Automatic parking method, automatic parking device, electronic device, and storage medium

Abstract

Embodiments of the present application provide an automatic parking method, an automatic parking device, an electronic device and a storage medium. The automatic parking method is applied to a two-wheeled vehicle. The method comprises: detecting a running speed of the two-wheeled vehicle and a slope of a running road of the two-wheeled vehicle when the two-wheeled vehicle is in a running mode, wherein the power output unit of the two-wheeled vehicle outputs a driving torque to drive the two-wheeled vehicle to run forward when the two-wheeled vehicle is in the running mode; and switching the two-wheeled vehicle from the running mode to an uphill assistance mode when the running speed and the slope meet an uphill assistance condition, wherein the power output unit outputs a braking torque to make the two-wheeled vehicle park when the two-wheeled vehicle is in the uphill assistance mode. The automatic parking method provided by the present application can automatically park when the uphill assistance condition is met, prevent the user from forgetting to manually switch to the parking mode when parking on a slope, and cause the vehicle to roll, and can improve the safety of parking on a slope.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to an automatic parking method, an automatic parking device, an electronic device, and a storage medium. Background Technology

[0002] With the development of technology, electric two-wheelers are increasingly used as a means of transportation in urban traffic and mountain roads. Electric two-wheelers are equipped with a parking mode. When the electric two-wheeler is in parking mode, the motor of the electric two-wheeler outputs braking torque to prevent the wheels from rotating, thereby realizing the parking of the electric two-wheeler.

[0003] Currently, when parking on an uphill slope, users can manually trigger the parking button to put the electric two-wheeler into parking mode, preventing it from rolling away.

[0004] However, if a user forgets to manually press the parking button when parking on an uphill slope, the vehicle will not be able to enter parking mode, which may cause the vehicle to roll away and create a safety hazard. Summary of the Invention

[0005] In view of the above, embodiments of this application provide an automatic parking method, an automatic parking device, an electronic device, and a storage medium to at least partially solve the above problems.

[0006] According to a first aspect of the embodiments of this application, an automatic parking method is provided, applied to a two-wheeled vehicle. The method includes: when the two-wheeled vehicle is in a driving mode, detecting the driving speed of the two-wheeled vehicle and the slope of the road on which the two-wheeled vehicle is traveling, wherein when the two-wheeled vehicle is in a driving mode, the power output unit of the two-wheeled vehicle outputs a driving torque to drive the two-wheeled vehicle forward; when the driving speed and the slope meet the uphill assist conditions, controlling the two-wheeled vehicle to switch from the driving mode to the uphill assist mode, wherein when the two-wheeled vehicle is in the uphill assist mode, the power output unit outputs a braking torque to park the two-wheeled vehicle.

[0007] In one possible implementation, the uphill assist condition includes the slope being greater than a first slope threshold and the duration of the driving speed being less than a first speed threshold being greater than a duration threshold, wherein the first slope threshold is greater than 0, and the driving road is uphill when the slope is greater than 0.

[0008] In one possible implementation, controlling the two-wheeled vehicle to switch from driving mode to hill-start assist mode includes: calculating the required braking torque of the two-wheeled vehicle based on the slope and the load of the two-wheeled vehicle, such that the braking torque is equal to the wheel rotation torque of the two-wheeled vehicle, wherein the wheel rotation torque is positively correlated with the slope and the load; if the required braking torque of the two-wheeled vehicle is less than or equal to a torque threshold, then controlling the power output unit of the two-wheeled vehicle to output the braking torque; if the required braking torque of the two-wheeled vehicle is greater than the torque threshold, then feeding back an alarm message, wherein the alarm message is used to indicate that switching to the hill-start assist mode is not possible.

[0009] In one possible implementation, the method further includes: when the two-wheeled vehicle is in hill-start assist mode, if the output value of the driving torque indicated by the control signal of the two-wheeled vehicle is detected to be greater than or equal to the wheel rotation torque, then controlling the two-wheeled vehicle to switch from the hill-start assist mode to the driving mode.

[0010] In one possible implementation, controlling the two-wheeled vehicle to switch from the hill-start assist mode to the driving mode includes: controlling the power output unit of the two-wheeled vehicle to output a driving torque equal to the rotational torque of the wheels, and controlling the power output unit to gradually increase the output driving torque until it reaches the output value of the driving torque indicated by the control signal.

[0011] In one possible implementation, the method further includes: when the two-wheeled vehicle is in hill-start assist mode, if a braking signal and a trigger signal are detected, controlling the two-wheeled vehicle to exit the hill-start assist mode, pausing the control of the two-wheeled vehicle to switch from driving mode to hill-start assist mode for a preset time, and resuming the control of the two-wheeled vehicle to switch from driving mode to hill-start assist mode after the preset time, when the driving speed and the slope meet the hill-start assist conditions, wherein the braking signal is generated when the brake of the two-wheeled vehicle is triggered, and the trigger signal is generated when the hill-start assist switch of the two-wheeled vehicle is triggered.

[0012] In one possible implementation, the method further includes: when the two-wheeled vehicle is in driving mode and the slope is less than a second slope threshold, controlling the two-wheeled vehicle to switch from driving mode to downhill assist mode, wherein the second slope threshold is less than 0, the slope of the driving road is less than 0 when it is downhill, and the driving speed of the two-wheeled vehicle is less than a second speed threshold when the two-wheeled vehicle is in downhill assist mode.

[0013] In one possible implementation, the method further includes generating a ramp parking indicator in the driving log of the two-wheeled vehicle after the two-wheeled vehicle enters the hill-start assist mode.

[0014] According to a second aspect of the embodiments of this application, an automatic parking device is provided, applied to a two-wheeled vehicle. The device includes: a detection unit, configured to detect the driving speed of the two-wheeled vehicle and the slope of the road on which the two-wheeled vehicle travels when the two-wheeled vehicle is in driving mode, wherein, when the two-wheeled vehicle is in driving mode, the power output unit of the two-wheeled vehicle outputs a driving torque to drive the two-wheeled vehicle forward; and a control unit, configured to control the two-wheeled vehicle to switch from driving mode to hill-start assist mode when the driving speed and the slope meet the hill-start assist conditions, wherein, when the two-wheeled vehicle is in hill-start assist mode, the power output unit outputs a braking torque to park the two-wheeled vehicle.

[0015] According to a third aspect of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, wherein the executable instruction causes the processor to perform an operation corresponding to the method described in the first aspect.

[0016] According to a fourth aspect of the embodiments of this application, a computer storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0017] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including computer instructions that instruct a computing device to perform the method as described in the first aspect.

[0018] According to the automatic parking solution provided in this application embodiment, when the two-wheeled vehicle is in driving mode, the driving speed of the two-wheeled vehicle and the slope of the road on which the two-wheeled vehicle is driving are detected. When the driving speed and slope meet the uphill assist conditions, the two-wheeled vehicle is controlled to switch from driving mode to uphill assist mode, so that the two-wheeled vehicle can be parked on the road, thereby realizing the automatic parking function on the slope. Compared with the prior art, since the two-wheeled vehicle can automatically enter the uphill assist mode when the uphill assist conditions are met, it can realize automatic parking on the slope, preventing the user from forgetting to manually switch to parking mode when parking on the slope, which would cause the vehicle to roll away, thus improving the safety of parking on the slope. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0020] Figure 1This is a flowchart of an automatic parking method provided in an embodiment of this application;

[0021] Figure 2 This is a flowchart illustrating how to control a two-wheeled vehicle to switch to hill-start assist mode, as provided in an embodiment of this application.

[0022] Figure 3 This is a schematic diagram of an automatic parking device provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0025] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0026] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0027] As mentioned earlier, with the development of technology, electric two-wheelers are increasingly used as a means of transportation in urban traffic and mountainous roads. Electric two-wheelers are equipped with a parking mode. When in parking mode, the motor outputs braking torque to prevent the wheels from rotating, thus parking the vehicle. Currently, users manually activate the parking button when parking on an uphill slope to prevent the vehicle from rolling away. However, if a user forgets to manually activate the parking button when parking on an uphill slope, the vehicle may not enter parking mode, potentially causing it to roll away and creating a safety hazard.

[0028] This application provides an automatic parking solution. When the two-wheeled vehicle is in driving mode, the system detects the vehicle's speed and the slope of the road. When the speed and slope meet the uphill assist conditions, the system controls the two-wheeled vehicle to switch from driving mode to uphill assist mode, allowing the vehicle to park on the road. This achieves automatic parking on slopes. Compared with existing technologies, since the two-wheeled vehicle can automatically enter uphill assist mode when the uphill assist conditions are met, it can automatically park on slopes, preventing users from forgetting to manually switch to parking mode and causing the vehicle to roll away, thus improving the safety of parking on slopes.

[0029] The automatic parking method provided in this application is illustrated below through examples.

[0030] Figure 1 This is a flowchart of an automatic parking method provided in an embodiment of this application. This method is applied to two-wheeled vehicles, such as... Figure 1 As shown, the autonomous parking method 100 may include the following steps:

[0031] Step 101: When the two-wheeled vehicle is in driving mode, detect the driving speed of the two-wheeled vehicle and the slope of the road on which the two-wheeled vehicle is traveling.

[0032] When the two-wheeled vehicle is in driving mode, its power output unit outputs driving torque to propel the vehicle forward. This forward movement can be directed towards the direction the vehicle is facing. In one example, the power output unit can be a motor. The two-wheeled vehicle can enter driving mode after being engaged in forward gear. While in driving mode, the vehicle's speed and the gradient of the road are monitored in real time.

[0033] Step 102: When the driving speed and slope meet the conditions for hill start assist, control the two-wheeled vehicle to switch from driving mode to hill start assist mode.

[0034] When the driving speed of the two-wheeled vehicle and the slope of the road it is traveling on both meet the conditions for hill start assist, the two-wheeled vehicle is controlled to switch from driving mode to hill start assist mode. When the two-wheeled vehicle is in hill start assist mode, the power output unit outputs braking torque to park the two-wheeled vehicle.

[0035] It should be understood that when a two-wheeled vehicle is in driving mode, the motor outputs driving torque to make the vehicle move forward. When the two-wheeled vehicle is parked on a slope, the vehicle will roll downhill due to gravity. At this time, the two-wheeled vehicle switches to hill start assist mode. When the two-wheeled vehicle is in hill start assist mode, the motor outputs braking torque to lock the motor and prevent it from rotating. This prevents the wheels of the two-wheeled vehicle from rotating and allows the two-wheeled vehicle to be parked on the slope.

[0036] It should also be understood that the system will switch the two-wheeled vehicle from driving mode to hill start assist mode only when the vehicle is in driving mode and the driving speed and slope meet the hill start assist conditions. The two-wheeled vehicle will not switch to hill start assist mode when it is in reverse mode, emergency mode, or push mode. However, when the two-wheeled vehicle switches from reverse mode, emergency mode, or push mode to driving mode, the system will switch the two-wheeled vehicle from driving mode to hill start assist mode when the driving speed and slope meet the hill start assist conditions.

[0037] In this embodiment, when the two-wheeled vehicle is in driving mode, the vehicle's speed and the slope of the road it is traveling on are detected. When the speed and slope meet the conditions for hill start assist, the vehicle is controlled to switch from driving mode to hill start assist mode, allowing it to park on the road. This achieves the automatic hill start assist function. Compared with the prior art, since the two-wheeled vehicle can automatically enter hill start assist mode when the conditions for hill start assist are met, it can automatically park on the slope, preventing the vehicle from rolling away if the user forgets to manually switch to parking mode when parking on a slope. This improves the safety of parking on a slope.

[0038] In one possible implementation, the uphill assist condition includes a slope greater than a first slope threshold and a driving speed less than or equal to a first speed threshold for a duration greater than a duration threshold, wherein the first slope threshold is greater than 0, and the driving road slope is greater than 0 when it is uphill.

[0039] The first slope threshold is greater than 0. When the slope of the driving road is greater than the first slope threshold, the slope of the driving road is at least greater than 0. At this time, the driving road is uphill. The uphill assist condition includes a slope greater than the first slope threshold and a driving speed less than the first speed threshold for a duration greater than the duration threshold. The first slope threshold, the first speed threshold, and the duration threshold can be set as needed. In one example, the first slope threshold can be 2 degrees, the first speed threshold can be 1.2 km / h, and the duration can be 0.5 s. That is, when the slope of the driving road is greater than 2 degrees and the driving speed is less than or equal to 1.2 km / h for a duration greater than 0.5 s, it can be determined that the uphill assist condition is met.

[0040] In this embodiment, the hill-start assist condition includes a slope greater than a first slope threshold and a driving speed less than or equal to a first speed threshold for a duration greater than a duration threshold. This allows the system to determine whether the user is on an uphill slope and whether the user intends to park by judging whether the hill-start assist condition is met. When the condition is met, the two-wheeled vehicle can automatically enter the hill-start assist mode to achieve automatic parking on the slope. This can prevent the vehicle from rolling away if the user forgets to manually switch to parking mode when parking on a slope, thus improving the safety of parking on a slope.

[0041] Figure 2 This is a flowchart illustrating how to control a two-wheeled vehicle to switch to hill-start assist mode, as provided in an embodiment of this application. Figure 2 As shown, when controlling the two-wheeled vehicle to switch from driving mode to hill start assist mode, the following steps 201 to 204 can be executed:

[0042] Step 201: Calculate the required braking torque of the two-wheeled vehicle based on the slope and the load of the two-wheeled vehicle, so that the braking torque is equal to the wheel rotation torque of the two-wheeled vehicle.

[0043] The rotational torque of a two-wheeled vehicle's wheels is the torque that causes the wheels to rotate under the influence of gravity. The load on a two-wheeled vehicle is its weight when fully loaded, such as the weight of a person on the vehicle. It should be understood that the rotational torque of a two-wheeled vehicle's wheels is positively correlated with the gradient and the load. When the load remains constant, a steeper gradient results in a greater rotational torque. Conversely, when the gradient remains constant, a greater load results in a greater rotational torque. It's important to note that when calculating the braking torque based on the gradient and load, the braking torque must equal the rotational torque. A braking torque greater than or less than the rotational torque will cause the wheels to rotate, resulting in the vehicle lurching forward or rolling backward.

[0044] Step 202: Determine whether the braking torque is less than or equal to the torque threshold. If yes, proceed to step 203; otherwise, proceed to step 204.

[0045] The torque threshold can be a preset torque threshold, which determines the relationship between the calculated braking torque required for the two-wheeled vehicle and the preset torque threshold.

[0046] Step 203: Control the power output unit of the two-wheeled vehicle to output braking torque.

[0047] If the braking torque required by the two-wheeled vehicle is less than or equal to the torque threshold, the power output unit of the two-wheeled vehicle will output the braking torque. At this time, the braking torque is equal to the wheel rotation torque of the two-wheeled vehicle, so that the wheels of the two-wheeled vehicle will not rotate, thereby parking the two-wheeled vehicle.

[0048] Step 204: Feedback alarm information.

[0049] If the braking torque required by the two-wheeled vehicle exceeds the torque threshold, an alarm message is sent. The alarm message indicates that the vehicle cannot be switched to hill start assist mode. It should be understood that when the load on the two-wheeled vehicle is large and / or the slope is steep, the wheel rotation torque of the two-wheeled vehicle is large. The power output unit needs to continuously output a large braking torque to prevent the wheels of the two-wheeled vehicle from rotating. However, the continuous output of a large braking torque by the power output unit of the two-wheeled vehicle may damage the power output unit or the controller of the two-wheeled vehicle. Therefore, when the braking torque required by the two-wheeled vehicle exceeds the torque threshold, an alarm message is sent to remind the user that the vehicle cannot be switched to hill start assist mode and cannot be parked, requiring the user to manually take over the vehicle.

[0050] In this embodiment, the required braking torque of the two-wheeled vehicle is calculated based on the slope and the load of the two-wheeled vehicle. When the required braking torque of the two-wheeled vehicle is less than or equal to the torque threshold, the braking torque is output to park the two-wheeled vehicle. When the required braking torque of the two-wheeled vehicle is greater than the torque threshold, an alarm message is fed back to notify the user that the hill-start assist mode cannot be entered. The automatic parking function is implemented when parking on a slope is possible, and the automatic parking function is not implemented when parking is not possible, and the user is reminded to take over the vehicle to prevent damage to the power output unit or controller of the two-wheeled vehicle.

[0051] In one possible implementation, when the two-wheeled vehicle is in hill-start assist mode, if the output value of the driving torque indicated by the control signal of the two-wheeled vehicle is detected to be greater than or equal to the wheel rotation torque, the two-wheeled vehicle is controlled to switch from hill-start assist mode to driving mode.

[0052] The control signal controls the power output unit of the two-wheeled vehicle to output driving torque. The control signal can be issued from the throttle. In one example, when the throttle is a rotary throttle, when the throttle rotation angle reaches a certain angle, the output value of the driving torque indicated by the control signal is greater than or equal to the wheel rotation torque. Specifically, when the wheel rotation torque is small, the user can exit the hill-start assist mode and enter driving mode by rotating the throttle with a small force and a small angle. When the wheel rotation torque is large, the user can exit the hill-start assist mode and enter driving mode by rotating the throttle with a larger force and a larger angle. In another example, when the throttle is a push-button throttle, when the force applied to the throttle exceeds a certain value, the output value of the driving torque indicated by the control signal is greater than or equal to the wheel rotation torque. The specific method of generating the control signal is not limited here.

[0053] In this embodiment, when the two-wheeled vehicle is in hill-start assist mode, if the output value of the driving torque indicated by the control signal of the two-wheeled vehicle is detected to be greater than or equal to the wheel rotation torque, the two-wheeled vehicle is controlled to switch from hill-start assist mode to driving mode. Since the output value of the driving torque indicated by the control signal is greater than or equal to the wheel rotation torque, there is sufficient driving torque to take over the vehicle when the user needs the two-wheeled vehicle to deactivate the hill-start assist mode, so that the vehicle can smoothly deactivate the hill-start assist mode, prevent the vehicle from rolling back, and improve the safety of vehicle driving.

[0054] In one possible implementation, when controlling the two-wheeled vehicle to switch from hill-start assist mode to driving mode, the power output unit of the two-wheeled vehicle can be controlled to output a driving torque equal to the wheel rotation torque, and the power output unit can be controlled to gradually increase the output driving torque until the output value of the driving torque indicated by the control signal is reached.

[0055] In this embodiment, when controlling the two-wheeled vehicle to switch from hill start assist mode to driving mode, the power output unit of the two-wheeled vehicle outputs a driving torque equal to the wheel rotation torque, and the power output unit gradually increases the output driving torque until it reaches the output value of the driving torque indicated by the control signal. This achieves a smooth switch from hill start assist mode to driving mode, which can prevent the vehicle from lurching forward due to the large instantaneous output driving torque of the power output unit when the two-wheeled vehicle exits hill start assist mode, thus improving the safety of vehicle driving.

[0056] In one possible implementation, when the two-wheeled vehicle is in hill-start assist mode, if a braking signal and a trigger signal are detected, the two-wheeled vehicle is controlled to exit hill-start assist mode. The control of switching the two-wheeled vehicle from driving mode to hill-start assist mode is paused within a preset time. After the preset time, the control of switching the two-wheeled vehicle from driving mode to hill-start assist mode is resumed when the driving speed and slope meet the hill-start assist conditions. In this implementation, a braking signal is generated when the brake of the two-wheeled vehicle is triggered, and a trigger signal is generated when the hill-start assist switch of the two-wheeled vehicle is triggered.

[0057] When a user needs to exit hill start assist mode, in addition to exiting by making the output value of the driving torque indicated by the control signal greater than or equal to the wheel rotation torque, the user can also actively exit hill start assist mode by simultaneously triggering the brake and the hill start assist switch. In one example, the hill start assist switch can reuse the existing function buttons on the two-wheeled vehicle.

[0058] After the user actively exits the hill start assist mode by triggering the brake and hill start assist switch, the two-wheeled vehicle will not be controlled to switch from driving mode to hill start assist mode for a preset time. The preset time can be set as needed. In one example, the preset time can be 1 second.

[0059] The following is a complete example: When the vehicle's speed and the road's gradient meet the conditions for hill start assist, the driving mode switches to hill start assist mode. If the user wants to exit hill start assist mode, they can trigger the vehicle's brakes and the hill start assist switch. The vehicle will then automatically exit hill start assist mode and will not switch back to it within 1 second if the speed and gradient meet the conditions. After 1 second, if the speed and gradient meet the conditions, the vehicle will switch back to hill start assist mode.

[0060] In this embodiment, when the two-wheeled vehicle is in hill-start assist mode, if a braking signal and a trigger signal are detected, the two-wheeled vehicle is controlled to exit the hill-start assist mode. The user can actively exit the hill-start assist mode, which can meet the user's need to exit the hill-start assist mode. After actively exiting the hill-start assist mode through the braking signal and the trigger signal, it will not switch back to the hill-start assist mode within a preset time, which can prevent continuous switching to the hill-start assist mode and meet the user's driving needs.

[0061] In one possible implementation, when the two-wheeled vehicle is in driving mode and the gradient is less than a second gradient threshold, the two-wheeled vehicle is controlled to switch from driving mode to downhill assist mode. The second gradient threshold is less than 0, and the gradient of the road is less than 0 when it is downhill. When the two-wheeled vehicle is in downhill assist mode, the driving speed of the two-wheeled vehicle is less than a second speed threshold.

[0062] The second slope threshold is less than 0. When the slope of the driving road is less than the second slope threshold, the slope of the driving road is at least less than 0. At this time, the driving road is downhill. When the slope is detected to be less than the second slope threshold, the two-wheeled vehicle is controlled to switch from driving mode to downhill assist mode. When the two-wheeled vehicle is in downhill assist mode, the speed of the two-wheeled vehicle is less than the second speed threshold. The second speed threshold can be set as needed. Specifically, when the two-wheeled vehicle is going downhill, the speed will gradually increase due to gravity. When the two-wheeled vehicle is in downhill assist mode, the power output unit of the two-wheeled vehicle can limit the output driving torque or output braking torque to make the speed of the two-wheeled vehicle less than the second speed threshold to prevent the speed from being too fast.

[0063] In this embodiment of the application, when the two-wheeled vehicle is in driving mode and the slope is less than the second slope threshold, the two-wheeled vehicle is controlled to switch from driving mode to downhill assist mode. This can limit the speed of the two-wheeled vehicle when going downhill, prevent safety hazards caused by speed, and ensure the driving safety of the user.

[0064] In one possible implementation, after the two-wheeled vehicle enters the hill-start assist mode, a hill-start parking indicator is generated in the two-wheeled vehicle's driving log.

[0065] Optionally, after the two-wheeled vehicle enters hill-start assist mode, a separate hill-start parking indicator can be generated in the vehicle's driving log, or a hill-start indicator and a parking indicator can be generated separately in the vehicle's driving log, so that the hill-start indicator and the parking indicator together serve as the hill-start parking indicator. The specific indicator content is not limited in this embodiment. Optionally, the hill-start parking indicator is different from the parking mode indicator, thus distinguishing between the hill-start assist mode and the parking mode in the log.

[0066] In this embodiment of the application, after the two-wheeled vehicle enters the hill start assist mode, a hill parking mark is generated in the two-wheeled vehicle's driving log. This can generate corresponding records after the two-wheeled vehicle switches from driving mode to hill start assist mode, so as to perform log analysis and data statistics.

[0067] In one possible implementation, the current mode of the two-wheeled vehicle can be displayed through the vehicle's display unit.

[0068] The current mode of the two-wheeled vehicle can be displayed through the display unit. For example, when the two-wheeled vehicle is in driving mode, the first image or first text is displayed on the display unit; when the two-wheeled vehicle is in hill start assist mode, the second image or second text is displayed on the display unit; when the two-wheeled vehicle is in hill descent assist mode, the third image or third text is displayed on the display unit, and so on.

[0069] In this embodiment of the application, the current mode of the two-wheeled vehicle can be displayed through the display unit of the two-wheeled vehicle, thereby notifying the user of the current mode of the two-wheeled vehicle, which can facilitate the user's driving.

[0070] Figure 3 This is a schematic diagram of an automatic parking device provided in an embodiment of this application, as shown below. Figure 3 As shown, the automatic parking device 300 includes:

[0071] The detection unit 301 is used to detect the driving speed of the two-wheeled vehicle and the slope of the road on which the two-wheeled vehicle travels when the two-wheeled vehicle is in driving mode. When the two-wheeled vehicle is in driving mode, the power output unit of the two-wheeled vehicle outputs driving torque to drive the two-wheeled vehicle forward.

[0072] The control unit 302 is used to control the two-wheeled vehicle to switch from driving mode to hill-start assist mode when the driving speed and slope meet the hill-start assist conditions. When the two-wheeled vehicle is in hill-start assist mode, the power output unit outputs braking torque to park the two-wheeled vehicle.

[0073] In this embodiment of the application, the detection unit 301 can be used to execute step 101 in the above method embodiment, and the control unit 302 can be used to execute step 102 in the above method embodiment.

[0074] In one possible implementation, the uphill assist condition includes a gradient greater than a first gradient threshold and a driving speed less than a first speed threshold for a duration greater than a duration threshold, wherein the first gradient threshold is greater than 0, and the driving road is uphill when the gradient is greater than 0.

[0075] In one possible implementation, the control unit 302 is further configured to calculate the braking torque required by the two-wheeled vehicle based on the slope and the load of the two-wheeled vehicle, such that the braking torque is equal to the wheel rotation torque of the two-wheeled vehicle, wherein the wheel rotation torque is positively correlated with the slope and the load. If the braking torque required by the two-wheeled vehicle is less than or equal to the torque threshold, the control unit of the two-wheeled vehicle is configured to output the braking torque. If the braking torque required by the two-wheeled vehicle is greater than the torque threshold, an alarm message is fed back, wherein the alarm message is used to indicate that the hill-start assist mode cannot be switched.

[0076] In one possible implementation, the automatic parking device 300 can also control the two-wheeled vehicle to switch from the hill-start assist mode to the driving mode if the output value of the driving torque indicated by the control signal of the two-wheeled vehicle is detected to be greater than or equal to the wheel rotation torque when the two-wheeled vehicle is in the hill-start assist mode.

[0077] In one possible implementation, the automatic parking device 300 can also control the power output unit of the two-wheeled vehicle to output a driving torque equal to the wheel rotation torque, and control the power output unit to gradually increase the output driving torque until it reaches the output value of the driving torque indicated by the control signal.

[0078] In one possible implementation, the automatic parking device 300 can also, when the two-wheeled vehicle is in hill-start assist mode, if a braking signal and a trigger signal are detected, control the two-wheeled vehicle to exit the hill-start assist mode, pause the control of the two-wheeled vehicle to switch from driving mode to hill-start assist mode within a preset time, and resume the control of the two-wheeled vehicle to switch from driving mode to hill-start assist mode after the preset time, when the driving speed and slope meet the hill-start assist conditions. In this case, a braking signal is generated when the brake of the two-wheeled vehicle is triggered, and a trigger signal is generated when the hill-start assist switch of the two-wheeled vehicle is triggered.

[0079] In one possible implementation, the automatic parking device 300 can also control the two-wheeled vehicle to switch from driving mode to downhill assist mode when the two-wheeled vehicle is in driving mode and the slope is less than a second slope threshold. The second slope threshold is less than 0, the slope of the driving road is less than 0 when it is downhill, and the driving speed of the two-wheeled vehicle is less than a second speed threshold when the two-wheeled vehicle is in downhill assist mode.

[0080] In one possible implementation, the automatic parking device 300 can also generate a hill-start assist indicator in the two-wheeled vehicle's driving log after the two-wheeled vehicle enters the hill-start assist mode.

[0081] Reference Figure 4 This document illustrates a schematic diagram of an electronic device according to an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0082] like Figure 4 As shown, the electronic device may include: a processor 402, a communications interface 404, a memory 406, and a communications bus 408.

[0083] in:

[0084] The processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408.

[0085] Communication interface 404 is used to communicate with other electronic devices or servers.

[0086] The processor 402 is used to execute program 410, which can specifically execute the relevant steps in the above-described automatic parking method embodiment.

[0087] Specifically, program 410 may include program code that includes computer operation instructions.

[0088] Processor 402 may be a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; one or more GPUs; or they may be processors of different types, such as one or more CPUs, one or more GPUs, and one or more ASICs.

[0089] Memory 406 is used to store program 410. Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0090] Specifically, program 410 can be used to cause processor 402 to execute the automatic parking method in any of the foregoing embodiments.

[0091] The specific implementation of each step in program 410 can be found in the corresponding steps and units described in any of the aforementioned automatic parking method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0092] In this embodiment, when the two-wheeled vehicle is in driving mode, the vehicle's speed and the slope of the road it is traveling on are detected. When the speed and slope meet the conditions for hill start assist, the vehicle is controlled to switch from driving mode to hill start assist mode, allowing it to park on the road. This achieves the automatic hill start assist function. Compared with the prior art, since the two-wheeled vehicle can automatically enter hill start assist mode when the conditions for hill start assist are met, it can automatically park on the slope, preventing the vehicle from rolling away if the user forgets to manually switch to parking mode when parking on a slope. This improves the safety of parking on a slope.

[0093] This application also provides a computer program product, including computer instructions that instruct a computing device to perform an operation corresponding to any of the methods in the above-described multiple method embodiments.

[0094] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0095] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code originally stored on a remote recording medium or a non-transitory machine-readable medium and subsequently stored on a local recording medium, downloaded over a network. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the automatic parking method described herein. Furthermore, when a general-purpose computer accesses code used to implement the automatic parking method shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the automatic parking method shown herein.

[0096] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0097] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. An automatic parking method applied to two-wheeled vehicles, characterized in that, The method includes: When the two-wheeled vehicle is in driving mode, the driving speed of the two-wheeled vehicle and the slope of the road on which the two-wheeled vehicle is traveling are detected. When the two-wheeled vehicle is in driving mode, the power output unit of the two-wheeled vehicle outputs driving torque to drive the two-wheeled vehicle forward. When the driving speed and the slope meet the uphill assist conditions, the two-wheeled vehicle is controlled to switch from driving mode to uphill assist mode. When the two-wheeled vehicle is in uphill assist mode, the power output unit outputs braking torque to park the two-wheeled vehicle.

2. The method according to claim 1, characterized in that, The uphill assist conditions include the slope being greater than a first slope threshold and the duration of the driving speed being less than a first speed threshold being greater than a duration threshold, wherein the first slope threshold is greater than 0, and the driving road is uphill when the slope is greater than 0.

3. The method according to claim 1, characterized in that, The control of the two-wheeled vehicle to switch from driving mode to hill-start assist mode includes: The required braking torque of the two-wheeled vehicle is calculated based on the slope and the load of the two-wheeled vehicle, so that the braking torque is equal to the wheel rotation torque of the two-wheeled vehicle, wherein the wheel rotation torque is positively correlated with the slope and the load; If the braking torque required by the two-wheeled vehicle is less than or equal to the torque threshold, then the power output unit of the two-wheeled vehicle is controlled to output the braking torque. If the braking torque required by the two-wheeled vehicle is greater than the torque threshold, an alarm message is fed back, wherein the alarm message is used to indicate that the hill-start assist mode cannot be switched.

4. The method according to claim 3, characterized in that, The method further includes: When the two-wheeled vehicle is in hill-start assist mode, if the output value of the driving torque indicated by the control signal of the two-wheeled vehicle is detected to be greater than or equal to the wheel rotation torque, the two-wheeled vehicle is controlled to switch from the hill-start assist mode to the driving mode.

5. The method according to claim 4, characterized in that, The control of the two-wheeled vehicle to switch from the hill-start assist mode to the driving mode includes: The power output unit of the two-wheeled vehicle is controlled to output a driving torque equal to the rotational torque of the wheels, and the power output unit is controlled to gradually increase the output driving torque until it reaches the output value of the driving torque indicated by the control signal.

6. The method according to claim 1, characterized in that, The method further includes: When the two-wheeled vehicle is in hill-start assist mode, if a braking signal and a trigger signal are detected, the two-wheeled vehicle is controlled to exit the hill-start assist mode. The control of switching the two-wheeled vehicle from driving mode to hill-start assist mode is paused within a preset time. After the preset time, the control of switching the two-wheeled vehicle from driving mode to hill-start assist mode is resumed when the driving speed and the slope meet the hill-start assist conditions. The braking signal is generated when the brake of the two-wheeled vehicle is triggered, and the trigger signal is generated when the hill-start assist switch of the two-wheeled vehicle is triggered.

7. The method according to claim 1, characterized in that, The method further includes: When the two-wheeled vehicle is in driving mode and the slope is less than a second slope threshold, the two-wheeled vehicle is controlled to switch from driving mode to downhill assist mode. The second slope threshold is less than 0, the slope of the driving road is less than 0 when it is downhill, and the two-wheeled vehicle is in downhill assist mode when its driving speed is less than a second speed threshold.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: After the two-wheeled vehicle enters the hill-start assist mode, a hill-start parking indicator is generated in the vehicle's driving log.

9. An automatic parking device for a two-wheeled vehicle, characterized in that, The device includes: The detection unit is used to detect the driving speed of the two-wheeled vehicle and the slope of the road on which the two-wheeled vehicle travels when the two-wheeled vehicle is in driving mode. When the two-wheeled vehicle is in driving mode, the power output unit of the two-wheeled vehicle outputs driving torque to drive the two-wheeled vehicle forward. The control unit is used to control the two-wheeled vehicle to switch from driving mode to hill-start assist mode when the driving speed and the slope meet the hill-start assist conditions. When the two-wheeled vehicle is in hill-start assist mode, the power output unit outputs braking torque to park the two-wheeled vehicle.

10. An electronic device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the automatic parking method as described in any one of claims 1-8.

11. A computer storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the automatic parking method as described in any one of claims 1-8.

12. A computer program product, characterized in that, Includes computer instructions that instruct a computing device to perform the automatic parking method as described in any one of claims 1-8.

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