Parking method, vehicle, and storage medium

Abstract

Provided in the present disclosure are a parking method, a vehicle, and a storage medium. The method is applied to the field of automobile braking, and comprises: receiving a parking signal sent by a communication apparatus; detecting whether a parking mechanism, which corresponds to another parking chip, fails, wherein the parking mechanism is one of a first parking apparatus or a second parking apparatus; and when it is detected that the parking mechanism, which corresponds to another parking chip, fails, on the basis of a pre-stored standby parking strategy, driving the corresponding parking mechanism to perform parking.

Description

Parking method, vehicle, and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on the Chinese patent application with application number 202311595757.5 and application date of November 27, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this disclosure as a reference. Technical Field

[0003] The present disclosure relates to the field of automobile braking technology, and in particular to a parking method, a vehicle, and a storage medium. Background Art

[0004] In related technologies, the shortcomings of traditional mechanical parking brake systems are circumvented by adopting an electronic parking system, namely EPB (Electrical Park Brake). EPB has higher precision and control performance and is the core parking system for realizing advanced vehicle assisted driving, automatic driving and deep braking energy recovery.

[0005] However, in related technologies, the parking brake system has high requirements for the main chip and the corresponding parking mechanism. The parking mechanism affects whether the vehicle can complete the parking brake action. Once a fault occurs, it will be difficult to ensure the safety of the parking brake, and improvement is urgently needed.

[0006] Summary of the Invention

[0007] The present disclosure provides a parking method, a vehicle, and a storage medium. The method can utilize a backup parking strategy pre-stored in the present parking chip to drive the corresponding parking mechanism to park when the parking mechanism corresponding to other parking chips fails, thereby realizing redundant parking of the vehicle and preventing vehicle body imbalance during parking due to parking failure of the parking mechanisms corresponding to some parking chips, thereby improving vehicle body stability in the case of parking mechanism failure and improving parking safety.

[0008] In a first aspect, a parking method is provided, wherein a vehicle includes a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, a first control component for driving the first parking device, a second control component for driving the second parking device, and a communication device for communicating with the first control component or the second control component, wherein the first control component includes a first parking chip and a second parking chip, and the second control component includes a third parking chip and a fourth parking chip, wherein the first parking chip, the second parking chip, the third parking chip, and the fourth parking chip communicate with each other. The method is applicable to any parking chip and includes the following steps:

[0009] receiving a parking signal sent by the communication device;

[0010] Detecting whether a parking mechanism corresponding to another parking chip is invalid, wherein the parking mechanism is one of the first parking device or the second parking device; and

[0011] When it is detected that the parking mechanism corresponding to the other parking chip fails, the parking mechanism corresponding to the other parking chip is driven to park according to a pre-stored backup parking strategy.

[0012] Through the above technical approach, when the parking mechanism corresponding to other parking chips fails, the backup parking strategy pre-stored in this parking chip can be used to drive the corresponding parking mechanism to park, thereby realizing redundant parking of the vehicle and preventing the vehicle body from being unbalanced during parking due to the failure of the parking mechanism corresponding to some parking chips, thereby improving the vehicle body stability when the parking mechanism fails and improving parking safety.

[0013] In conjunction with the first aspect, in some possible implementations, detecting whether the parking mechanism corresponding to the other parking chip is invalid includes:

[0014] Determining whether the driving power of the solenoid valve push rod of the vehicle meets a preset current condition;

[0015] Determine whether the push rod of the search solenoid valve is in the preset position;

[0016] The response status and / or feedback data of the parking mechanism are obtained, and whether the parking mechanism fails is determined in combination with the posture relationship between each parking mechanism.

[0017] Through the above technical approach, it is possible to determine whether the parking mechanism corresponding to the parking chip has failed, so as to determine the parking strategy.

[0018] In conjunction with the first aspect, in some possible implementations, before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes:

[0019] Obtain failure information of parking mechanisms corresponding to other parking chips;

[0020] The corresponding backup parking strategy is matched according to the failure information.

[0021] Through the above technical approach, the corresponding backup parking strategy can be matched according to the failure information to achieve more targeted redundant parking for different failure situations and ensure the stability of vehicle parking.

[0022] In conjunction with the first aspect, in some possible implementations, before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes:

[0023] detecting an actual failure type of the parking mechanism corresponding to the other parking chips;

[0024] The backup parking strategy is determined according to the actual failure type.

[0025] Through the above technical approach, the corresponding backup parking strategy can be determined according to the actual failure type of the parking mechanism, thereby achieving more targeted redundant parking for different failure types and ensuring the smoothness of vehicle parking.

[0026] In combination with the first aspect, in some possible implementations, the actual failure type includes at least one of a control component failure of the parking mechanism, a receiving module failure, a clamping module failure, a parking execution module failure, and a signal feedback failure.

[0027] In conjunction with the first aspect, in some possible implementations, before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes:

[0028] Obtaining historical parking data or last parking data of the parking mechanism corresponding to the other parking chip;

[0029] A new parking strategy is generated according to the historical parking data or the last parking data in combination with the current parking strategy of the parking chip as the backup parking strategy.

[0030] Through the above technical approach, the backup parking strategy can be modified according to historical parking data or the last parking data, so that the backup parking strategy can be consistent with the driver's historical parking habits.

[0031] In conjunction with the first aspect, in certain possible implementations, generating a new parking strategy based on the historical parking data or the last parking data in combination with the current parking strategy of the parking chip as the backup parking strategy includes:

[0032] determining whether the historical parking data or the historical parking condition corresponding to the last parking data is consistent with the current parking condition of the vehicle;

[0033] If the historical parking conditions are inconsistent with the current parking conditions, the driver's parking preference is extracted from the historical parking data or the last parking data, and the new parking strategy is generated based on the parking preference and the current parking strategy.

[0034] Through the above technical approach, a parking strategy can be generated according to parking preferences when historical parking data does not match the current parking conditions.

[0035] In conjunction with the first aspect, in some possible implementations, driving the parking mechanism corresponding to the other parking chip to park the vehicle according to the pre-stored backup parking strategy includes:

[0036] Obtain parking information of all disabled parking mechanisms;

[0037] simulating the parking effect according to the parking information, the backup parking strategy, and the parking information of all the parking mechanisms that have not failed, to obtain a simulation result;

[0038] detecting whether the simulation result satisfies a preset safe parking condition;

[0039] When it is detected that the simulation result satisfies the preset safe parking condition, the parking mechanism corresponding to the other parking chip is driven to park according to the backup parking strategy.

[0040] Through the above technical approach, parking simulation can be performed using the backup parking strategy based on the parking information of all parking mechanisms of the vehicle, so as to determine whether the backup parking strategy is safe and reliable based on the simulation results.

[0041] In conjunction with the first aspect, in some possible implementations, after detecting whether the simulation result satisfies a preset safe parking condition, the method further includes:

[0042] When it is detected that the simulation result does not meet the preset safe parking condition, the simulation result is pushed to a preset terminal.

[0043] Through the above technical approach, when the simulation results do not meet the preset safe parking conditions, the simulation results can be sent to the preset terminal in a timely manner to seek external help.

[0044] In conjunction with the first aspect, in some possible implementations, before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes:

[0045] Determining whether the pre-stored backup parking strategy meets a preset calling condition based on the vehicle information;

[0046] If the backup parking strategy does not meet the preset calling condition, a corresponding backup parking strategy is generated according to the vehicle information and the current parking strategies of other parking chips as the pre-stored backup parking strategy.

[0047] Through the above technical method, it is possible to determine whether the pre-stored backup parking strategy can be called, and if it cannot be called, a new backup parking strategy is generated based on the vehicle information and the current parking strategy of other parking chips, thereby ensuring that the backup parking strategy is always available when the vehicle's parking mechanism fails.

[0048] In conjunction with the first aspect, in some possible implementations, the method further includes:

[0049] When it is detected that the parking mechanism corresponding to the parking chip fails, the parking mechanism corresponding to the parking chip is driven to park, and the parking information of the parking mechanism corresponding to the parking chip and / or the parking strategy and / or control parameters of the parking chip are sent to the other parking chips.

[0050] Through the above technical solution, when the parking mechanism corresponding to the parking chip fails, the parking information of the parking mechanism corresponding to the parking chip and / or the parking strategy and / or control parameters of the parking chip can be transmitted to other parking chips, so that other parking chips can make corresponding adjustments to the parking strategy to ensure the stability of vehicle parking.

[0051] In a second aspect, a parking device is provided, wherein the vehicle includes a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, a first control component and a second control component respectively driving the first parking device and the second parking device, and a communication device communicating with the first control component or the second control component, wherein the first control component includes a first parking chip and a second parking chip, and the second control component includes a third parking chip and a fourth parking chip, wherein the device is applicable to any parking chip, and the device includes:

[0052] a receiving module, configured to receive the parking signal sent by the communication device;

[0053] a detection module, configured to detect whether a parking mechanism corresponding to another parking chip has failed, wherein the parking mechanism is one of the first parking device or the second parking device; and

[0054] The driving module is configured to drive the parking mechanism corresponding to the other parking chip to park the vehicle according to a pre-stored backup parking strategy when it is detected that the parking mechanism corresponding to the other parking chip fails.

[0055] With reference to the second aspect, in some possible implementations, the detection module includes:

[0056] a first judging unit, configured to judge whether the driving power of the solenoid valve push rod of the vehicle meets a preset current condition;

[0057] The second judging unit is used to judge whether the push rod of the search solenoid valve is in a preset position;

[0058] The third judgment unit is used to obtain the response status and / or feedback data of the parking mechanism, and judge whether the parking mechanism fails in combination with the posture relationship between each parking mechanism.

[0059] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0060] A first acquisition module is used to obtain failure information of parking mechanisms corresponding to other parking chips;

[0061] A matching module is used to match the corresponding backup parking strategy according to the failure information.

[0062] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0063] a detection module, configured to detect an actual failure type of the parking mechanism corresponding to the other parking chip;

[0064] A determination module is configured to determine the backup parking strategy according to the actual failure type.

[0065] In combination with the second aspect, in some possible implementations, the actual failure type includes at least one of a control component failure of the parking mechanism, a receiving module failure, a clamping module failure, a parking execution module failure, and a signal feedback failure.

[0066] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0067] A second acquisition module is used to obtain historical parking data or last parking data of the parking mechanism corresponding to the other parking chip;

[0068] The first generating module is configured to generate a new parking strategy as the backup parking strategy based on the historical parking data or the last parking data in combination with the current parking strategy of the parking chip.

[0069] With reference to the second aspect, in some possible implementations, the first generating module includes:

[0070] a fourth determining unit, configured to determine whether the historical parking data or the historical parking condition corresponding to the previous parking data is consistent with the current parking condition of the vehicle;

[0071] A generating unit is configured to extract the driver's parking preference from the historical parking data or the last parking data when the historical parking condition is inconsistent with the current parking condition, and generate the new parking strategy based on the parking preference and the current parking strategy.

[0072] With reference to the second aspect, in some possible implementations, the driving module includes:

[0073] an acquiring unit, configured to acquire parking information of all disabled parking mechanisms;

[0074] a simulation unit, configured to simulate the parking effect according to the parking information, the backup parking strategy, and the parking information of all the parking mechanisms that have not failed, and obtain a simulation result;

[0075] a detection unit, configured to detect whether the simulation result satisfies a preset safe parking condition;

[0076] A driving unit is configured to drive the parking mechanism corresponding to the other parking chip to park the vehicle according to the backup parking strategy when it is detected that the simulation result satisfies the preset safe parking condition.

[0077] In combination with the second aspect, in some possible implementations, the driving module is further configured to push the simulation result to a preset terminal when it is detected that the simulation result does not meet the preset safe parking condition.

[0078] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0079] A judgment module, configured to judge whether the pre-stored backup parking strategy meets a preset calling condition based on the vehicle information;

[0080] The second generating module is configured to generate a corresponding backup parking strategy as the pre-stored backup parking strategy based on the vehicle information and the current parking strategies of other parking chips when the backup parking strategy does not meet the preset calling condition.

[0081] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0082] The control module is used to drive the parking mechanism corresponding to the parking chip to park the vehicle when detecting that the parking mechanism corresponding to the parking chip fails, and at the same time send the parking information of the parking mechanism corresponding to the parking chip and / or the parking strategy and / or control parameters of the parking chip to the other parking chips.

[0083] In a third aspect, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parking method as described in the above embodiment.

[0084] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the parking method in the first aspect or any possible implementation of the first aspect.

[0085] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0087] FIG1a is a schematic diagram of a system architecture of a parking method according to an embodiment of the present disclosure;

[0088] FIG1 b is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0089] FIG2 is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0090] FIG3 is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0091] FIG4 is a flow chart of a parking method provided according to an embodiment of the present disclosure;

[0092] FIG5a is a first structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0093] FIG5 b is a second structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0094] FIG5c is a third structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0095] FIG5 d is a fourth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0096] FIG5e is a fifth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0097] FIG5f is a sixth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0098] FIG5g is a seventh structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0099] FIG5h is a structural schematic diagram eight of a parking device provided according to an embodiment of the present disclosure;

[0100] FIG5i is a ninth structural diagram of a parking device according to an embodiment of the present disclosure;

[0101] FIG6 is a schematic structural diagram of a vehicle provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0102] The technical solutions in the present disclosure will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present disclosure, "multiple" means two or more than two.

[0103] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0104] The traditional parking brake system is in the form of a mechanical parking brake handle, which can lock the drive shaft or rear wheel for braking through a lever and a cable. When the driver needs to stop the vehicle, the driver can manually pull up the parking brake lever to contact the brake plate with the wheel and stop the vehicle from moving forward. This is cumbersome and laborious, and is greatly affected by the terrain. The braking effect is poor when the terrain is uneven, and the risk of accidents is greater. In addition, since the operation of mechanical parking requires driver intervention, it is not compatible with autonomous driving technology, which has imposed certain restrictions on the future development of automobiles.

[0105] Based on improvements to traditional parking brake systems, related technologies can achieve electronic parking brakes through EPB (Electrical Park Brake) with higher precision and control performance, thereby reducing driver intervention, reducing the impact of terrain factors on braking effectiveness, improving parking brake safety, and providing an auxiliary braking and parking foundation for autonomous driving technology. However, EPB requires a parking mechanism to achieve vehicle deceleration and parking control. When the parking mechanism fails, it often causes the vehicle to lose control while parking, resulting in major safety accidents, making it difficult to ensure parking brake safety and not conducive to improving the driver's driving experience.

[0106] Before explaining the parking method provided by the embodiment of the present disclosure, the system architecture involved in the embodiment of the present disclosure is first explained.

[0107] Next, the application scenario or system architecture of the embodiment of the present disclosure will be described. See Figures 1a, 1b, 2 and 3.

[0108] 1a , 1b and 2 , the system architecture of the embodiment of the present disclosure may include: a first parking device 100 , a second parking device 200 , a first control component 300 , a second control component 400 and a communication device 500 .

[0109] The first parking device 100 and the second parking device 200 are respectively provided corresponding to the front wheels and the rear wheels;

[0110] The first control component 300 includes a first parking chip 301 and a second parking chip 302;

[0111] The second control component 400 includes a third parking chip 401 and a fourth parking chip 402;

[0112] The first control component 300 drives the first parking device 100 to perform a parking action;

[0113] The second control component 400 can drive the second parking device 200 to perform a parking action;

[0114] The communication device 500 can communicate with the first control component 300 or the second control component 400, and after the communication device 500 sends a parking signal to either control component, either control component forwards the parking signal to the other control component to realize the transmission of the parking signal, wherein the first control component 300 and the second control component 400 can communicate with each other, and the first parking chip 301, the second parking chip 302, the third parking chip 401 and the fourth parking chip 402 can communicate with each other.

[0115] Specifically, as shown in FIG3 , the first control component 300 and the second control component 400 may be a front controller and a rear controller, respectively, to control corresponding parking mechanisms, such as an EMB (Electromechanical Brake System) actuator, based on the relationship between the first parking device 100 and the second parking device 200 and the corresponding settings of the front wheels and the rear wheels, respectively.

[0116] The communication device 500 receives signals from the first control component 300 and the second control component 400 respectively, and as a redundancy, ensures that after the first control component 300 and the second control component 400 fail, the communication device 500 can still send instructions to the parking mechanism actuators of the four wheels through the parking chip.

[0117] The power supplies are respectively used to supply power to the four parking mechanism actuators, the first control assembly 300 and the second control assembly 400. One of the power supplies is a redundant power supply to prevent the electronic parking system from not working due to a power failure.

[0118] FIG4 is a schematic flowchart of a parking method provided in an embodiment of the present disclosure.

[0119] Exemplarily, as shown in FIG4 , the parking method includes the following steps:

[0120] In step S401 , a parking signal sent by a communication device is received.

[0121] During the actual implementation process, any parking chip of the embodiment of the present disclosure can receive the parking signal sent by the communication device, thereby generating a corresponding parking strategy based on the parking signal, so as to control the corresponding parking mechanism to park through the parking strategy. At the same time, the parking signal can also be forwarded to other parking chips to improve the signal transmission efficiency and transmission quality.

[0122] In step S402 , it is detected whether the parking mechanism corresponding to the other parking chip is invalid, wherein the parking mechanism is one of the first parking device or the second parking device.

[0123] It is understandable that the parking mechanism corresponding to the parking chip may fail, wherein the reasons for the failure may include that the parking strategy in the parking chip cannot be sent to the parking mechanism, the parking chip cannot receive the feedback signal from the parking mechanism, etc.; the corresponding consequences of the failure may be that the parking chip cannot adjust the parking strategy according to the actual parameters of the parking mechanism in a timely manner, etc.

[0124] When only some of the parking mechanisms corresponding to the parking chips fail, the remaining parking mechanisms execute the parking strategy according to the corresponding parking chips, while the failed parking mechanisms cannot execute the same parking strategy, which can easily cause the vehicle to become unbalanced when parking, thereby causing a traffic accident.

[0125] Optionally, in one embodiment of the present disclosure, detecting whether the parking mechanism corresponding to other parking chips has failed includes: determining whether the driving power of the vehicle's solenoid valve push rod meets a preset current condition; determining whether the search solenoid valve push rod is in a preset position; obtaining the response status and / or feedback data of the parking mechanism, and determining whether the parking mechanism has failed in combination with the posture relationship between each parking mechanism.

[0126] The method for detecting whether the parking mechanism has failed may include:

[0127] Whether the solenoid valve push rod driving current is in place, and whether there is poor contact, short circuit, etc. can be judged by the current size;

[0128] Use a displacement sensor to detect whether the solenoid valve push rod has reached the expected physical position;

[0129] The solenoid valve push rod cancels the driving state (due to the characteristics of the push rod, the push rod will remain in place), the brake motor driving current slowly decreases, and observe whether the driving motor angle changes;

[0130] The parking chip sends a corresponding signal to the parking mechanism to detect the response status of the parking mechanism, or determines whether the parking chip can receive the data fed back by the parking mechanism. When the data fed back by the parking mechanism can be received, the data is compared with the data received by other parking chips to determine whether the difference between the data is consistent with the posture relationship between different parking mechanisms.

[0131] By using the above method, it is possible to detect whether the parking mechanism is faulty or ineffective.

[0132] Therefore, the embodiment of the present disclosure can detect whether the parking mechanism corresponding to other parking chips has failed, provided that the parking mechanism corresponding to the present parking chip has not failed, wherein the parking mechanism is one of the first parking device or the second parking device.

[0133] It should be noted that the failure of the parking mechanism corresponding to this parking chip will be explained below.

[0134] In step S403 , when it is detected that the parking mechanism corresponding to the other parking chip fails, the parking mechanism corresponding to the other parking chip is driven to park according to the pre-stored backup parking strategy.

[0135] The embodiment of the present disclosure can drive the parking mechanisms corresponding to other parking chips to park according to a pre-stored backup parking strategy when it is detected that the parking mechanisms corresponding to other parking chips have failed, that is, when the parking strategies in other parking chips cannot be transmitted to the parking mechanisms corresponding to other parking chips, thereby achieving that each parking mechanism can participate in vehicle braking while maintaining the vehicle's body stability when parking.

[0136] Among them, the backup parking strategy will be explained below.

[0137] Optionally, in one embodiment of the present disclosure, before driving the parking mechanisms corresponding to other parking chips to park according to the pre-stored backup parking strategy, it also includes: obtaining failure information of the parking mechanisms corresponding to other parking chips; and matching the corresponding backup parking strategy according to the failure information.

[0138] In some embodiments, the backup parking strategy can be obtained by matching the failure information of the parking mechanisms corresponding to other parking chips.

[0139] The failure information may include failure type, failure signal, failure value, etc. The disclosed embodiment can match the corresponding backup parking strategy according to the failure information, so that the backup parking strategy can achieve more targeted redundant parking for different failure situations and ensure the smooth parking of the vehicle.

[0140] For example, based on the different failure types, such as failure of the parking device control component or the parking mechanism receiving module, the corresponding backup parking strategy matched by the embodiment of the present disclosure may be to enable other non-failed components or modules, or to attempt to restart.

[0141] Optionally, in one embodiment of the present disclosure, before driving the parking mechanisms corresponding to other parking chips to park according to a pre-stored backup parking strategy, it also includes: detecting the actual failure type of the parking mechanisms corresponding to other parking chips; and determining the backup parking strategy according to the actual failure type.

[0142] In other embodiments, the embodiments of the present disclosure may also determine a backup parking strategy based on actual failure types of parking mechanisms corresponding to other parking chips.

[0143] Optionally, in one embodiment of the present disclosure, the actual failure type includes at least one of a control component failure of the parking mechanism, a receiving module failure, a clamping module failure, a parking execution module failure, and a signal feedback failure.

[0144] Among them, the actual failure types of the parking mechanism may include: occasional failure of the control components of the parking mechanism; failure of the parking mechanism receiving module (such as drive failure, signal failure, wherein the failure cause may be wiring harness failure, plug-in failure, etc.); occasional failure of the clamping module (such as occasional failure of the clamping module, jamming, incomplete execution, etc.); occasional failure of the parking execution module (such as occasional failure of the parking execution module, jamming, incomplete execution, etc.); signal feedback failure, etc.

[0145] When the failure information indicates that the parking mechanism's control component has failed, the corresponding backup parking strategy can be to reset the failed control component, similar to a reboot, retaining the driver's usage needs, and then attempt control after recovery. If the reset fails after three repeated attempts, it is determined that the control component cannot be restored in a short period of time, possibly due to a parking mechanism failure, and the parking operation is performed by another parking mechanism. The control component may include an electronic control unit, a chip, a communication structure, etc., and can be specifically configured by those skilled in the art based on the actual connection method of the parking mechanism.

[0146] When the failure information indicates that the parking mechanism receiving module has failed, the corresponding backup parking strategy may be that the parking mechanism receiving module has failed, resulting in the parking mechanism being unable to execute. It is determined that the control component cannot be restored in a short time, which may be a parking mechanism failure, and the parking operation is performed by other parking mechanisms.

[0147] When the failure information is a clamping module failure, the corresponding backup parking strategy can be to reset the failed clamping module component, similar to a restart, to retain the user's usage needs, and try to control after recovery. If it occurs three times within a period of time, it is determined that the availability of the clamping component in the wheel clamping module is low, which may be a parking mechanism failure, and the parking operation is performed by other parking mechanisms;

[0148] When the failure information indicates a signal feedback failure, the corresponding backup parking strategy can be: if the relevant detection method can determine the execution status, the execution result will be used as the basis. If it is available, the parking brake function of the wheel will be maintained. If it is unavailable, the parking brake will be downgraded and other parking mechanisms will perform the parking operation to ensure the clamping force. If the relevant detection methods cannot determine the execution status, the unavailability is considered low and other parking mechanisms will perform the parking operation to ensure the clamping force.

[0149] Through the above technical approach, the corresponding backup parking strategy can be determined according to the actual failure type of the parking mechanism, thereby achieving more targeted redundant parking for different failure types and ensuring the smoothness of vehicle parking.

[0150] Optionally, in one embodiment of the present disclosure, before driving the parking mechanism corresponding to other parking chips to park according to the pre-stored backup parking strategy, it also includes: obtaining historical parking data or last parking data of the parking mechanism corresponding to other parking chips; generating a new parking strategy as the backup parking strategy based on the historical parking data or last parking data combined with the current parking strategy of the current parking chip.

[0151] The disclosed embodiment can also obtain a new parking strategy based on historical parking data or the last parking data in combination with the current parking strategy of the parking chip, so that the backup parking strategy can be consistent with the driver's historical parking habits.

[0152] Among them, historical parking data or the last parking data can facilitate the embodiment of the present disclosure to assist the vehicle in parking with the parking strategy that has been used before under the same or similar circumstances, thereby improving the matching degree between the parking strategy and the current parking condition. Combined with the current parking strategy of this parking chip, the parking strategy can be made more suitable when there may be changes in the working conditions.

[0153] Optionally, in one embodiment of the present disclosure, a new parking strategy is generated as a backup parking strategy based on historical parking data or the previous parking data combined with the current parking strategy of the parking chip, including: determining whether the historical parking conditions corresponding to the historical parking data or the previous parking data are consistent with the current parking conditions of the vehicle; if the historical parking conditions are inconsistent with the current parking conditions, extracting the driver's parking preference from the historical parking data or the previous parking data, and generating a new parking strategy based on the parking preference and the current parking strategy.

[0154] When the parking condition of the vehicle in the historical parking data or the last parking data is different from the current parking condition, the embodiment of the present disclosure can extract the driver's parking preferences, such as efficient parking preference, smooth parking preference, etc., from the historical parking data or the last parking data, and thus generate a new parking strategy based on the parking preferences and the current parking strategy of the parking chip. For example, based on the deceleration-brake pedal stroke relationship in the vehicle's historical data, the driver's parking preference is determined, so as to determine whether the deceleration-brake pedal stroke relationship in the current parking strategy matches the deceleration-brake pedal stroke relationship in the historical data. If there is no match, the deceleration-brake pedal stroke relationship in the current parking strategy is corrected to the historical data, or the intermediate value between the current parking strategy and the historical data is taken to obtain a new parking strategy.

[0155] Optionally, in one embodiment of the present disclosure, parking mechanisms corresponding to other parking chips are driven to park according to a pre-stored backup parking strategy, including: obtaining parking information of all failed parking mechanisms; simulating parking effects according to the parking information, the backup parking strategy and the parking information of all non-failed parking mechanisms to obtain simulation results; detecting whether the simulation results meet preset safe parking conditions; and if it is detected that the simulation results meet the preset safe parking conditions, driving the parking mechanisms corresponding to other parking chips to park according to the backup parking strategy.

[0156] During the actual implementation process, the embodiment of the present disclosure can also perform simulation based on the parking information of all failed parking mechanisms, backup parking strategies and parking information of non-failed parking mechanisms, and determine whether the simulation results meet the preset safe parking conditions, wherein the preset safe parking conditions can be whether the parking position is the target parking position when the vehicle completes parking, whether the wheels of the vehicle return to the straight position after parking, whether there is a possibility of sliding down the slope after parking, whether the vehicle can complete parking within the expected parking time, etc.; the parking information of the failed parking mechanism may include parking mechanism fault alarm signal data, parking mechanism failure information, failure type, status information, the number of failed parking mechanisms, etc., to determine the specific failed components of the parking mechanism and the posture relationship between the failed parking mechanisms, and determine the posture relationship between the failed parking mechanism and the non-failed parking mechanism. The parking information of the non-failed parking mechanism may include no parking mechanism fault alarm signal, parking mechanism position information, etc.

[0157] When the simulation result meets the preset safety condition, the embodiment of the present disclosure can use the current backup parking strategy to park the vehicle, so as to determine whether the backup parking strategy is safe and reliable based on the simulation result.

[0158] Optionally, in one embodiment of the present disclosure, after detecting whether the simulation result meets the preset safe parking condition, the method further includes: if it is detected that the simulation result does not meet the preset safe parking condition, pushing the simulation result to a preset terminal.

[0159] When the simulation results do not meet the preset safety conditions, the embodiment of the present disclosure can determine that the current backup parking strategy is not applicable to the current parking condition, and re-match a new backup parking strategy, or send a parking warning to the driver to notify the driver to take over parking control. For example, the driver issues an emergency parking command, and then achieves parking by triggering the backup emergency parking structure, such as an additional emergency clamping device, backup brake pads, etc.

[0160] The disclosed embodiment can also push the simulation results to a preset terminal, such as a vehicle manufacturer terminal, a maintenance terminal, etc., so as to determine the cause of the fault based on the simulation results and provide driving operation suggestions to the driver, and also facilitate the maintenance terminal to prepare maintenance strategies in advance.

[0161] Optionally, in one embodiment of the present disclosure, before driving the parking mechanism corresponding to other parking chips to park according to the pre-stored backup parking strategy, it also includes: judging whether the pre-stored backup parking strategy meets the preset call condition based on the vehicle's entire vehicle information; if the backup parking strategy does not meet the preset call condition, generating a corresponding backup parking strategy based on the entire vehicle information and the current parking strategy of the other parking chips as the pre-stored backup parking strategy.

[0162] As a possible implementation method, the embodiment of the present disclosure can also determine whether a pre-stored parking strategy meets the preset call conditions based on the vehicle's entire vehicle information, wherein the entire vehicle information may include the vehicle's current slope, vehicle load estimation (such as evaluating the vehicle's real-time load through acceleration and deceleration, such as 2 people and the actual vehicle's current weight of 2500Kg), vehicle brake pedal sensitivity (such as the deceleration-brake pedal relationship), etc. The preset call conditions may include determining whether the vehicle can achieve smooth parking after simulating the implementation of the backup parking strategy.

[0163] When the backup parking strategy does not meet the preset calling conditions, the embodiment of the present disclosure can generate a corresponding backup parking strategy based on the vehicle information and the current parking strategy of other parking chips. For example, the slope is α, the actual vehicle load mg, mgtanα is the component force to overcome gravity, and the parking strategy is to make full use of the effective parking mechanism to meet the component force requirement and avoid sliding down the slope. That is, the corresponding backup parking strategy generated by the embodiment of the present disclosure can be parking force ≥ mgtanα.

[0164] When the backup parking strategy meets the preset calling conditions, the embodiment of the present disclosure can use the pre-stored backup parking strategy for parking.

[0165] Through the above technical method, it is possible to determine whether the pre-stored backup parking strategy can be called, and if it cannot be called, a new backup parking strategy is generated based on the vehicle information and the current parking strategy of other parking chips, thereby ensuring that the backup parking strategy is always available when the vehicle's parking mechanism fails.

[0166] Optionally, in one embodiment of the present disclosure, it also includes: when it is detected that the parking mechanism corresponding to the parking chip fails, the parking mechanism corresponding to the parking chip is driven to park, and the parking information of the parking mechanism corresponding to the parking chip and / or the parking strategy and / or control parameters of the parking chip are sent to other parking chips.

[0167] During the actual implementation process, there may be a situation where the parking mechanism corresponding to the parking chip fails. At this time, the embodiment of the present disclosure can drive the parking mechanism corresponding to the parking chip to use the backup parking strategy to park the vehicle, while sending the parking information and / or the parking strategy and / or control parameters of the parking mechanism corresponding to the parking chip to other parking chips corresponding to the parking mechanisms that have not failed, so that other parking chips can make corresponding adjustments to the parking strategies to ensure the stability of vehicle parking.

[0168] For example, the braking force is estimated based on the execution angle of the parking mechanism, and the control parameters are based on the execution angle. The corresponding other parking mechanisms can refer to this parameter. If the parking braking force is judged to be small based on the control parameters sent by this parking chip, other parking chips can correspondingly increase the braking force in the control parameters of the corresponding parking mechanism, thereby achieving vehicle body stability.

[0169] In summary, the present disclosure can, through the above-mentioned technical means, utilize the backup parking strategy pre-stored in the present parking chip to drive the corresponding parking mechanism to park when the parking mechanism corresponding to other parking chips fails, thereby realizing redundant parking of the vehicle and preventing the vehicle body from being unbalanced during parking due to the parking failure of the parking mechanism corresponding to some parking chips, thereby improving the vehicle body stability when the parking mechanism fails and improving parking safety.

[0170] 5a-5i are schematic structural diagrams of a parking device provided in an embodiment of the present disclosure.

[0171] Exemplarily, as shown in FIG5 a , the parking device 50 includes: a receiving module 501 , a detecting module 502 and a driving module 503 .

[0172] Specifically, the receiving module 501 is configured to receive a parking signal sent by a communication device.

[0173] The detection module 502 is used to detect whether the parking mechanism corresponding to the other parking chip is invalid, wherein the parking mechanism is one of the first parking device or the second parking device.

[0174] The driving module 503 is configured to drive the parking mechanisms corresponding to the other parking chips to park the vehicle according to a pre-stored backup parking strategy when it is detected that the parking mechanisms corresponding to the other parking chips fail.

[0175] Optionally, as shown in FIG. 5 b , in one embodiment of the present disclosure, the detection module 502 includes: a first judgment unit 5021 , a second judgment unit 5022 and a third judgment unit 5023 .

[0176] The first judgment unit 5021 is used to judge whether the driving power of the solenoid valve push rod of the vehicle meets the preset current condition.

[0177] The second judging unit 5022 is used to judge whether the push rod of the search solenoid valve is in a preset position.

[0178] The third judgment unit 5023 is used to obtain the response status and / or feedback data of the parking mechanism, and judge whether the parking mechanism is invalid based on the posture relationship between each parking mechanism.

[0179] Optionally, as shown in FIG. 5 c , in one embodiment of the present disclosure, the parking device 50 further includes: a first acquisition module 504 and a matching module 505 .

[0180] The first acquisition module 504 is configured to acquire failure information of parking mechanisms corresponding to other parking chips.

[0181] The matching module 505 is configured to match a corresponding backup parking strategy according to the failure information.

[0182] Optionally, as shown in FIG. 5 d , in one embodiment of the present disclosure, the parking device 50 further includes: a detection module 506 and a determination module 507 .

[0183] The detection module 506 is used to detect the actual failure type of the parking mechanism corresponding to other parking chips.

[0184] The determination module 507 is configured to determine a backup parking strategy according to the actual failure type.

[0185] Optionally, in one embodiment of the present disclosure, the actual failure type includes at least one of a control component failure of the parking mechanism, a receiving module failure, a clamping module failure, a parking execution module failure, and a signal feedback failure.

[0186] Optionally, as shown in FIG. 5 e , in one embodiment of the present disclosure, the parking device 50 further includes: a second acquisition module 508 and a first generation module 509 .

[0187] The second acquisition module 508 is configured to acquire historical parking data or last parking data of parking mechanisms corresponding to other parking chips.

[0188] The first generating module 509 is configured to generate a new parking strategy as a backup parking strategy based on historical parking data or last parking data combined with the current parking strategy of the parking chip.

[0189] Optionally, as shown in FIG. 5 f , in one embodiment of the present disclosure, the first generating module 509 includes: a fourth judging unit 5091 and a generating unit 5092 .

[0190] The fourth determination unit 5091 is configured to determine whether the historical parking data or the historical parking condition corresponding to the last parking data is consistent with the current parking condition of the vehicle.

[0191] The generating unit 5092 is configured to extract the driver's parking preference from the historical parking data or the last parking data when the historical parking condition is inconsistent with the current parking condition, and generate a new parking strategy based on the parking preference and the current parking strategy.

[0192] Optionally, as shown in FIG. 5 g , in one embodiment of the present disclosure, the driving module 503 includes: an acquisition unit 5031 , a simulation unit 5032 , a detection unit 5033 and a driving unit 5034 .

[0193] The acquiring unit 5031 is used to acquire parking information of all disabled parking mechanisms.

[0194] The simulation unit 5032 is used to simulate the parking effect according to the parking information, the backup parking strategy and the parking information of all the parking mechanisms that have not failed, and obtain a simulation result.

[0195] The detection unit 5033 is used to detect whether the simulation result meets the preset safe parking conditions.

[0196] The driving unit 5034 is used to drive the parking mechanisms corresponding to other parking chips to park the vehicle according to the backup parking strategy when it is detected that the simulation result meets the preset safe parking conditions.

[0197] Optionally, in one embodiment of the present disclosure, the driving module 503 is further configured to push the simulation result to a preset terminal when it is detected that the simulation result does not meet the preset safe parking condition.

[0198] Optionally, as shown in FIG. 5 h , in one embodiment of the present disclosure, the parking device 50 further includes: a judgment module 510 and a second generation module 511 .

[0199] The judgment module 510 is used to judge whether the pre-stored backup parking strategy meets the preset calling conditions according to the vehicle information.

[0200] The second generating module 511 is configured to generate a corresponding backup parking strategy as a pre-stored backup parking strategy based on the vehicle information and the current parking strategies of other parking chips when the backup parking strategy does not meet the preset calling condition.

[0201] Optionally, as shown in FIG. 5 i , in one embodiment of the present disclosure, the parking device 50 further includes: a control module 512 .

[0202] Among them, the control module 512 is used to drive the parking mechanism corresponding to the parking chip to park when it is detected that the parking mechanism corresponding to the parking chip fails, and at the same time send the parking information of the parking mechanism corresponding to the parking chip and / or the parking strategy and / or control parameters of the parking chip to other parking chips.

[0203] In summary, the present disclosure can, through the above-mentioned technical means, utilize the backup parking strategy pre-stored in the present parking chip to drive the corresponding parking mechanism to park when the parking mechanism corresponding to other parking chips fails, thereby realizing redundant parking of the vehicle and preventing the vehicle body from being unbalanced during parking due to the parking failure of the parking mechanism corresponding to some parking chips, thereby improving the vehicle body stability when the parking mechanism fails and improving parking safety.

[0204] FIG6 is a schematic diagram of the structure of a vehicle provided by an embodiment of the present disclosure. The vehicle may include:

[0205] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0206] When the processor 602 executes the program, the parking method provided in the above embodiment is implemented.

[0207] The vehicle also includes:

[0208] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0209] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0210] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0211] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to enable communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, control buses, and the like. For ease of illustration, FIG6 shows only one thick line, but this does not imply that there is only one bus or only one type of bus.

[0212] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0213] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0214] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above parking method is implemented.

[0215] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0216] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0217] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a custom logical function or step of a process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure pertain.

[0218] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0219] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0220] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0221] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0222] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. A person of ordinary skill in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A parking method, wherein: The vehicle comprises a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, a first control component driving the first parking device to work, a second control component driving the second parking device to work, and a communication device communicating with the first control component or the second control component, wherein the first control component comprises a first parking chip and a second parking chip, and the second control component comprises a third parking chip and a fourth parking chip, wherein the first parking chip, the second parking chip, the third parking chip and the fourth parking chip communicate with each other, and the method is applied to any parking chip, and comprises the following steps: receiving a parking signal sent by the communication device; Detecting whether the parking mechanism corresponding to the other parking chip fails, wherein the parking mechanism is one of the first parking device or the second parking device; and When it is detected that the parking mechanism corresponding to the other parking chip fails, the parking mechanism corresponding to the other parking chip is driven to park according to a pre-stored backup parking strategy.

2. The method according to claim 1, wherein: The detecting whether the parking mechanism corresponding to the other parking chips is invalid includes: Determining whether the driving power of the solenoid valve push rod of the vehicle meets a preset current condition; Determine whether the push rod of the search solenoid valve is in a preset position; The response status and / or feedback data of the parking mechanism are obtained, and whether the parking mechanism fails is determined in combination with the positional relationship between each parking mechanism.

3. The method according to claim 1, wherein: Before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes: Obtaining failure information of parking mechanisms corresponding to other parking chips; The corresponding backup parking strategy is matched according to the failure information.

4. The method according to claim 1, wherein: Before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes: Detecting the actual failure type of the parking mechanism corresponding to the other parking chips; The backup parking strategy is determined according to the actual failure type.

5. The method according to claim 4, wherein: The actual failure type includes at least one of a control component failure of the parking mechanism, a receiving module failure, a clamping module failure, a parking execution module failure, and a signal feedback failure.

6. The method according to claim 1, wherein: Before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes: Acquire historical parking data or last parking data of the parking mechanism corresponding to the other parking chip; A new parking strategy is generated according to the historical parking data or the last parking data in combination with the current parking strategy of the parking chip as the backup parking strategy.

7. The method according to claim 6, wherein: The generating a new parking strategy according to the historical parking data or the last parking data combined with the current parking strategy of the parking chip as the backup parking strategy includes: Determining whether the historical parking data or the historical parking condition corresponding to the last parking data is consistent with the current parking condition of the vehicle; If the historical parking condition is inconsistent with the current parking condition, the driver's parking preference is extracted from the historical parking data or the last parking data, and the new parking strategy is generated based on the parking preference and the current parking strategy.

8. The method according to any one of claims 1 to 7, wherein: The driving of the parking mechanism corresponding to the other parking chip to park the vehicle according to the pre-stored backup parking strategy includes: Obtain parking information of all invalid parking mechanisms; Simulating the parking effect according to the parking information, the backup parking strategy and the parking information of all the parking mechanisms that have not failed, to obtain a simulation result; Detecting whether the simulation result meets a preset safe parking condition; When it is detected that the simulation result satisfies the preset safe parking condition, the parking mechanism corresponding to the other parking chip is driven to park according to the backup parking strategy.

9. The method according to any one of claims 1 to 8, wherein: After detecting whether the simulation result meets the preset safe parking condition, the method further includes: When it is detected that the simulation result does not meet the preset safe parking condition, the simulation result is pushed to a preset terminal.

10. The method according to claim 1, wherein: Before driving the parking mechanism corresponding to the other parking chip to park according to the pre-stored backup parking strategy, the method further includes: Determining whether the pre-stored backup parking strategy meets a preset calling condition according to the vehicle information; If the backup parking strategy does not meet the preset calling condition, a corresponding backup parking strategy is generated according to the whole vehicle information and the current parking strategies of other parking chips as the pre-stored backup parking strategy.

11. The method according to claim 1, wherein: Also includes: When it is detected that the parking mechanism corresponding to the parking chip fails, the parking mechanism corresponding to the parking chip is driven to park, and at the same time, the parking information of the parking mechanism corresponding to the parking chip and / or the parking strategy and / or control parameters of the parking chip are sent to the other parking chips.

12. A vehicle, wherein: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parking device according to any one of claims 1 to 11.

13. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program, and when the computer program is executed, the parking method according to any one of claims 1 to 11 is implemented.

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