Vehicle-stopping control method and apparatus, electronic device, and vehicle

Abstract

A vehicle-stopping control method and apparatus, an electronic device, and a vehicle. When a deceleration control instruction is received, and a motor of a vehicle is in a torque control mode, a control mode of the motor is switched from the torque control mode to a rotational speed control mode. A driving speed of the vehicle is reduced by reducing a rotational speed of the motor in the rotational speed control mode, so as to brake and stop the vehicle. The vehicle-stopping control method and apparatus can achieve quick brake and stop and keep the vehicle stable, thereby ensuring driving experience of a user.

Description

Parking control method, device, electronic equipment and vehicle

[0001] This application claims priority to the patent application number 202311246830.8 filed with the China Patent Office on September 25, 2023, entitled “Parking Control Method, Device, Electronic Device and Vehicle,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the technical field of parking control, and in particular to a parking control method, device, electronic equipment and vehicle. Background Art

[0003] During vehicle operation, the acceleration and deceleration control requirements of the vehicle are often achieved through the power system.

[0004] However, in the process of using the power system to adjust the vehicle to park, the power system will cause the vehicle to shake when the motor brakes the vehicle, resulting in vehicle instability, thereby affecting the user's driving experience.

[0005] Summary of the Invention

[0006] In view of this, the purpose of this application is to propose a parking control method, device, electronic device and vehicle to solve the problem in the prior art that the vehicle may shake, resulting in vehicle instability, thereby affecting the user's driving experience.

[0007] Based on the above objectives, the present application provides a parking control method, comprising:

[0008] In response to determining that a deceleration control command has been received and the motor of the vehicle is in a torque control mode, switching the torque control mode to a speed control mode;

[0009] In the speed control mode, the motor speed of the vehicle is controlled to decrease;

[0010] Adjust the vehicle's driving speed according to the motor speed;

[0011] An adjusted vehicle speed is obtained, and in response to determining that both the motor speed and the adjusted vehicle speed have stopped, a speed control mode is exited.

[0012] Optionally, switching the torque control mode to the speed control mode includes:

[0013] Control the vehicle to decelerate and obtain the vehicle's speed during the deceleration process;

[0014] Determine whether the vehicle's speed during deceleration is less than or equal to a preset speed threshold, and obtain a determination result;

[0015] In response to determining that the result of the judgment is yes, the torque control mode is switched to the rotational speed control mode.

[0016] Optionally, controlling the vehicle to decelerate includes:

[0017] Get the motor's braking negative torque;

[0018] Based on the braking negative torque rejection, the vehicle's motor is controlled to rotate in the direction opposite to the direction of rotation of the vehicle's wheels, thereby reducing the vehicle's driving speed.

[0019] Optionally, after controlling the vehicle to decelerate and before switching the torque control mode to the speed control mode, the method further includes:

[0020] Determine the mechanical energy of the vehicle during deceleration and convert it into electrical energy for storage.

[0021] Optionally, determining the vehicle's driving speed based on the motor speed includes:

[0022] Get the vehicle's wheel rolling radius and the vehicle's motor-to-wheel transmission ratio;

[0023] Perform speed conversion based on the wheel rolling radius, transmission ratio and motor speed to obtain the vehicle's target driving speed;

[0024] Get the current driving speed of the vehicle and adjust the current driving speed to the target driving speed.

[0025] Optionally, in response to determining that the adjusted driving speed and the motor speed have both stopped, after exiting the speed control mode, the method further includes:

[0026] Switches the vehicle's electric motor to torque control mode.

[0027] Optionally, the vehicle is provided with a target pedal, and a deceleration control instruction is generated through the target pedal; an acceleration control instruction is generated through the target pedal.

[0028] Optionally, the method further comprises:

[0029] In response to determining that the acceleration control instruction has been received, controlling the vehicle to accelerate and detecting whether there are other vehicles that hinder the vehicle from traveling during the acceleration process;

[0030] In response to determining that there is another vehicle obstructing the vehicle, identifying whether there is a meeting area at a preset distance from the vehicle;

[0031] When it is determined that there is a meeting area, the vehicle is controlled to move to the meeting area.

[0032] Optionally, in response to determining that a deceleration control instruction is received and the motor of the vehicle is in a torque control mode, before switching the torque control mode to the speed control mode, the method further includes:

[0033] Obtain the current driving position of the vehicle and determine the distance between the current driving position and the target parking position;

[0034] In response to determining that the distance is less than the preset distance threshold, a deceleration reminder message is generated and displayed.

[0035] Optionally, the method further comprises:

[0036] In response to receiving a deceleration control command and the motor of the vehicle is in a torque control mode, switching the torque control mode to a speed control mode;

[0037] In the speed control mode, the motor speed of the vehicle is controlled to decrease;

[0038] In response to receiving an acceleration control command during a process in which the motor speed of the vehicle is decreasing, switching the speed control mode to the torque control mode;

[0039] The target output torque of the motor corresponding to the acceleration control command and the current output torque when the speed control mode is switched to the torque control mode are obtained, and the current output torque is increased to the target output torque to control the vehicle to accelerate.

[0040] Optionally, the method further comprises:

[0041] In response to receiving a deceleration control instruction, determining that the slope of the road on which the vehicle is located is less than a preset slope threshold, controlling the vehicle to decelerate through a speed control mode of the motor;

[0042] In response to the vehicle decelerating to a stop, the electric braking force corresponding to the speed control mode of the motor is switched to the mechanical braking force of the mechanical brake system to maintain the vehicle's stopped state.

[0043] Optionally, in response to the vehicle decelerating to a stop,

[0044] After switching the motor braking force corresponding to the motor speed control mode to the mechanical braking force of the mechanical brake system to maintain the vehicle in a parked state, the method further includes:

[0045] In response to determining that an acceleration control command is received, determining a target driving force of the motor corresponding to the acceleration control command;

[0046] In response to determining that the target driving force is less than the motor braking force when controlling the vehicle to decelerate to a stop, controlling the vehicle to maintain a stopped state; or,

[0047] In response to determining that the target driving force is greater than or equal to the motor braking force when controlling the vehicle to decelerate to a stop, the current driving force of the vehicle's motor is obtained, the current driving force is increased, and the mechanical braking force is reduced to control the vehicle to accelerate.

[0048] Based on the same inventive concept, a second aspect of the present application provides a parking control device, comprising:

[0049] a mode switching module for, in response to determining that a deceleration control instruction is received and the motor of the vehicle is in a torque control mode, switching the torque control mode to a speed control mode;

[0050] The speed regulating module is used to control the motor speed of the vehicle to decrease in the speed control mode;

[0051] A speed determination module, used to adjust the vehicle's driving speed according to the motor speed;

[0052] The mode exit module is configured to obtain the adjusted driving speed and exit the speed control mode in response to determining that both the motor speed and the adjusted driving speed have stopped.

[0053] Based on the same inventive concept, the third aspect of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the above method when executing the computer program.

[0054] Based on the same inventive concept, a fourth aspect of the present application provides a vehicle, comprising the parking control device of the second aspect or the electronic device of the third aspect.

[0055] As can be seen from the above, the parking control method, device, electronic device and vehicle provided by the present application will switch the control mode of the motor when receiving a deceleration control instruction and the vehicle's motor is in the torque control mode, switching the torque control mode to the speed control mode, and reducing the motor speed in the speed control mode to reduce the vehicle's driving speed to achieve the purpose of braking. This method can avoid the problem of repeated adjustments when braking in the torque control mode, and the inability to achieve quick braking. It can also avoid the problem of vehicle instability caused by jumps in the motor torque due to repeated adjustments. Therefore, the present application can achieve the effect of achieving quick braking and keeping the vehicle stable. By reducing the motor speed and driving speed to a stop and exiting the speed control mode, the vehicle will not shake when braking, resulting in vehicle instability, thereby ensuring the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG1A is a flow chart of a parking control method according to an embodiment of the present application;

[0057] FIG1B is a schematic diagram showing the expansion of step 101;

[0058] FIG1C is a schematic diagram showing the expansion of step 1011;

[0059] FIG1D is a schematic diagram showing the expansion of step 103;

[0060] FIG1E is a flowchart of controlling a vehicle to travel to a meeting area according to an embodiment of the present application;

[0061] FIG1F is a flowchart of generating and displaying deceleration reminder information according to an embodiment of the present application;

[0062] FIG1G is a flow chart of vehicle speed control according to an embodiment of the present application;

[0063] FIG1H is a flow chart of vehicle deceleration control according to an embodiment of the present application;

[0064] FIG1I is a flow chart of vehicle acceleration control according to an embodiment of the present application;

[0065] FIG1J is a flowchart of vehicle acceleration control according to another embodiment of the present application;

[0066] FIG2 is a schematic diagram of a parking control process according to an embodiment of the present application;

[0067] FIG3 is a schematic structural diagram of a parking control device according to an embodiment of the present application;

[0068] FIG4 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0069] It is understandable that before using the technical solutions of each embodiment of this application, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0070] For example, in response to receiving a user's active request, a prompt message is sent to the user to clearly inform the user that the operation requested will require the acquisition and use of the user's personal information. Thus, the user can independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operation of the technical solution of this application based on the prompt message.

[0071] As an optional but non-limiting implementation, in response to a user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0072] It is understandable that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this application. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this application.

[0073] In related technologies, the powertrain often controls the acceleration and deceleration of a vehicle during operation. However, when the powertrain is used to stop the vehicle, the motor-driven braking can cause the vehicle to vibrate, resulting in an unstable ride and affecting the user's driving experience.

[0074] A parking control method proposed in this embodiment is applied to the vehicle side. It uses the method of reducing the motor speed in the speed control mode to reduce the vehicle's driving speed to achieve the purpose of braking. This method can avoid the problem of repeated adjustment when braking in the torque control mode, which makes it impossible to achieve quick braking. It can also avoid the problem of vehicle instability caused by the jump of motor torque due to repeated adjustment. Therefore, this application can achieve the effect of achieving quick braking and maintaining vehicle stability. By reducing both the motor speed and the driving speed to a stop and exiting the speed control mode, the vehicle will not shake when braking, resulting in vehicle instability, thereby ensuring the user's driving experience. As shown in Figure 1A, it includes:

[0075] Step 101 : In response to determining that a deceleration control instruction is received and the motor of the vehicle is in a torque control mode, switching the torque control mode to a speed control mode.

[0076] In this step, the deceleration control instruction can be the user stepping on the brake pedal, or a voice deceleration instruction, or the user clicking the deceleration control button, or the user releasing the target pedal.

[0077] In addition, when the user steps on the target pedal, an acceleration control instruction can be generated. In this way, the user's acceleration needs and braking needs can be met through the same target pedal, avoiding the user's repeated switching between the accelerator pedal and the brake pedal, facilitating driving and improving driving comfort.

[0078] When a deceleration control instruction is received and the vehicle's motor is in torque control mode, the torque control mode is switched to speed control mode, which can adjust the motor speed and thus control the vehicle's deceleration by adjusting the motor speed.

[0079] The torque control mode refers to a motor operating mode in which the torque output by the motor is adjusted as a control object, while the speed control mode refers to a motor operating mode in which the speed output by the motor is adjusted as a control object.

[0080] Step 102: In the speed control mode, the motor speed of the vehicle is controlled to decrease.

[0081] In this step, in the speed control mode, the speed of the motor of the vehicle can be controlled to decrease by reducing the power supply frequency of the motor, and the speed of the motor of the vehicle can also be controlled to decrease by reducing the current.

[0082] In the related art, the vehicle's driving speed is generally reduced in the torque control mode to achieve the purpose of braking. However, this method requires repeated adjustments, and it is impossible to achieve quick braking. In addition, since the motor torque will jump during the repeated adjustment process, the vehicle will become unstable.

[0083] Therefore, the present application reduces the motor speed in the speed control mode, and thus can achieve the purpose of braking by reducing the vehicle's driving speed. This method does not require repeated adjustment, and there is no jump in the motor torque, so it can achieve the effect of quick braking and keeping the vehicle stable.

[0084] Step 103: Adjust the vehicle's driving speed according to the motor speed.

[0085] In this step, there is a corresponding relationship between the motor speed and the vehicle's driving speed. Therefore, the corresponding target driving speed can be determined by the motor speed, and the current driving speed of the vehicle is adjusted to the target driving speed, wherein the current driving speed represents the actual driving speed of the vehicle.

[0086] In the speed control mode, the vehicle's driving speed is reduced by reducing the motor speed. There is no need for repeated adjustment, and there is no jump in the motor torque. Therefore, it can achieve the effect of quick braking and keeping the vehicle stable.

[0087] The corresponding relationship between the motor speed and the driving speed can be set according to the specific situation. For example, the driving speed can be calculated by the following formula: driving speed = motor speed * current gearbox speed ratio * wheel circumference.

[0088] The driving speed can also be calculated using the following formula: driving speed = motor speed * wheel diameter * π / gear ratio * 60, where the gear ratio refers to the transmission ratio between the vehicle drive gear and the output shaft of the drive motor.

[0089] Or calculate the driving speed according to the following formula:

[0090] Driving speed = 2*3.05*motor speed*wheel rolling radius*transmission ratio / 1000. This formula is preferably used to calculate the driving speed.

[0091] The weighting parameters for motor speed are 2*3.05, the weighting parameter for wheel rolling radius is 1, and the weighting parameter for transmission ratio is 1 / 1000. The vehicle speed is calculated by multiplying the motor speed, wheel rolling radius, and transmission ratio by their corresponding weighting parameters. Accurate vehicle speed is ensured by comprehensively considering the wheel rolling radius, transmission ratio, and real-time motor speed. The transmission ratio, i.e., the ratio between the motor output shaft and wheel speed, is preferably 60 / 11.7.

[0092] Step 104 : Acquire the adjusted driving speed. In response to determining that both the motor speed and the adjusted driving speed have stopped, exit the speed control mode.

[0093] In this step, the adjusted driving speed is obtained through the vehicle speed sensor. When the motor speed and the adjusted driving speed both stop, the vehicle is already in a parked state, and the speed control mode is exited, completing the parking control process.

[0094] By reducing both the motor speed and the driving speed to a stop and exiting the speed control mode, the vehicle shaking caused by suddenly exiting the speed control mode when the motor speed and the driving speed are inconsistent and are 0 is avoided, resulting in an unstable vehicle, thereby ensuring the user's driving experience.

[0095] Through the above scheme, when a deceleration control instruction is received and the vehicle's motor is in a torque control mode, the motor control mode will be switched from the torque control mode to the speed control mode. The vehicle's driving speed will be reduced by reducing the motor speed in the speed control mode to achieve the purpose of braking. This method can avoid the problem of repeated adjustments required to reduce the vehicle's driving speed in the torque control mode, and the inability to achieve quick braking. It can also avoid the problem of vehicle instability caused by jumps in the motor torque during repeated adjustments when reducing the vehicle's driving speed in the torque control mode. Therefore, the present application can achieve the effect of quick braking and keeping the vehicle stable. By reducing both the motor speed and the driving speed to a stop and exiting the speed control mode, the vehicle will not shake when braking, resulting in vehicle instability, thereby ensuring the user's driving experience.

[0096] In some embodiments, as shown in FIG1B , in step 101 , switching the torque control mode to the speed control mode includes:

[0097] Step 1011: Control the vehicle to decelerate and obtain the vehicle's driving speed during the deceleration process.

[0098] Step 1012: determine whether the vehicle's speed during deceleration is less than or equal to a preset speed threshold, and obtain a determination result.

[0099] Step 1013 : In response to the determination result being yes, the torque control mode is switched to the speed control mode.

[0100] In the above scheme, the vehicle speed during deceleration is obtained through the vehicle speed sensor. When the vehicle speed during deceleration decreases to a preset speed threshold, or is less than the preset speed threshold, it means that the vehicle speed has decreased to a certain extent. At this time, the torque control mode is switched to the speed control mode, thereby enabling the motor speed to be adjusted in the speed control mode.

[0101] By limiting the driving speed and entering the speed control mode when the driving speed decreases to a certain level, the vehicle can achieve energy recovery and thus save the vehicle's electricity.

[0102] In some embodiments, as shown in FIG1C , in step 1011 , controlling the vehicle to decelerate includes:

[0103] Step 10111, obtaining the braking negative torque of the motor.

[0104] Step 10112: Based on the negative braking torque, the vehicle's motor is controlled to rotate in a direction opposite to the direction of rotation of the vehicle's wheels, thereby reducing the vehicle's driving speed.

[0105] In the above scheme, the negative braking torque of the motor can be obtained through the negative sequence voltage, and the negative braking torque can be used to make the motor generate a reverse torque to control the vehicle's motor to rotate in the direction opposite to the direction of rotation of the vehicle's wheels, thereby reducing the vehicle's driving speed.

[0106] In some embodiments, after controlling the vehicle to decelerate in step 1011 and before switching the torque control mode to the speed control mode in step 1013, the method further includes:

[0107] Determine the mechanical energy of the vehicle during deceleration and convert it into electrical energy for storage.

[0108] In the above scheme, during the deceleration of the vehicle, braking energy recovery will be performed to convert the mechanical energy of the vehicle during the deceleration process into electrical energy storage, thereby saving the vehicle's power. If an acceleration control instruction is received, braking energy recovery will be stopped and the normal acceleration process will be restored. Among them, the acceleration control instruction can be the user stepping on the accelerator pedal, or it can be a voice acceleration control instruction, or the user clicking the acceleration control button, or the user stepping on the target pedal.

[0109] In some embodiments, as shown in FIG1D , step 103 includes:

[0110] Step 1031 , obtaining the rolling radius of the vehicle's wheels and the transmission ratio from the vehicle's motor to the wheels.

[0111] Step 1032 : Perform speed conversion based on the wheel rolling radius, the transmission ratio, and the motor speed to obtain a target driving speed for the vehicle.

[0112] Step 1033: Obtain the current driving speed of the vehicle and adjust the current driving speed to the target driving speed.

[0113] In the above solution, the rolling radius of the vehicle's wheels is obtained by a laser rangefinder.

[0114] The transmission ratio refers to the ratio of the speed of the motor output shaft to the speed of the transmission shaft. The speed of the transmission shaft and the motor output shaft can be measured by measuring instruments. Usually, this can be achieved by installing a speed sensor or using a speed measuring instrument.

[0115] There's a certain correlation between motor speed and vehicle speed. Specifically, as motor speed increases, vehicle speed also increases. Conversely, as motor speed decreases, vehicle speed also decreases. This is because motor speed determines its output power and torque, which in turn affects the motion of the wheels. Vehicle speed is also affected by the wheel's rolling radius. A larger wheel rolling radius results in a faster wheel circumference and, consequently, a higher vehicle speed. In addition to the wheel's rolling radius, factors such as the transmission ratio also influence vehicle speed. Therefore, it's necessary to comprehensively consider multiple factors, including the wheel's rolling radius, transmission ratio, and real-time motor speed, to ensure accurate vehicle speed.

[0116] The target driving speed represents the driving speed corresponding to the reduced motor speed, and the current driving speed represents the actual driving speed of the vehicle. After determining the target driving speed, the current driving speed of the vehicle is adjusted to the target driving speed, thereby achieving precise adjustment of the driving speed by the motor speed.

[0117] It can be expressed as follows:

[0118] Driving speed = 2*3.05*motor speed*wheel rolling radius*gear ratio / 1000.

[0119] Among them, the weight parameter for determining the motor speed is 2*3.05, the weight parameter for the wheel rolling radius is 1, and the weight parameter for the transmission ratio is 1 / 1000. The transmission ratio represents the ratio of the speed between the output shaft of the motor and the wheel. Here, the transmission ratio is preferably 60 / 11.7.

[0120] In some embodiments, after step 104, the method further includes:

[0121] Switches the vehicle's electric motor to torque control mode.

[0122] In the above scheme, when the motor speed and the adjusted driving speed both stop, the vehicle is already in a parked state, so the speed control mode is exited and the vehicle's motor is switched to the torque control mode to facilitate smooth starting of the vehicle during subsequent or next use.

[0123] In some embodiments, the vehicle is provided with a target pedal, and a deceleration control instruction is generated through the target pedal; and an acceleration control instruction is generated through the target pedal.

[0124] In the above scheme, when the user releases the target pedal, a deceleration control instruction is generated; when the user steps on the target pedal, an acceleration control instruction is generated to control the vehicle to accelerate. In this way, the same target pedal can both meet the user's acceleration needs and the user's braking needs, avoiding the user's repeated switching between the accelerator pedal and the brake pedal, facilitating driving and improving driving comfort.

[0125] In some embodiments, as shown in FIG. 1E , after step 104 , the method further includes:

[0126] Step A1: In response to determining that an acceleration control instruction is received, controlling the vehicle to accelerate and detecting whether there are other vehicles that hinder the vehicle from traveling during the acceleration process.

[0127] In step A2, in response to determining that there are other vehicles that obstruct the vehicle's travel, it is identified whether there is a meeting area within a preset distance of the vehicle.

[0128] In step A3, when it is determined that there is a meeting area, the vehicle is controlled to travel to the meeting area.

[0129] In the above scheme, the forward-looking camera arranged on the vehicle is used to identify whether there are other vehicles that are obstructing the vehicle's travel, for example, if there are oncoming vehicles or other moving vehicles that are obstructing traffic. If the forward-looking camera identifies the presence of other vehicles that are obstructing the vehicle's travel, the forward-looking camera arranged on the vehicle is used to identify whether there is a meeting area at a preset distance from the vehicle. The width of the meeting area can be set according to the specific situation. The width range of the meeting area is greater than the width of two vehicles plus 100 cm and less than or equal to the width of two vehicles plus 300 cm, for example, greater than the width of two vehicles plus 110 cm, greater than the width of two vehicles plus 120 cm, or greater than the width of two vehicles plus 150 cm. Here, the width of the meeting area is preferably greater than the width of two vehicles plus 120 cm, that is, the sum of the width of the vehicle and the width of other vehicles, plus 120 cm.

[0130] In addition, when the front-view camera identifies other vehicles that are obstructing the vehicle's travel, it can also control the vehicle to alert other vehicles, thereby avoiding the risk of collision with other vehicles.

[0131] Among them, the vehicle's turn signal and / or horn can be used to alert other vehicles so that other vehicles can avoid the vehicle, thereby ensuring the driving safety of the vehicle itself while also ensuring the driving safety of other vehicles.

[0132] In some embodiments, as shown in FIG1F , before step 101 , the method further includes:

[0133] Step B1: Acquire the current driving position of the vehicle and determine the distance between the current driving position and the target parking position.

[0134] Step B2: In response to determining that the distance is less than a preset distance threshold, generating and displaying a deceleration reminder message.

[0135] In the above scheme, the current driving position of the vehicle is obtained by a positioning instrument, and the distance between the current driving position and the target parking position is determined. When the distance is less than a preset distance threshold, a deceleration reminder message can be automatically generated and displayed on the head-up display (HUD) to remind the user whether to choose to decelerate.

[0136] By determining whether to generate a deceleration reminder message based on the distance between the current driving position and the target parking position, appropriate reminders can be provided to the user during vehicle operation, reserving sufficient deceleration distance for the vehicle, and avoiding serious damage to the vehicle due to emergency deceleration, which affects the vehicle's service life.

[0137] In some embodiments, as shown in FIG1G , the method further includes:

[0138] Step C1 : in response to receiving a deceleration control instruction and the motor of the vehicle is in a torque control mode, switching the torque control mode to a speed control mode.

[0139] Step C2: in the speed control mode, controlling the motor speed of the vehicle to decrease.

[0140] Step C3 : in response to receiving an acceleration control instruction during the process of decreasing the motor speed of the vehicle, switching the speed control mode to the torque control mode.

[0141] Step C4, obtaining the target output torque of the motor corresponding to the acceleration control instruction and the current output torque when the speed control mode is switched to the torque control mode, increasing the current output torque to the target output torque, and controlling the vehicle to accelerate.

[0142] In the above solution, the target output torque of the motor corresponding to the acceleration control instruction and the current output torque when the speed control mode is switched to the torque control mode are obtained through the force sensor.

[0143] When a deceleration control command is received and the vehicle's motor is in torque control mode, the torque control mode is switched to speed control mode. In speed control mode, the vehicle's motor speed is controlled to decrease. When an acceleration control command is received while the vehicle's motor speed is decreasing, in order to drive the vehicle, the speed control mode needs to be switched to torque control mode. Compared with the related art, the output torque of the motor increases from zero during acceleration, so there will be a jump in the output torque before and after acceleration. Therefore, by obtaining the target output torque of the motor corresponding to the acceleration control command and the current output torque when the speed control mode is switched to the torque control mode, the output torque of the motor during acceleration is directly based on the current output torque, and the current output torque is increased to the target output torque without increasing from zero. This ensures the continuity of the output torque of the motor before and after acceleration, avoids the jump in the output torque before and after acceleration, and thus avoids the vehicle from shaking, thereby ensuring the user's driving experience.

[0144] In some embodiments, the vehicle is provided with a target pedal, and a deceleration control instruction is generated through the target pedal; and an acceleration control instruction is generated through the target pedal.

[0145] In the above scheme, when the user releases the target pedal, a deceleration control instruction is generated; when the user steps on the target pedal, an acceleration control instruction is generated to control the vehicle to accelerate. In this way, the same target pedal can both meet the user's acceleration needs and the user's braking needs, avoiding the user's repeated switching between the accelerator pedal and the brake pedal, facilitating driving and improving driving comfort.

[0146] In addition, the vehicle is also equipped with a brake pedal and an accelerator pedal. When the vehicle encounters an emergency, the user can still step on the brake pedal to complete braking.

[0147] In some embodiments, as shown in FIG1H , the method further includes:

[0148] Step D1, in response to receiving a deceleration control instruction, determining that the slope of the road on which the vehicle is located is less than a preset slope threshold, and controlling the vehicle to decelerate through a motor speed control mode.

[0149] Step D2 , in response to the vehicle decelerating to a stop, switching the electric braking force corresponding to the motor speed control mode to the mechanical braking force of the mechanical brake system to maintain the vehicle in a stopped state.

[0150] In the above scheme, the road slope of the vehicle can also be detected by using a camera mounted on the vehicle to capture an image of the road in front of the vehicle, wherein the image includes a target object. The target object in the road image is detected to obtain an object detection frame. The optical axis offset value of the camera is determined based on the optical axis of the vehicle-mounted camera and the object detection frame. The relative height value between the position of the target object and the position of the vehicle is determined based on the optical axis offset value. The relative distance between the target object and the vehicle is then measured using a laser radar mounted on the vehicle. The relative height value between the position of the target object and the vehicle is then compared with the relative distance between the target object and the vehicle to obtain the road slope of the vehicle. The relative distance and relative height value between the target object and the vehicle make the determination of the road slope of the vehicle more accurate.

[0151] Alternatively, the slope of the road on which the vehicle is located can be detected by using a first distance detector installed on the vehicle chassis to detect the distance d1 between the vehicle chassis and the slope in the direction of gravity. A second distance detector installed on the vehicle chassis can also detect the distance d2 between the vehicle chassis and the slope in a direction perpendicular to the slope. Based on distances d1 and d2, the slope of the road on which the vehicle is located can be determined using a preset road slope function, thereby enabling rapid determination of the road slope. The road slope function is shown below:

[0152] θ=cos(d2 / d1)

[0153] Where θ represents the slope of the road on which the vehicle is located, d1 represents the distance between the vehicle chassis and the slope along the direction of gravity, and d2 represents the distance between the vehicle chassis and the slope along the direction perpendicular to the slope.

[0154] In addition, if the slope of the road on which the vehicle is located is greater than or equal to a preset slope threshold, the mechanical braking system can be used to control the vehicle's deceleration and stop the vehicle, avoiding the situation where the motor speed control mode cannot successfully stop the vehicle due to the road slope being too steep.

[0155] The mechanical braking system may be a brake pedal, an automatic parking function key (AUTO HOLD), or an electronic stability program (ESP).

[0156] When a deceleration control instruction is received and it is determined that the slope of the road on which the vehicle is located is less than a preset slope threshold, the vehicle is decelerated through the motor's speed control mode. When the vehicle decelerates to a stop, in order to avoid the motor from continuously generating braking force to control the vehicle to remain in a stopped state and consuming more energy, the electric braking force corresponding to the motor's speed control mode is switched to the mechanical braking force of the mechanical braking system, so that the size of the mechanical braking force of the mechanical braking system can reach the size of the electric braking force, and then can replace the electric braking force to ensure that the vehicle remains in a stopped state on a road with a road slope, thereby reducing energy consumption and avoiding the problem of energy waste.

[0157] In some embodiments, as shown in FIG. 1I , after step D2, the method further includes:

[0158] In step E1 , in response to determining that an acceleration control instruction is received, a target driving force of the motor corresponding to the acceleration control instruction is determined.

[0159] Step E2: In response to determining that the target driving force is less than the motor braking force when controlling the vehicle to decelerate to a stop, controlling the vehicle to maintain a stopped state. Alternatively,

[0160] In step E3, in response to determining that the target driving force is greater than or equal to the motor braking force when controlling the vehicle to decelerate to a stop, the current driving force of the vehicle's motor is obtained, the current driving force is increased, and the mechanical braking force is reduced to control the vehicle to accelerate.

[0161] In the above solution, the acceleration control instruction may be the user stepping on the accelerator pedal, or a voice acceleration instruction, or the user clicking the acceleration control button, or the user stepping on the target pedal.

[0162] In addition, when the user releases the target pedal, a deceleration control instruction can be generated. In this way, the user's acceleration needs and braking needs can be met through the same target pedal, avoiding the user's repeated switching between the accelerator pedal and the brake pedal, facilitating driving and improving driving comfort.

[0163] The current driving force represents the actual driving force of the motor of the vehicle, and the target driving force represents the required driving force of the motor under the operation corresponding to the acceleration control command.

[0164] When a vehicle remains parked on a road with a small slope, the braking force on the vehicle that can keep the vehicle parked is a mechanical braking force. Therefore, if an acceleration control command is received, in order to accelerate the vehicle, the actual driving force of the motor needs to be greater than or equal to the motor braking force when the vehicle is decelerated to a stop. The current driving force of the vehicle's motor is obtained through a driving force sensor. The current driving force represents the actual driving force. The current driving force is increased and the mechanical braking force is reduced to control the vehicle to accelerate.

[0165] In addition, the target driving force corresponding to the acceleration control command may be determined, for example, based on the target pedal opening.

[0166] In some embodiments, as shown in FIG1J , in step E3, increasing the current driving force and reducing the mechanical braking force to control the vehicle to accelerate includes:

[0167] Step E31 : increasing the current driving force according to a preset driving force gradient.

[0168] In step E32, in response to determining that the increased current driving force is greater than or equal to the motor braking force when controlling the vehicle to decelerate to a stop, the mechanical braking force is reduced according to a first preset braking force gradient until the mechanical braking force is zero, and the vehicle is controlled to accelerate.

[0169] In the above scheme, the current driving force is increased according to the preset driving force gradient. If the current driving force increases to the electric braking force that controls the vehicle to decelerate to a stop, the mechanical braking force is reduced according to the first preset braking force gradient until the mechanical braking force is zero. The vehicle can then gradually increase the driving force based on the driving force corresponding to the acceleration control instruction according to the acceleration control instruction to control the vehicle to accelerate. The first preset braking force can be set according to the specific situation and is not specifically limited here.

[0170] In some embodiments, in step D1, in response to receiving the deceleration control instruction, the method further includes:

[0171] Determine if the road slope on which the vehicle is located is greater than or equal to a preset slope threshold, and control the vehicle to decelerate through the mechanical braking system.

[0172] In the above scheme, if the slope of the road on which the vehicle is located is greater than or equal to the preset slope threshold, the mechanical braking system can be used to control the vehicle to slow down and stop the vehicle, avoiding the situation where the motor speed control mode cannot successfully stop the vehicle due to the road slope being too large.

[0173] The mechanical braking system may be a brake pedal, an automatic parking function key (AUTO HOLD), or an electronic stability program (ESP).

[0174] The speed control mode refers to a motor operating mode in which the speed output by the motor is adjusted as the control object.

[0175] Based on the same inventive concept, an application scenario corresponding to the parking control method of the above embodiment is described in detail, as shown in FIG2 , as follows:

[0176] When the user releases the accelerator pedal (i.e., deceleration control instruction), the Hybrid Vehicle Control Unit (HCU) receives the user's driving intention to release the accelerator pedal and sends a signal to the Motor Control Unit (MCC). Unit (MCU) sends a motor negative torque request. After receiving the motor negative torque request, the motor controller responds to the motor torque request sent by the vehicle controller and controls the vehicle to decelerate. The vehicle controller determines whether the driver steps on the accelerator pedal. If the judgment result is no, the vehicle speed during the deceleration process is obtained to determine whether the vehicle speed is less than or equal to the V1 calibration value (i.e., the preset speed threshold). If so, the vehicle controller is requested to change the motor mode to speed control mode (i.e., speed control mode). After receiving the speed control mode request sent by the vehicle controller, the motor controller controls the motor to enter the speed control mode, controls the vehicle's motor speed to decrease, and detects whether the vehicle stops smoothly. If so, the vehicle controller is requested to change the motor mode to torque control mode. If not, the vehicle is continued to be controlled in the motor speed control mode until the vehicle stops smoothly (i.e., the motor speed and the adjusted driving speed are both stopped), and the vehicle controller is requested to change the motor mode to torque control mode (i.e., exit the speed control mode).

[0177] If the vehicle is being controlled to decelerate, the vehicle controller determines whether the driver has stepped on the accelerator pedal. If the result is yes, the vehicle will accelerate.

[0178] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario and completed by multiple devices working together. In the case of such a distributed scenario, one of the multiple devices may only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method of the embodiment of the present application.

[0179] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0180] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a parking control device.

[0181] Referring to FIG3 , the parking control device includes:

[0182] a mode switching module 301 for switching the torque control mode to the speed control mode in response to determining that a deceleration control instruction has been received and the motor of the vehicle is in the torque control mode;

[0183] The speed regulating module 302 is used to control the motor speed of the vehicle to decrease in the speed control mode;

[0184] The speed determination module 303 is used to adjust the driving speed of the vehicle according to the motor speed;

[0185] The mode exit module 304 is configured to obtain the adjusted vehicle speed and exit the speed control mode in response to determining that both the motor speed and the adjusted vehicle speed have stopped.

[0186] In some embodiments, the mode switching module 301 includes:

[0187] A deceleration unit, used to control the vehicle's deceleration and obtain the vehicle's driving speed during the deceleration process;

[0188] a judgment unit, configured to judge whether the vehicle's speed during deceleration is less than or equal to a preset speed threshold, and obtain a judgment result;

[0189] The rotation speed control mode switching unit switches the torque control mode to the rotation speed control mode in response to the determination result being yes.

[0190] In some embodiments, the deceleration unit is specifically configured to:

[0191] Get the motor's braking negative torque;

[0192] Based on the braking negative torque rejection, the vehicle's motor is controlled to rotate in the direction opposite to the direction of rotation of the vehicle's wheels, thereby reducing the vehicle's driving speed.

[0193] In some embodiments, the parking control device further includes an energy recovery module, which controls the energy recovery mode after the vehicle is decelerated and before the torque control mode is switched to the speed control mode, specifically for:

[0194] Determine the mechanical energy of the vehicle during deceleration and convert it into electrical energy for storage.

[0195] In some embodiments, the speed determination module 303 is specifically configured to:

[0196] Get the vehicle's wheel rolling radius and the vehicle's motor-to-wheel transmission ratio;

[0197] Perform speed conversion based on the wheel rolling radius, transmission ratio and motor speed to obtain the vehicle's target driving speed;

[0198] Get the current driving speed of the vehicle and adjust the current driving speed to the target driving speed.

[0199] In some embodiments, the parking control device further includes a torque control mode switching module. In response to determining that the adjusted driving speed and motor speed have both stopped, after exiting the speed control mode, the torque control mode switching module is specifically configured to:

[0200] Switches the vehicle's electric motor to torque control mode.

[0201] In some embodiments, the vehicle is provided with a target pedal, and a deceleration control instruction is generated through the target pedal; and an acceleration control instruction is generated through the target pedal.

[0202] In some embodiments, the parking control device further includes a vehicle-oncoming vehicle recognition module, which is specifically configured to:

[0203] In response to determining that the acceleration control instruction has been received, controlling the vehicle to accelerate and detecting whether there are other vehicles that hinder the vehicle from traveling during the acceleration process;

[0204] In response to determining that there is another vehicle obstructing the vehicle, identifying whether there is a meeting area at a preset distance from the vehicle;

[0205] When it is determined that there is a meeting area, the vehicle is controlled to move to the meeting area.

[0206] In some embodiments, the parking control device further includes a deceleration reminder module. In response to determining that a deceleration control instruction has been received and the motor of the vehicle is in a torque control mode, before switching the torque control mode to a speed control mode, the deceleration reminder module is specifically configured to:

[0207] Obtain the current driving position of the vehicle and determine the distance between the current driving position and the target parking position;

[0208] In response to determining that the distance is less than the preset distance threshold, a deceleration reminder message is generated and displayed.

[0209] In some embodiments, the parking control device further includes a speed control module, which is specifically configured to:

[0210] In response to receiving a deceleration control command and the motor of the vehicle is in a torque control mode, switching the torque control mode to a speed control mode;

[0211] In the speed control mode, the motor speed of the vehicle is controlled to decrease;

[0212] In response to receiving an acceleration control command during a process in which the motor speed of the vehicle is decreasing, switching the speed control mode to the torque control mode;

[0213] The target output torque of the motor corresponding to the acceleration control command and the current output torque when the speed control mode is switched to the torque control mode are obtained, and the current output torque is increased to the target output torque to control the vehicle to accelerate.

[0214] In some embodiments, the parking control device further includes a holding module, the holding module being specifically configured to:

[0215] In response to receiving a deceleration control instruction, determining that the slope of the road on which the vehicle is located is less than a preset slope threshold, controlling the vehicle to decelerate through a speed control mode of the motor;

[0216] In response to the vehicle decelerating to a stop, the electric braking force corresponding to the speed control mode of the motor is switched to the mechanical braking force of the mechanical brake system to maintain the vehicle's stopped state.

[0217] In some embodiments, the parking control device further includes an acceleration module, which switches the motor braking force corresponding to the motor speed control mode to the mechanical braking force of the mechanical brake system in response to the vehicle decelerating to a stop, and after maintaining the vehicle in a parked state, the acceleration module is specifically configured to:

[0218] In response to determining that an acceleration control command is received, determining a target driving force of the motor corresponding to the acceleration control command;

[0219] In response to determining that the target driving force is less than the motor braking force when controlling the vehicle to decelerate to a stop, controlling the vehicle to maintain a stopped state; or,

[0220] In response to determining that the target driving force is greater than or equal to the motor braking force when controlling the vehicle to decelerate to a stop, the current driving force of the vehicle's motor is obtained, the current driving force is increased, and the mechanical braking force is reduced to control the vehicle to accelerate.

[0221] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0222] The device of the above embodiment is used to implement the corresponding parking control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0223] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, the parking control method of any of the above embodiments is implemented.

[0224] FIG4 shows a more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment. The device may include: a processor 401, a memory 402, an input / output interface 403, a communication interface 404, and a bus 405. The processor 401, the memory 402, the input / output interface 403, and the communication interface 404 are communicatively connected to each other within the device via the bus 405.

[0225] The processor 401 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0226] The memory 402 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 402 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 402 and is called and executed by the processor 401.

[0227] The input / output interface 403 is used to connect to input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0228] The communication interface 404 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WIFI, Bluetooth, etc.).

[0229] The bus 405 comprises a pathway for transmitting information between various components of the device (eg, the processor 401 , the memory 402 , the input / output interface 403 , and the communication interface 404 ).

[0230] It should be noted that although the above device only shows the processor 401, the memory 402, the input / output interface 403, the communication interface 404, and the bus 405, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0231] The electronic device of the above embodiment is used to implement the corresponding parking control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0232] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the parking control method of any of the above-mentioned embodiments.

[0233] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0234] The computer instructions stored in the storage medium of the above embodiments are used to enable a computer to execute the parking control method of any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0235] Based on the same inventive concept, this embodiment provides a vehicle corresponding to the parking control device, electronic device, or storage medium of any of the above embodiments, which is equipped with a parking control device, electronic device, or storage medium capable of implementing the parking control method of any of the above embodiments.

[0236] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. Within the scope of the present application, the technical features of the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of the above embodiments of the present application, which are not provided in detail for the sake of simplicity.

[0237] In addition, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0238] Although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the embodiments discussed.

[0239] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. A parking control method, characterized in that: include: In response to determining that a deceleration control instruction is received and the motor of the vehicle is in a torque control mode, switching the torque control mode to a speed control mode; In the speed control mode, controlling the motor speed of the vehicle to decrease; adjusting the driving speed of the vehicle according to the motor speed; The adjusted vehicle speed is obtained, and in response to determining that both the motor speed and the adjusted vehicle speed are stopped, the speed control mode is exited.

2. The method according to claim 1, characterized in that The step of switching the torque control mode to the speed control mode includes: Controlling the vehicle to decelerate, and obtaining the driving speed of the vehicle during the deceleration process; Determining whether the driving speed of the vehicle during the deceleration process is less than or equal to a preset speed threshold, and obtaining a determination result; In response to determining that the determination result is yes, the torque control mode is switched to the rotation speed control mode.

3. The method according to claim 2, characterized in that The controlling the vehicle to decelerate comprises: Get the negative braking torque of the motor; Based on the brake negative torque rejection, the motor of the vehicle is controlled to rotate in a direction opposite to the rotation direction of the wheels of the vehicle, thereby reducing the driving speed of the vehicle.

4. The method according to claim 2, characterized in that: After controlling the vehicle to decelerate and before switching the torque control mode to the speed control mode, the method further includes: The mechanical energy of the vehicle during deceleration is determined, and the mechanical energy is converted into electrical energy for storage.

5. The method according to claim 1, characterized in that Determining the driving speed of the vehicle according to the motor speed includes: Obtaining a wheel rolling radius of the vehicle and a transmission ratio from a motor to a wheel of the vehicle; Performing speed conversion processing based on the wheel rolling radius, the transmission ratio and the motor speed to obtain a target driving speed of the vehicle; The current driving speed of the vehicle is obtained, and the current driving speed is adjusted to the target driving speed.

6. The method according to claim 1, characterized in that In response to determining that the adjusted vehicle speed and the motor speed are both stopped, after exiting the speed control mode, the method further includes: The electric machine of the vehicle is switched to a torque control mode.

7. The method according to claim 1, characterized in that The vehicle is provided with a target pedal, through which a deceleration control instruction is generated; and through which an acceleration control instruction is generated.

8. The method according to claim 1, characterized in that The method further comprises: In response to determining that an acceleration control instruction is received, controlling the vehicle to accelerate, and detecting whether there are other vehicles that hinder the vehicle from traveling during the acceleration process; In response to determining that there are other vehicles that are obstructing the travel of the vehicle, identifying whether there is a meeting area at a preset distance of the vehicle; When it is determined that there is a meeting area, the vehicle is controlled to travel to the meeting area.

9. The method according to claim 1, characterized in that: In response to determining that a deceleration control instruction is received and the motor of the vehicle is in a torque control mode, before switching the torque control mode to the speed control mode, the method further includes: Acquiring a current driving position of the vehicle and determining a distance between the current driving position and a target parking position; In response to determining that the distance is less than a preset distance threshold, a deceleration reminder message is generated and displayed.

10. The method according to claim 1, characterized in that The method further comprises: In response to receiving a deceleration control instruction and the motor of the vehicle is in a torque control mode, switching the torque control mode to a speed control mode; In the speed control mode, controlling the motor speed of the vehicle to decrease; In response to receiving an acceleration control instruction during a process in which the motor speed of the vehicle is reduced, switching the speed control mode to the torque control mode; The target output torque of the motor corresponding to the acceleration control instruction and the current output torque when the speed control mode is switched to the torque control mode are obtained, the current output torque is increased to the target output torque, and the vehicle is controlled to accelerate.

11. The method according to claim 1, characterized in that: The method further comprises: In response to receiving a deceleration control instruction, determining that the slope of the road on which the vehicle is located is less than a preset slope threshold, and controlling the vehicle to decelerate through a speed control mode of the motor; In response to the vehicle decelerating to a stop, the electric braking force corresponding to the speed control mode of the motor is switched to the mechanical braking force of the mechanical brake system to maintain the vehicle in a stopped state.

12. The method according to claim 11, characterized in that In response to the vehicle decelerating to a stop, the motor braking force corresponding to the speed control mode of the motor is switched to the mechanical braking force of the mechanical braking system to maintain the parking state of the vehicle, and the method further includes: In response to determining that an acceleration control instruction is received, determining a target driving force of the motor corresponding to the acceleration control instruction; In response to determining that the target driving force is less than the motor driving force when controlling the vehicle to decelerate to a stop, controlling the vehicle to maintain a stopped state; or, In response to determining that the target driving force is greater than or equal to the motor braking force when controlling the vehicle to decelerate to a stop, the current driving force of the motor of the vehicle is obtained, the current driving force is increased, and the mechanical braking force is reduced to control the vehicle to accelerate.

13. A parking control device, characterized in that: include: A processor, wherein the processor is configured to execute the following program modules stored in the memory: a mode switching module, configured to switch the torque control mode to the speed control mode in response to determining that a deceleration control instruction is received and the motor of the vehicle is in the torque control mode; A speed regulating module, used for controlling the motor speed of the vehicle to decrease in a speed control mode; A speed determination module, used for adjusting the driving speed of the vehicle according to the motor speed; The mode exit module is used to obtain the adjusted driving speed, and exit the speed control mode in response to determining that the motor speed and the adjusted driving speed are both stopped.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 12 is implemented.

15. A vehicle, characterized in that: Includes the parking control device according to claim 13 or the electronic device according to claim 14.

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