Parking method, vehicle, and storage medium

Abstract

A parking method, a vehicle, and a storage medium, said method being applicable to the field of automobile braking, and said method comprising: receiving a parking signal sent by a communication apparatus (500) or by another parking chip; on the basis of the parking signal, determining a current parking policy of a present parking chip; and, by using the current parking policy, driving a parking mechanism corresponding to the present parking chip to carry out parking, the parking mechanism being one parking mechanism included in a first parking apparatus (100) or a second parking apparatus (200).

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 202311595677.X and application date 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 the related art, although the parking brake system can use redundant parking strategies to achieve vehicle braking in the event of a fault, emergency braking using pre-stored fixed parking strategies is difficult to apply to different working conditions. As a result, when parking using redundant parking strategies, the vehicle body is difficult to maintain stability, posing a major safety hazard and requiring improvement.

[0006] Summary of the Invention

[0007] The present disclosure provides a parking method, a vehicle, and a storage medium. The method can receive parking commands from a communication device or other parking chips, eliminating the need for the communication device to simultaneously send parking commands to each parking chip, thereby improving signal transmission efficiency and reducing channel occupancy. The parking chip can determine the current parking strategy based on the parking signal, thereby meeting a variety of different working conditions, and controlling the vehicle to complete the parking action according to the current parking strategy, thereby achieving stable parking of the vehicle and improving the safety of vehicle parking. Moreover, each chip is independent of each other. When one chip fails, the other chips can still complete the parking action, thereby achieving redundant parking.

[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 to park, a second control component for driving the second parking device to park, 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, the second control component includes a third parking chip and a fourth parking chip, the first parking chip, the second parking chip, the third parking chip, and the fourth parking chip communicate with each other, the first parking device and the second parking device each include two parking mechanisms, wherein the method is applied to any parking chip and includes the following steps:

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

[0010] Determining a current parking strategy of the parking chip based on the parking signal; and

[0011] The current parking strategy is used to drive a parking mechanism corresponding to the parking chip to park the vehicle, wherein the parking mechanism is one of the first parking device or the second parking device.

[0012] Through the above-mentioned technical method, it is possible to receive parking instructions from a communication device or other parking chips, without the need for the communication device to uniformly and simultaneously send parking instructions to each parking chip, thereby improving signal transmission efficiency and reducing channel occupancy. The parking chip can determine the current parking strategy based on the parking signal, thereby meeting a variety of different working conditions, and controlling the vehicle to complete the parking action according to the current parking strategy, thereby achieving stable parking of the vehicle and improving the safety of vehicle parking. Moreover, each chip is independent of each other. When one chip fails, the other chips can still complete the parking action, thereby achieving redundant parking.

[0013] In conjunction with the first aspect, in some possible implementations, determining the current parking strategy of the parking chip includes:

[0014] Obtaining vehicle information of the vehicle;

[0015] The current parking strategy is determined based on the entire vehicle information and the position information of the wheels corresponding to the parking chip.

[0016] Through the above technical approach, the current parking strategy can be determined based on the vehicle's overall information and the wheel posture information corresponding to the parking chip, so that the current parking strategy can better meet parking requirements.

[0017] In conjunction with the first aspect, in some possible implementations, using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle includes:

[0018] Obtaining environmental information of the vehicle's current environment;

[0019] determining at least one control parameter of the current parking strategy according to the environmental information;

[0020] The target parking force of the parking mechanism is determined according to the at least one control parameter to control the parking mechanism corresponding to the parking chip to park.

[0021] Through the above technical method, the current parking strategy can be adjusted according to the environmental information of the vehicle's current environment, thereby determining the target parking force of the parking mechanism corresponding to the parking chip, so that the current parking strategy can be adapted to different environmental information, thereby ensuring the stability of vehicle parking.

[0022] In conjunction with the first aspect, in some possible implementations, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle, the method further includes:

[0023] Obtaining the actual service life of the wheel corresponding to the parking chip;

[0024] The current parking strategy is generated according to the actual service life and the initial parking strategy.

[0025] Through the above technical approach, the parking strategy can be adjusted according to the actual service life of the wheels to reduce wheel wear.

[0026] With reference to the first aspect, in certain possible implementations, generating the current parking strategy according to the actual service life and the initial parking strategy includes:

[0027] Determining whether the actual service life reaches a preset service life limit;

[0028] If the preset life limit is reached, the parking force of the wheels corresponding to the other parking chips is calculated, and the current parking strategy is generated based on the parking force and the initial parking strategy.

[0029] Through the above technical approach, the parking strategy can be adjusted according to whether the wheel has reached its life limit.

[0030] In conjunction with the first aspect, in some possible implementations, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle, the method further includes:

[0031] Obtaining the driver's driving habits and / or parking preferences;

[0032] The current parking strategy of the parking chip is adjusted according to the driving habits and / or the parking preferences to obtain a new current parking strategy, so as to utilize the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

[0033] Through the above technical approach, the parking strategy can be adjusted according to the driver's driving habits and / or parking preferences, so that the current parking strategy is more in line with the driver's habits or preferences, thereby improving the driver's driving experience.

[0034] In combination with the first aspect, in some possible implementations, the driving habits and / or parking preferences are obtained from historical parking signal frequencies and wavelengths of the vehicle.

[0035] Through the above technical approach, the driver's driving habits and / or parking preferences can be determined based on the vehicle's historical parking signal frequency and wavelength, so as to adjust the parking strategy.

[0036] In conjunction with the first aspect, in some possible implementations, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle, the method further includes:

[0037] Collecting at least one wheel parameter of the wheel corresponding to the parking chip;

[0038] The current parking strategy of the parking chip is adjusted according to the at least one wheel parameter to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park using the new current parking strategy.

[0039] Through the above technical approach, the parking strategy can be adjusted according to the wheel parameters of the corresponding wheel, reducing wheel wear while making the parking strategy more in line with the actual situation of the wheel and adjusting the wheel accordingly.

[0040] In combination with the first aspect, in some possible implementations, the parking signal includes at least one of a parking condition signal, a vehicle speed signal, a wheel parameter signal, and a parking environment condition signal.

[0041] Through the above technical approach, it is possible to determine through multiple channels whether the vehicle has parking needs.

[0042] In conjunction with the first aspect, in some possible implementations, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle, the method further includes:

[0043] detecting whether the vehicle meets a preset parking condition;

[0044] When it is detected that the preset parking condition is not met, a parking failure reminder is given to the driver.

[0045] Through the above technical approach, when the vehicle does not meet the preset parking conditions, a parking failure reminder can be issued, which makes it easier for the driver to take control and troubleshoot the fault in time.

[0046] In conjunction with the first aspect, in some possible implementations, while reminding the driver of parking failure, the method further includes:

[0047] generating a parking control recommendation reminder for the vehicle based on the vehicle information;

[0048] Pushing the parking control recommendation reminder to the driver.

[0049] Through the above technical approach, when the vehicle does not meet the preset parking conditions, a parking control recommendation reminder for the vehicle can be generated based on the vehicle information to provide a reference operation for the driver to control the parking of the vehicle.

[0050] 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 for driving the first parking device to park, a second control component for driving the second parking device to park, 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, the second control component includes a third parking chip and a fourth parking chip, the first parking chip, the second parking chip, the third parking chip, and the fourth parking chip communicate with each other, the first parking device and the second parking device each include two parking mechanisms, wherein the device is applied to any parking chip and includes:

[0051] A receiving module, configured to receive a parking signal sent by the communication device or other parking chip;

[0052] a determination module, configured to determine a current parking strategy of the parking chip based on the parking signal; and

[0053] A driving module is used to drive the parking mechanism corresponding to the parking chip to park the vehicle using the current parking strategy, wherein the parking mechanism is one of the first parking device or the second parking device.

[0054] With reference to the second aspect, in some possible implementations, the determining module includes:

[0055] A first acquiring unit, configured to acquire the entire vehicle information of the vehicle;

[0056] The first determining unit is used to determine the current parking strategy according to the vehicle information and the position information of the wheels corresponding to the parking chip.

[0057] With reference to the second aspect, in some possible implementations, the driving module includes:

[0058] A second acquiring unit, configured to acquire environmental information of the current environment of the vehicle;

[0059] a second determining unit, configured to determine at least one control parameter of the current parking strategy according to the environmental information;

[0060] The third determining unit is configured to determine a target parking force of the parking mechanism according to the at least one control parameter, so as to control the parking mechanism corresponding to the parking chip to park.

[0061] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0062] A first acquisition module is used to obtain the actual service life of the wheel corresponding to the parking chip;

[0063] A generating module is configured to generate the current parking strategy according to the actual service life and the initial parking strategy.

[0064] With reference to the second aspect, in some possible implementations, the generating module includes:

[0065] A first judging unit, configured to judge whether the actual service life reaches a preset service life limit;

[0066] A calculation unit is used to calculate the parking force of the wheels corresponding to the other parking chips when the preset life limit is reached, and generate the current parking strategy based on the parking force and the initial parking strategy.

[0067] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0068] a second acquisition module, configured to acquire the driver's driving habits and / or parking preferences;

[0069] The first adjustment module is used to adjust the current parking strategy of the parking chip according to the driving habits and / or the parking preferences to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park using the new current parking strategy.

[0070] In conjunction with the second aspect, in some possible implementations, the driving habits and / or parking preferences are obtained from historical parking signal frequencies and wavelengths of the vehicle.

[0071] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0072] a collection module, configured to collect at least one wheel parameter of a wheel corresponding to the parking chip;

[0073] The second adjustment module is used to adjust the current parking strategy of the parking chip according to the at least one wheel parameter to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park using the new current parking strategy.

[0074] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0075] A detection module, configured to detect whether the vehicle meets a preset parking condition;

[0076] The reminder module is used to remind the driver of parking failure when it is detected that the preset parking conditions are not met.

[0077] In combination with the second aspect, in some possible implementations, the reminder module is further used to generate a parking control recommendation reminder for the vehicle based on the entire vehicle information of the vehicle; and push the parking control recommendation reminder to the driver.

[0078] In a third aspect, a car 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.

[0079] 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.

[0080] 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

[0081] The above and 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:

[0082] FIG1a is a schematic diagram of a system architecture of a parking method according to an embodiment of the present disclosure;

[0083] FIG1 b is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0084] FIG2 is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0085] FIG3 is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0086] FIG4 is a flow chart of a parking method provided according to an embodiment of the present disclosure;

[0087] FIG5a is a first structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0088] FIG5 b is a second structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0089] FIG5c is a third structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0090] FIG5 d is a fourth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0091] FIG5e is a fifth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0092] FIG5f is a sixth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0093] FIG5g is a seventh structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0094] FIG5h is a structural schematic diagram eight of a parking device provided according to an embodiment of the present disclosure;

[0095] FIG6 is a schematic structural diagram of a vehicle provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0096] 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.

[0097] 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.

[0098] 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, because the operation of the mechanical parking system requires driver intervention, it is not compatible with autonomous driving technology, which has imposed certain restrictions on the future development of automobiles.

[0099] 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 a supporting basis for braking and parking in autonomous driving technology. However, while parking brake systems can use parking strategies to achieve vehicle braking, braking based on pre-stored fixed parking strategies is difficult to adapt to different operating conditions, resulting in difficulty in maintaining vehicle stability during parking, posing a significant safety hazard.

[0100] 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.

[0101] Next, the applicable scenarios or system architectures of the embodiments of the present disclosure will be exemplified, referring to Figures 1a, 1b, 2, and 3.

[0102] 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 .

[0103] The first parking device 100 and the second parking device 200 are respectively provided corresponding to the front wheels and the rear wheels;

[0104] Each parking device controls the wheels by driving the corresponding parking mechanism, and each parking mechanism is provided corresponding to one wheel of the vehicle;

[0105] The first control component 300 includes a first parking chip 301 and a second parking chip 302;

[0106] The second control component 400 includes a third parking chip 401 and a fourth parking chip 402;

[0107] The first control assembly 300 and the second control assembly 400 can respectively drive the first parking device 100 and the second parking device 200;

[0108] 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.

[0109] Specifically, as shown in Figure 3, the first control component 300 and the second control component 400 can be a front controller and a rear controller, respectively, to control the corresponding parking mechanism, 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 wheels.

[0110] The communication device 500 receives signals from the first control component 300 and the second control component 400 respectively, and as 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 mechanisms of the four wheels through the parking chip.

[0111] The power supplies are respectively used to supply power to the four parking mechanisms, 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.

[0112] FIG4 is a schematic flowchart of a parking method provided in an embodiment of the present disclosure.

[0113] Exemplarily, as shown in FIG4 , the parking method is applied to any parking chip, and includes the following steps:

[0114] In step S401, a parking signal sent by a communication device or other parking chip is received.

[0115] During the actual implementation process, the embodiments of the present disclosure can be applied to any parking chip, and then receive the parking signal sent by the communication device, forward the parking signal to other parking chips, or receive the parking signal forwarded by other parking chips. There is no need for the communication device to uniformly send the parking signal to all parking chips, thereby ensuring the efficiency and quality of signal transmission.

[0116] In step S402 , the current parking strategy of the parking chip is determined based on the parking signal.

[0117] As a possible implementation method, the parking chip of the embodiment of the present disclosure can determine the current parking strategy of the parking chip after receiving the parking signal.

[0118] Optionally, in one embodiment of the present disclosure, the parking signal includes at least one of a parking condition signal, a vehicle speed signal, a wheel parameter signal, and a parking environment condition signal.

[0119] Among them, the parking signal may include a parking condition signal, a vehicle speed signal, a wheel parameter signal, a parking environment condition signal, etc.

[0120] For example, when the vehicle speed in the parking signal is relatively high, the current parking strategy of the embodiment of the present disclosure may be to first provide a deceleration braking force until the speed drops to a parking range, and then provide a parking force, etc.;

[0121] When the vehicle is parked on a flat road and at a high speed, a torque reduction signal is sent to the drive motor and the braking system provides a large deceleration braking force until the speed drops to ≤1kph. At this time, the vehicle's parking mechanism, such as the solenoid valve, operates to complete parking.

[0122] When the vehicle is parked on a flat road and the speed is 0, parking force can be provided directly;

[0123] When the vehicle is parked on a slope and the speed is not zero, a torque reduction signal is first sent to the drive motor, and the braking system provides a large deceleration braking force until the vehicle stops. The solenoid valve then operates and determines the parking force based on the slope parameters in the parking condition, thereby completing the parking.

[0124] When the vehicle is parked on a slope and the vehicle speed is 0, the solenoid valve operates and determines the parking force based on the slope parameters in the parking condition, thereby completing parking.

[0125] Optionally, in one embodiment of the present disclosure, determining the current parking strategy of the parking chip includes: obtaining vehicle information of the vehicle; and determining the current parking strategy based on the vehicle information and the position information of the wheels corresponding to the parking chip.

[0126] In some embodiments, the embodiment of the present disclosure can obtain the whole vehicle information of the vehicle, wherein the whole vehicle information may include accelerator pedal signal, torque signal, speed signal, wheel parameter signal, etc.; the embodiment of the present disclosure can also obtain the position information of the wheel corresponding to the parking chip.

[0127] It is understandable that when the vehicle is parked, in order to adapt to the current road conditions and ensure parking safety and stability, the parking force provided by each wheel may be different. For example, when the vehicle is on a split road, the parking force of the high-addition side wheel is greater than the parking force of the low-addition side wheel to prevent unstable parking of the vehicle.

[0128] Therefore, the embodiment of the present disclosure can determine the current parking strategy based on the entire vehicle information and posture information, so that the current parking strategy can better meet the parking requirements.

[0129] That is to say, each of the vehicle's four parking chips corresponds to the parking mechanism of a wheel. This parking chip can obtain the data corresponding to each wheel of the vehicle when braking through the vehicle acceleration sensor, wheel speed sensor, etc., to estimate the road friction coefficient, road slope and other data. Different road adhesion coefficients correspond to different four-wheel target parking forces. Combined with the position of the wheel corresponding to this parking chip, such as whether the corresponding wheel is the front wheel or the rear wheel, the actual target parking force is obtained to obtain the current parking strategy.

[0130] For example, in the current parking strategy, this parking chip can combine the initial parking force (calculated by wheel parameters such as wheel radius, wheel friction, ground friction, etc.), posture relationship (the posture relationship of the wheels corresponding to this parking chip, such as front wheels and rear wheels) and the initial parking force and posture relationship of other parking chips to calculate the target parking force of this parking chip, and determine the parking timing of the vehicle based on the current motion state of the vehicle (accelerator pedal signal, torque signal, speed signal, etc.), so as to control the parking of the vehicle with the target parking force at the parking timing.

[0131] In step S403, the current parking strategy is used to drive the parking mechanism corresponding to the parking chip to park the vehicle, wherein the parking mechanism is one of the first parking device or the second parking device.

[0132] The embodiment of the present disclosure can utilize the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle, thereby completing the parking action.

[0133] Optionally, in one embodiment of the present disclosure, the current parking strategy is used to drive the parking mechanism corresponding to the parking chip to park, including: obtaining environmental information of the current environment of the vehicle; determining at least one control parameter of the current parking strategy based on the environmental information; and determining the target parking force of the parking mechanism based on the at least one control parameter to control the parking mechanism corresponding to the parking chip to park.

[0134] It is understandable that environmental factors can affect ground friction, tire pressure, etc. For example, in rainy and snowy weather, when there is water on the ground or the ground is frozen, the friction will be reduced accordingly, and the vehicle needs to increase the parking force to ensure parking stability.

[0135] Therefore, the embodiments of the present disclosure can obtain environmental information of the vehicle's current environment based on the vehicle's sensors, such as temperature sensors, pressure sensors, humidity sensors, cameras, wheel speed sensors, etc., such as rainy and snowy environment, plateau environment, high temperature environment, etc., so as to determine at least one control parameter of the current parking strategy according to the environmental information, wherein the control parameters may include braking force parameters, parking mechanism control parameters, parking response time parameters, etc., wherein the braking force parameters may affect the vehicle's parking state, that is, whether the vehicle can achieve dynamic and static parking functions; the parking mechanism control parameters may affect the vehicle's parking state, that is, whether the vehicle can maintain the vehicle's parking state after it stops; the parking response time parameters may affect the time when the vehicle triggers parking, that is, whether the vehicle can complete parking in a shorter time when the road conditions are poor, to avoid the vehicle slipping and losing control.

[0136] In some embodiments, when a vehicle is in a parked state and is hit by an external force causing the vehicle body to slide, if the surrounding environment is different from when the vehicle was parked, such as water on the ground, ice, sand and gravel, etc., when the vehicle still controls the wheels according to the parking force when parked, it is difficult to ensure that the vehicle can be parked stably. At this time, the embodiment of the present disclosure can determine a new target parking force based on environmental information, thereby ensuring that the vehicle can be parked stably again.

[0137] The embodiment of the present disclosure can determine the target parking force of the parking mechanism according to at least one control parameter, thereby controlling the parking mechanism corresponding to the parking chip to park.

[0138] Through the above technical method, the current parking strategy can be adjusted according to the environmental information of the vehicle's current environment, thereby determining the target parking force of the parking mechanism corresponding to the parking chip, so that the current parking strategy can be adapted to different environmental information, thereby ensuring parking stability.

[0139] Optionally, in one embodiment of the present disclosure, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, it also includes: obtaining the actual service life of the wheel corresponding to the parking chip; and generating the current parking strategy based on the actual service life and the initial parking strategy.

[0140] In some embodiments, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the disclosed embodiment can also determine the current parking strategy based on the actual service life of the wheel corresponding to the parking chip, wherein the actual service life of the wheel may include the service life of the tire, rim, bearing, spoke plate, etc.

[0141] Optionally, in one embodiment of the present disclosure, a current parking strategy is generated based on the actual service life and the initial parking strategy, including: determining whether the actual service life has reached a preset service life limit; if the preset service life limit has been reached, calculating the parking force of the wheels corresponding to other parking chips, and generating the current parking strategy based on the parking force and the initial parking strategy.

[0142] For example, when any tire of a vehicle reaches the end of its service life, the parking force of that wheel decreases, and the parking forces of other wheels need to satisfy the parking force distribution curve function to achieve smooth parking. The calculation formula of the parking force distribution curve function can be:

[0143] Among them, F μ1 is the front wheel parking force (N), F μ2 is the rear wheel parking force (N), G is the vehicle weight (N), h g is the height of the vehicle's center of mass (m), b is the distance from the vehicle's center of mass to the centerline of the rear axle (m), and L is the vehicle's wheelbase (m).

[0144] It should be noted that the service life of the wheels will affect the execution results of the wheel parking strategy. At the same time, unreasonable parking strategies will accelerate wheel wear and reduce wheel service life. Therefore, adjusting the initial parking strategy according to the actual service life of the wheels can ensure parking stability while allocating achievable parking force to each wheel and reducing wheel wear.

[0145] For example, when the service life of the wheel corresponding to this parking chip is low, for example, when the wheel surface is severely worn and the friction with the ground decreases, the embodiment of the present disclosure can achieve parking by increasing the parking force of the wheels corresponding to other parking chips, or can increase the parking force of the wheel corresponding to this parking chip to ensure that the friction between the wheel and the ground is the same as that of other wheels.

[0146] Optionally, in one embodiment of the present disclosure, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, it also includes: obtaining the driver's driving habits and / or parking preferences; adjusting the current parking strategy of the parking chip according to the driving habits and / or parking preferences to obtain a new current parking strategy, so as to use the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

[0147] In other embodiments, the disclosed embodiments can also obtain the driver's driving habits and / or parking preferences based on the vehicle's historical driving data, such as the driver's preference for efficient and fast driving habits or parking preferences, energy-saving driving habits or parking preferences, and smooth driving habits or parking preferences, and then adjust the current parking strategy of the parking chip according to the driving habits and / or parking preferences.

[0148] Optionally, in one embodiment of the present disclosure, the driving habits and / or parking preferences are derived from the historical parking signal frequency and wavelength of the vehicle.

[0149] For example, the disclosed embodiment can obtain the parking parameters manually adjusted by the driver each time the car is parked, identify the frequency and signal wavelength of the parking signal, etc., determine the driver's parking preference, and adjust the preset parking strategy and pre-stored redundant parking strategy to make the parking action more in line with the driver's preferences.

[0150] The relationship between the parking signal frequency and wavelength and the parking preference may be shown in Table 1. Table 1 is a table showing the relationship between the parking signal frequency and wavelength and the parking preference.

[0151] Table 1

[0152] When the driver prefers an aggressive approach, the parking signal is transmitted faster and more sensitively, and the parking force corresponding to the parking is greater. When the parking chip recognizes that the wavelength of the parking signal is less than or equal to a certain limit, the parking chip defaults to a false touch situation;

[0153] When the driver prefers stability, the parking signal wavelength is smaller and the parking signal frequency is larger. When the parking chip recognizes that the parking signal wavelength is greater than a certain limit value, the parking chip defaults to a false touch situation.

[0154] Through the above technical approach, the parking strategy can be adjusted according to the driver's driving habits and / or parking preferences, so that the current parking strategy is more in line with the driver's habits or preferences, thereby improving the driver's driving experience.

[0155] Optionally, in one embodiment of the present disclosure, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, it also includes: collecting at least one wheel parameter of the wheel corresponding to the parking chip; adjusting the current parking strategy of the parking chip according to the at least one wheel parameter to obtain a new current parking strategy, so as to use the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

[0156] During the actual implementation process, the embodiment of the present disclosure can also collect at least one wheel parameter of the wheel corresponding to the parking chip, such as wheel radius, tire pressure, wheel speed, current steering angle of the wheel, etc.

[0157] The disclosed embodiment can adjust the current parking strategy of the parking chip according to at least one wheel parameter, such as calculating the required parking force required for a single wheel when parking the vehicle through the wheel radius, tire pressure and wheel wear, and optimizing the current parking strategy by comparing the parking force in the current parking strategy with the required parking force to obtain a new current parking strategy with the required parking force as the actual parking force.

[0158] Through the above technical approach, the parking strategy can be adjusted according to the wheel parameters of the corresponding wheel, reducing wheel wear while making the parking strategy more in line with the actual situation of the wheel and adjusting the wheel accordingly.

[0159] Optionally, in one embodiment of the present disclosure, before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, it also includes: detecting whether the vehicle meets the preset parking conditions; if it is detected that the preset parking conditions are not met, reminding the driver of parking failure.

[0160] As a possible implementation method, the embodiment of the present disclosure can detect whether the vehicle meets the preset parking conditions before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, where the preset parking conditions can be determining whether the parking mechanism is faulty / failed, etc.

[0161] When the vehicle meets the preset parking conditions, the embodiment of the present disclosure can use the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle;

[0162] When the vehicle does not meet the preset parking conditions, the embodiment of the present disclosure can push a parking failure reminder to the driver through methods such as acoustic reminders, optical reminders and / or vibration reminders, so that the driver can manually adjust the parking parameters or manually take over the parking control based on the failure reminder, and can also perform troubleshooting and maintenance in a timely manner.

[0163] Among them, the acoustic reminder can be a voice reminder or a warning sound reminder played by the vehicle speakers; the optical reminder can be a flashing reminder of the corresponding icon on the instrument panel or a text reminder on the center console; the vibration reminder can be a steering wheel vibration or a seat vibration reminder. The specific reminder method can be set accordingly by technical personnel in this field according to actual conditions, and no specific restrictions are made here.

[0164] Through the above technical approach, when the vehicle does not meet the preset parking conditions, a parking failure reminder can be issued, which makes it easier for the driver to take control and troubleshoot the fault in time.

[0165] Optionally, in one embodiment of the present disclosure, while reminding the driver of parking failure, it also includes: generating a parking control recommendation reminder for the vehicle based on the vehicle's entire vehicle information; and pushing the parking control recommendation reminder to the driver.

[0166] During actual implementation, the disclosed embodiment can generate a reference operation for the driver to manually park the vehicle based on the vehicle's overall information, such as the vehicle's current wheel speed, current driving conditions, target parking brake force, fault information, etc., when the vehicle does not meet the preset parking conditions, so as to prevent traffic accidents caused by the driver's difficulty in responding in time when encountering emergencies.

[0167] In summary, the present disclosure can receive parking instructions from a communication device or other parking chips, and there is no need for the communication device to uniformly and simultaneously send parking instructions to each parking chip, thereby improving signal transmission efficiency and reducing channel occupancy. The parking chip can determine the current parking strategy based on the parking signal, so that the current parking strategy can be adjusted accordingly according to the different parking signals, thereby meeting a variety of different working conditions, and controlling the vehicle to complete the parking action according to the current parking strategy, achieving stable parking of the vehicle, and improving parking safety. Moreover, each chip is independent of each other. When one chip fails, the other chips can still complete the parking action, thereby achieving redundant parking.

[0168] 5a-5h are schematic structural diagrams of a parking device provided in an embodiment of the present disclosure.

[0169] Exemplarily, as shown in FIG5 a , the parking device 50 is applied to any parking chip, and includes: a receiving module 501 , a determining module 502 and a driving module 503 .

[0170] Specifically, the receiving module 501 is used to receive a parking signal sent by a communication device or other parking chip.

[0171] The determination module 502 is configured to determine the current parking strategy of the parking chip based on the parking signal.

[0172] The driving module 503 is used to drive the parking mechanism corresponding to the parking chip to park the vehicle using the current parking strategy, wherein the parking mechanism is one of the first parking device or the second parking device.

[0173] Optionally, as shown in FIG. 5 b , in one embodiment of the present disclosure, the determining module 502 includes: a first acquiring unit 5021 and a first determining unit 5022 .

[0174] The first acquisition unit 5021 is used to acquire the entire vehicle information.

[0175] The first determining unit 5022 is used to determine the current parking strategy according to the vehicle information and the position information of the wheels corresponding to the parking chip.

[0176] Optionally, as shown in FIG. 5 c , in one embodiment of the present disclosure, the driving module 503 includes: a second acquiring unit 5031 , a second determining unit 5032 , and a third determining unit 5033 .

[0177] The second acquisition unit 5031 is used to acquire environmental information of the vehicle's current environment.

[0178] The second determining unit 5032 is configured to determine at least one control parameter of the current parking strategy according to the environmental information.

[0179] The third determining unit 5033 is configured to determine a target parking force of the parking mechanism according to at least one control parameter, so as to control the parking mechanism corresponding to the parking chip to park.

[0180] Optionally, as shown in FIG. 5 d , in one embodiment of the present disclosure, the parking device 50 further includes: a first acquisition module 504 and a generation module 505 .

[0181] The first acquisition module 504 is configured to acquire the actual service life of the wheel corresponding to the parking chip.

[0182] The generating module 505 is configured to generate a current parking strategy according to the actual service life and the initial parking strategy.

[0183] Optionally, as shown in FIG. 5 e , in one embodiment of the present disclosure, the generating module 505 includes: a first judging unit 5051 and a calculating unit 5052 .

[0184] The first judgment unit 5051 is used to judge whether the actual service life reaches the preset service life limit.

[0185] The calculation unit 5052 is used to calculate the parking force of the wheels corresponding to other parking chips when the preset life limit is reached, and generate a current parking strategy based on the parking force and the initial parking strategy.

[0186] Optionally, as shown in FIG. 5 f , in one embodiment of the present disclosure, the parking device 50 further includes: a second acquisition module 506 and a first adjustment module 507 .

[0187] The second acquisition module 506 is configured to acquire the driver's driving habits and / or parking preferences.

[0188] The first adjustment module 507 is used to adjust the current parking strategy of the parking chip according to driving habits and / or parking preferences to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park using the new current parking strategy.

[0189] Optionally, in one embodiment of the present disclosure, the driving habits and / or parking preferences are derived from the historical parking signal frequency and wavelength of the vehicle.

[0190] Optionally, as shown in FIG. 5 g , in one embodiment of the present disclosure, the parking device 50 further includes: a collection module 508 and a second adjustment module 509 .

[0191] The acquisition module 508 is configured to acquire at least one wheel parameter of a wheel corresponding to the parking chip.

[0192] The second adjustment module 509 is used to adjust the current parking strategy of the parking chip according to at least one wheel parameter to obtain a new current parking strategy, so as to drive the parking mechanism corresponding to the parking chip to park using the new current parking strategy.

[0193] Optionally, in one embodiment of the present disclosure, the parking signal includes at least one of a parking condition signal, a vehicle speed signal, a wheel parameter signal, and a parking environment condition signal.

[0194] Optionally, as shown in FIG. 5 h , in one embodiment of the present disclosure, the parking device 50 further includes: a detection module 510 and a reminder module 511 .

[0195] Among them, the detection module is used to detect whether the vehicle meets the preset parking conditions.

[0196] The reminder module is used to remind the driver of parking failure when it detects that the preset parking conditions are not met.

[0197] Optionally, in one embodiment of the present disclosure, the reminder module 511 is further configured to generate a parking control recommendation reminder for the vehicle based on the vehicle's entire vehicle information; and push the parking control recommendation reminder to the driver.

[0198] In summary, the present disclosure can receive parking instructions from a communication device or other parking chips, and there is no need for the communication device to uniformly and simultaneously send parking instructions to each parking chip, thereby improving signal transmission efficiency and reducing channel occupancy. The parking chip can determine the current parking strategy based on the parking signal, so that the current parking strategy can be adjusted accordingly according to the different parking signals, thereby meeting a variety of different working conditions, and controlling the vehicle to complete the parking action according to the current parking strategy, achieving stable parking of the vehicle, and improving parking safety. Moreover, each chip is independent of each other. When one chip fails, the other chips can still complete the parking action, thereby achieving redundant parking.

[0199] FIG6 is a schematic diagram of the structure of a vehicle provided by an embodiment of the present disclosure. The vehicle may include:

[0200] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0201] When the processor 602 executes the program, the parking method provided in the above embodiment is implemented.

[0202] The vehicle also includes:

[0203] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0204] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0205] 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.

[0206] 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.

[0207] 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.

[0208] 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.

[0209] 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.

[0210] 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.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] 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.

[0216] 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.

[0217] 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 park, a second control component driving the second parking device to park, 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, the second control component comprises a third parking chip and a fourth parking chip, the first parking chip, the second parking chip, the third parking chip and the fourth parking chip communicate with each other, the first parking device and the second parking device each comprise two parking mechanisms, wherein the method is applied to any parking chip, and comprises the following steps: Receiving a parking signal sent by the communication device or other parking chips; Based on the parking signal, determining the current parking strategy of the parking chip; and The current parking strategy is used to drive the parking mechanism corresponding to the parking chip to park the vehicle.

2. The method according to claim 1, wherein: The determining of the current parking strategy of the parking chip includes: Obtaining vehicle information of the vehicle; The current parking strategy is determined according to the whole vehicle information and the position information of the wheels corresponding to the parking chip.

3. The method according to claim 1, wherein: The using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park the vehicle comprises: Acquiring environmental information of the current environment of the vehicle; determining at least one control parameter of the current parking strategy according to the environmental information; The target parking force of the parking mechanism is determined according to the at least one control parameter to control the parking mechanism corresponding to the parking chip to park.

4. The method according to claim 1, wherein: Before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the method further includes: Obtaining the actual service life of the wheel corresponding to the parking chip; The current parking strategy is generated according to the actual service life and the initial parking strategy.

5. The method according to claim 4, wherein: The generating the current parking strategy according to the actual service life and the initial parking strategy includes: Determining whether the actual service life reaches a preset service life limit; If the preset life limit is reached, the parking force of the wheels corresponding to the other parking chips is calculated, and the current parking strategy is generated based on the parking force and the initial parking strategy.

6. The method according to claim 1, wherein: Before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the method further includes: Obtaining the driver's driving habits and / or parking preferences; The current parking strategy of the parking chip is adjusted according to the driving habits and / or the parking preference to obtain a new current parking strategy, so as to utilize the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

7. The method according to claim 6, wherein: The driving habits and / or parking preferences are derived from the historical parking signal frequencies and wavelengths of the vehicle.

8. The method according to claim 1, wherein: Before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the method further includes: Collecting at least one wheel parameter of the wheel corresponding to the parking chip; The current parking strategy of the parking chip is adjusted according to the at least one wheel parameter to obtain a new current parking strategy, so as to utilize the new current parking strategy to drive the parking mechanism corresponding to the parking chip to park.

9. The method according to any one of claims 1 to 8, wherein: The parking signal includes at least one of a parking condition signal, a vehicle speed signal, a wheel parameter signal and a parking environment condition signal.

10. The method according to any one of claims 1 to 9, wherein: Before using the current parking strategy to drive the parking mechanism corresponding to the parking chip to park, the method further includes: Detecting whether the vehicle meets a preset parking condition; When it is detected that the preset parking condition is not met, a parking failure reminder is given to the driver.

11. The method according to claim 10, wherein: While reminding the driver of parking failure, it also includes: generating a parking control recommendation reminder for the vehicle based on the vehicle information; The parking control recommendation reminder is pushed to the driver.

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 method 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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