmitting module is used to send a second locking signal to the electronic parking brake via a hard wire connected to the electronic parking brake. The second locking signal is used to control the electronic parking brake to be in a locked state.

[0094] In another possible implementation, the device further includes: The seventh sending module is used to send safety status information to other processors in the vehicle. The safety status information is used to control the other processors to be in a safe mode. The other processors are processors in the vehicle other than the vehicle controller and the intelligent driving computing center.

[0095] In this embodiment, during the parking control process of the vehicle through the intelligent driving computing center, the current scenario of the vehicle is determined based on the vehicle status information. If the current scenario is a scenario where power output is prohibited, the intelligent driving computing center is informed that the output torque is unavailable in the current scenario, causing the intelligent driving computing center to exit the parking control of the vehicle and lock the electronic parking brake. Since the intelligent driving computing center will not continue to park the vehicle at this time, and the electronic parking brake is locked, it can be ensured that the vehicle will not roll away, thereby reducing the safety hazards of the vehicle.

[0096] It should be noted that the vehicle parking control device provided in the above embodiments is only illustrated by the division of the above functional modules when performing vehicle parking control. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the vehicle controller can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle parking control device and the vehicle parking 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.

[0097] Figure 8 This is a schematic diagram of the structure of a vehicle controller provided according to an embodiment of this application.

[0098] Typically, the vehicle controller 800 includes: a main control module 801, a CAN interface 802, a hard-wired input interface 803, and a hard-wired output interface 804. The main control module 801 is connected to the CAN interface 802, the hard-wired input interface 803, and the hard-wired output interface 804, respectively.

[0099] The main control module 801 typically includes a processor and memory. The processor may include one or more processing cores, such as a 4-core processor or an 8-core processor. The processor can be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the vehicle's display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning. The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, a non-transitory computer-readable storage medium in the memory is used to store at least one computer program, which is executed by a processor to implement the xxx method provided in the method embodiments of this application.

[0100] The CAN interface 802 may include a powertrain CAN interface, a motor CAN interface, and a diagnostic CAN interface. The powertrain CAN interface is used to communicate with the vehicle's powertrain module, the motor CAN interface is used to communicate with the vehicle's motor controller, and the diagnostic CAN interface is used to communicate with diagnostic equipment.

[0101] The hard-wired input interface 803 is used to receive hard-wired control signals. The hard-wired output interface 804 is used to send control commands to the vehicle's electronic control components, causing the vehicle's electronic control components to perform corresponding actions. The vehicle's electronic control components include a power management system, a motor controller, an on-board charger, and a body control system.

[0102] The main control module 801 can communicate with the vehicle's powertrain module, motor controller, and diagnostic equipment via the CAN interface 802, and generate control commands based on the hard-wired control signals received by the hard-wired input interface 803, so as to send the control commands to the vehicle's electronic control components via the hard-wired output interface 804.

[0103] Those skilled in the art will understand that Figure 8 The structure shown does not constitute a limitation on the vehicle controller 800, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0104] This application also provides a computer-readable storage medium storing at least one piece of program code, which is loaded and executed by a processor to implement the vehicle parking control method described in any of the above implementations. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as ROM (Read-Only Memory), RAM (Random Access Memory), CD-ROM (Compact Disc Read-Only Memory), magnetic tape, floppy disk, and optical data storage device.

[0105] This application also provides a computer program product that stores at least one piece of program code, which is loaded and executed by a processor to implement the vehicle parking control method shown in the above embodiments.

[0106] In some embodiments, the computer program product involved in the present application can be deployed and executed on a vehicle controller, or on multiple vehicle controllers located in one location, or on multiple vehicle controllers distributed in multiple locations and interconnected through a communication network. Multiple vehicle controllers distributed in multiple locations and interconnected through a communication network can form a blockchain system.

[0107] 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.

[0108] The above description is only for the purpose of enabling those skilled in the art to understand the technical solution 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 parking control method for a vehicle, characterized in that, The method includes: Determine the vehicle's high-voltage power-on status; When the high-voltage power-on state is completed, a first torque status signal is sent to the intelligent driving computing center of the vehicle. The first torque status signal is used to characterize the availability of the vehicle's output torque. When a parking instruction is received, the intelligent driving computing center performs parking control on the vehicle. The intelligent driving computing center is used to perform parking control on the vehicle when the output torque is available. During the parking control process of the vehicle, the vehicle status information is determined; Based on the vehicle status information, the current scenario in which the vehicle is located is determined; When the current scenario is a scenario where power output is prohibited, a second torque status signal is sent to the intelligent driving computing center. The second torque status signal is used to indicate that the output torque is unavailable in the current scenario. When the output torque is unavailable, the intelligent driving computing center is used to exit the parking control of the vehicle and send a first locking signal to the electronic parking brake of the vehicle through the controller area network CAN bus. The first locking signal is used to control the electronic parking brake to be in a locked state.

2. The method according to claim 1, characterized in that, Determining the current scenario of the vehicle based on the vehicle status information includes: The vehicle status information includes the status of the vehicle's charging gun and the vehicle's mode; if the charging gun is in a connected state and the vehicle is in a charging mode, then the current scenario of the vehicle is determined to be a plug-in charging scenario. The vehicle status information includes the status of the vehicle's discharge function. If the discharge function is activated, the current scenario of the vehicle is determined to be an external discharge scenario. The vehicle status information includes collision information. When the collision information indicates that the vehicle has been involved in a collision, the current scenario of the vehicle is determined to be a collision scenario. Among them, the plug-in charging scenario, the external discharge scenario, and the collision scenario belong to the prohibited power output scenario.

3. The method according to claim 1, characterized in that, The method further includes: In the event of a vehicle malfunction, the fault level of the vehicle is determined. If the fault level is higher than or equal to the level threshold, a third torque status signal is sent to the intelligent driving computing center. The third torque status signal is used to indicate that the vehicle has a serious fault that causes the output torque to be unavailable. The intelligent driving computing center is used to exit parking control of the vehicle when the output torque is unavailable. If the fault level is lower than the level threshold, a fourth torque status signal is sent to the intelligent driving computing center. The fourth torque status signal is used to indicate that the output torque of the vehicle is available, and the output torque corresponding to the fourth torque status signal is less than the output torque corresponding to the first torque status signal. The intelligent driving computing center is used to limit the speed of the vehicle when the output torque is available.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: When the vehicle exits the prohibited power output scenario, it sends the first torque status signal to the intelligent driving computing center, which is used to regain intelligent driving control authority over the vehicle when the output torque is available.

5. The method according to claim 1, characterized in that, The method further includes: A second locking signal is sent to the electronic parking brake via a hard wire, the second locking signal being used to control the electronic parking brake to be in a locked state.

6. The method according to claim 1, characterized in that, The method further includes: The system sends safety status information to other processors in the vehicle. The safety status information is used to control the other processors to be in a safe mode. The other processors are processors in the vehicle other than the vehicle controller and the intelligent driving computing center.

7. A parking control device for a vehicle, characterized in that, The device includes: The first determining module is used to determine the high-voltage power-on status of the vehicle; The first transmitting module is used to send a first torque status signal to the intelligent driving computing center of the vehicle when the high voltage power-on state is completed. The first torque status signal is used to characterize the availability of the vehicle's output torque. The control module is used to control the vehicle to park through the intelligent driving computing center when a parking instruction is received. The intelligent driving computing center is used to control the vehicle to park when the output torque is available. The second determining module is used to determine the vehicle status information of the vehicle during the parking control process of the vehicle. The third determining module is used to determine the current scene in which the vehicle is located based on the vehicle status information; The second sending module is used to send a second torque status signal to the intelligent driving computing center when the current scenario is a scenario where power output is prohibited. The second torque status signal is used to indicate that the output torque is unavailable in the current scenario. The intelligent driving computing center is used to exit parking control of the vehicle when the output torque is unavailable, and send a first locking signal to the electronic parking brake of the vehicle through the controller area network CAN bus. The first locking signal is used to control the electronic parking brake to be in a locked state.

8. A vehicle controller, characterized in that, The vehicle controller includes a main control module, which includes a processor and a memory. The memory stores at least one piece of program code, which is loaded and executed by the processor to implement the parking control method for the vehicle as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the parking control method for a vehicle as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The product stores at least one piece of program code, which is executed by a processor to implement the parking control method for a vehicle as described in any one of claims 1 to 6.

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