CN115195677B

CN115195677B - Parking control method, parking control device, vehicle and storage medium

Info

Publication number: CN115195677B
Application number: CN202211138175.XA
Authority: CN
Inventors: 冯茂林
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2022-12-09
Anticipated expiration: 2042-09-19
Also published as: CN115195677A

Abstract

The disclosure provides a parking control method, a parking control device, a vehicle and a storage medium, wherein the method comprises the following steps: monitoring whether the vehicle satisfies at least one of a plurality of first conditions, while an automatic vehicle maintenance AVH of the vehicle is in a locked state; controlling the AVH to release the locking of the wheel under the condition that at least one first condition is met, so that the AVH is switched from a locking state to a releasing state or a standby state; wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; the vehicle has transverse motion, so that the AVH function can be released by presetting a plurality of first conditions and when the vehicle meets at least one of the first conditions, the diversity of AVH function release triggering modes is increased, the flexibility of AVH control is improved, the driving habits of different users can be met, and the driving experience of the users is improved.

Description

Parking control method, parking control device, vehicle and storage medium

Technical Field

The present disclosure relates to the field of automatic parking technologies, and in particular, to a parking control method and apparatus, a vehicle, and a storage medium.

Background

An Automatic Vehicle Hold (AVH) is a sub-function of an Electronic Stability Control (ESC), when a Vehicle is stationary, the AVH function can keep a certain brake pressure, so that a user (driver) can release a pedal and keep the Vehicle stationary, feet of the user are released, and driving fatigue is relieved; when the user wants to start the vehicle, the AVH automatically exits by stepping on the accelerator pedal.

However, currently, the manner of triggering release of the AVH function is single, and the flexibility of AVH control is poor, for example, the AVH function can be released only by accurately controlling an accelerator pedal by a user. Since the driving habits of different users may be different, the single manner of triggering the release of the AVH function may result in poor driving experience for the users.

Disclosure of Invention

The present disclosure is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, a first objective of the present disclosure is to provide a parking control method, so as to implement AVH function release by presetting a plurality of first conditions, and when a vehicle meets at least one of the plurality of first conditions, increase the diversity of AVH function release triggering modes, improve the flexibility of AVH control, meet driving habits of different users, and improve the driving experience of the users.

A second object of the present disclosure is to propose a parking control device.

A third object of the present disclosure is to propose a vehicle.

A fourth object of the present disclosure is to propose a non-transitory computer-readable storage medium.

A fifth object of the present disclosure is to propose a computer program product.

To achieve the above object, an embodiment of a first aspect of the present disclosure provides a parking control method, including: monitoring whether a vehicle satisfies at least one of a plurality of first conditions while an automatic vehicle maintenance AVH of the vehicle is in a locked state; controlling the AVH to release the locking of the wheel to switch the AVH from the locked state to a released state or a standby state if at least one of the first conditions is satisfied; wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; the driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; there is lateral movement of the vehicle.

The parking control method of the embodiment of the present disclosure monitors whether a vehicle satisfies at least one of the following first conditions by keeping an AVH of the vehicle in a locked state in an automatic vehicle of the vehicle; controlling the AVH to release the locking of the wheel under the condition that at least one first condition is met, so that the AVH is switched from a locking state to a releasing state or a standby state; wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; the vehicle has transverse motion, so that the AVH function can be released by presetting a plurality of first conditions and when the vehicle meets at least one of the first conditions, the diversity of AVH function release triggering modes is increased, the flexibility of AVH control is improved, the driving habits of different users can be met, and the driving experience of the users is improved.

To achieve the above object, an embodiment of a second aspect of the present disclosure provides a parking control apparatus, including: the automatic vehicle locking device comprises a first monitoring module, a second monitoring module and a locking module, wherein the first monitoring module is used for monitoring whether the vehicle meets at least one of the following first conditions or not when an automatic vehicle of the vehicle keeps an AVH in a locked state; the first control module is used for controlling the AVH to release the locking of the wheel under the condition that at least one first condition is met, so that the AVH is switched from the locking state to the releasing state or the standby state; wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; the driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; there is lateral movement of the vehicle.

To achieve the above object, an embodiment of a third aspect of the present disclosure provides a vehicle, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the parking control method according to the embodiment of the first aspect of the present disclosure.

In order to achieve the above object, a fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the parking control method according to the first aspect of the present disclosure.

In order to achieve the above object, a fifth aspect of the present disclosure provides a computer program product, wherein when being executed by an instruction processor, the parking control method according to the first aspect of the present disclosure is implemented.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

Drawings

The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flowchart of a parking control method according to an embodiment of the disclosure;

fig. 2 is a schematic structural diagram of an AVH system according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of an AVH switching from a locked state to a released state or a standby state according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart diagram illustrating another parking control method provided by the disclosed embodiment;

fig. 5 is a schematic diagram illustrating an AVH switching from a release state or a standby state to a lock state according to an embodiment of the present disclosure;

FIG. 6 is a flowchart illustrating another parking control method provided by an embodiment of the present disclosure;

fig. 7 is a schematic diagram of an AVH switching from an unlocked state to a handover state according to an embodiment of the present disclosure;

FIG. 8 is a flowchart illustrating another parking control method provided by an embodiment of the present disclosure;

figure 9 is a schematic diagram of AVH enablement provided by embodiments of the present disclosure;

fig. 10 is a schematic structural diagram of a state machine in an AVH system according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a parking control device according to an embodiment of the disclosure;

FIG. 12 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present disclosure, and should not be construed as limiting the present disclosure.

At present, the AVH function can only be started through a switch of the AVH, and the AVH function has a single activation mode, which may cause poor driving experience of a user; the AVH function can be enabled only by judging the magnitude of the brake pressure and the pressure threshold, and the driving experience of a user is possibly poor due to the single AVH function enabling mode; in addition, the AVH function release can be realized only by judging the magnitude of the driving torque and the torque threshold, and the AVH function release mode is single, which may cause poor driving experience of users.

In view of the above problems, the present disclosure provides a parking control method, apparatus, vehicle, and storage medium.

A parking control method, device, vehicle, and storage medium according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

Fig. 1 is a flowchart illustrating a parking control method according to an embodiment of the disclosure. It should be noted that the embodiment of the present disclosure is exemplified in that the parking control method is configured in a parking control device, and the parking control device may be applied to any vehicle, so that the vehicle may perform a parking control function.

As shown in fig. 1, the parking control method includes the steps of:

in step 101, it is monitored whether the vehicle satisfies at least one of the following first conditions while the automatic vehicle of the vehicle keeps the AVH in a locked state.

Wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; there is lateral movement of the vehicle.

As a possible implementation manner of the embodiment of the present disclosure, in a state where an automatic vehicle of the vehicle keeps the AVH in a locked state, whether the vehicle satisfies at least one of a plurality of first conditions, that is, whether the vehicle is prevented from rolling down a slope, may be monitored by the AVH system, and in a state where the AVH is locked to the wheel, whether the vehicle satisfies at least one of the following plurality of first conditions may be monitored by the AVH system. Wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; there is lateral movement of the vehicle.

As shown in fig. 2, the AVH system may include: signal processing module (Signal Process), vehicle State estimation (Vehicle State Estimate), state Machine (State Machine), and Core module (AVH Core). The signal processing module can receive signals of a camera, a radar, a map, an inertial sensor, a steering wheel angle sensor, a wheel speed sensor, a motor, a brake, an electronic parking device, an instrument and the like, correspondingly process the signals, transmit the processed signals to the state machine, and identify the processed signals by the state machine; meanwhile, the signal processing module can also transmit the processed signal to a vehicle state estimation module for vehicle state identification; the core module receives information of signal processing, a state machine and vehicle state estimation and executes actions such as brake pressure retention, brake pressure reduction and brake pressure increase.

And 102, controlling the AVH to release the locking of the wheel under the condition that at least one first condition is met, so that the AVH is switched from the locking state to the releasing state or the standby state.

It should be understood that, due to different driving habits of different users, for example, when the vehicle stops on a slope for a short time, some users may be used to deeply press the brake pedal to switch the gear from the forward gear to the parking gear, so as to stop the vehicle on the slope. Therefore, in order to satisfy driving habits of different users at the time of vehicle hill start, as shown in fig. 3, the AVH may be controlled to release the locking of the wheel so that the AVH is switched from the locked state to the released state or the standby state, in the case where at least one first condition is satisfied. As an example, when the vehicle starts on a slope, the user may deeply step on the brake pedal, and when the stroke of the brake push rod is greater than or equal to the first threshold, the AVH is controlled to release the locking of the wheel, so that the AVH is switched from the locked state to the released state or the standby state. Because the stroke between the brake pedal and the brake push rod is relatively fixed under the limitation of a mechanical structure, and the corresponding relation between the tread depth and the pressure of the brake pedal is adjustable, in the embodiment of the disclosure, compared with a mode of performing AVH control by using brake pressure in the related art, a mode of performing AVH control based on the stroke of the brake push rod can more accurately embody the driving intention of a user.

As another example, for some users who are only used to step on the brake pedal to stop the vehicle and are not used to switch the gear from the forward gear to the parking gear, when the vehicle is taking off, the user may step on the accelerator pedal so that when the driving torque is greater than or equal to the second threshold value, the AVH may be controlled to release the lock on the wheel, so that the AVH is switched from the locked state to the released state or the standby state.

In addition, when the vehicle starts, in order to improve starting smoothness of the vehicle, a user treads an accelerator pedal for a certain time threshold, the AVH system can actively request a driving torque to increase the torque gradually, and when the driving torque is larger than or equal to a second threshold, the AVH is controlled to release locking of wheels, so that the AVH is switched from a locking state to a releasing state or a standby state.

In addition, in order to improve the safety of the vehicle, when the vehicle is subjected to the action of external force (such as wind in the lateral direction of the vehicle) and moves transversely, the AVH can be controlled to release the locking of the wheels, so that the AVH is switched from the locking state to the releasing state or the standby state.

In summary, by monitoring whether the vehicle satisfies at least one of the following first conditions while the automatic vehicle of the vehicle keeps the AVH in the locked state; controlling the AVH to release the locking of the wheel to switch the AVH from the locked state to the released state or the standby state if at least one first condition is satisfied; wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; the vehicle has transverse motion, so that the AVH function can be released by presetting a plurality of first conditions and when the vehicle meets at least one of the first conditions, the diversity of the modes for triggering the release of the AVH function is increased, the flexibility of AVH control is improved, the driving habits of different users can be met, and the driving experience of the users is improved.

In order to realize parking control of different vehicles and improve the driving experience of a user, the disclosure also provides another parking control method. Fig. 4 is a flowchart illustrating another parking control method according to an embodiment of the disclosure.

As shown in fig. 4, the parking control method may include the steps of:

in step 401, while the AVH of the vehicle is in a released state or a standby state, it is monitored whether the vehicle satisfies at least one of the following second conditions.

Wherein the plurality of second conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a third threshold value; the brake recovery torque of the vehicle in the single-pedal driving mode is greater than or equal to a fourth threshold value; the stroke of a brake push rod of the vehicle is firstly reduced and then increased, and the increased stroke of the brake push rod is larger than a set threshold value.

In the disclosed embodiment, when the AVH of the vehicle is in a released state or a standby state (the AVH is on and the AVH is not braking the vehicle), it may be monitored by the AVH system whether the vehicle satisfies at least one of the following second conditions. Wherein the plurality of second conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a third threshold value; the braking recovery torque of the vehicle in the single-pedal driving mode is greater than or equal to a fourth threshold value; the stroke of a brake push rod of the vehicle is firstly reduced and then increased, and the stroke of the increased brake push rod is larger than a set threshold value.

And 402, controlling the AVH to lock the wheel under the condition that at least one second condition is met, so that the AVH is switched to a locked state.

In the disclosed embodiment, as shown in fig. 5, the AVH may be controlled to lock the wheel such that the AVH is switched to the locked state if at least one second condition is satisfied.

As an example, when the vehicle is in the non-single-pedal driving mode, the user deeply depresses the brake pedal, the vehicle stops when the stroke of the brake push rod of the vehicle is greater than or equal to the third threshold, and in order to prevent the vehicle from rolling down the slope, the AVH may be controlled to lock the wheels so that the AVH is switched from the release state or the standby state to the lock state.

As another example, when the vehicle is in the single-pedal driving mode, and the brake recovery torque is greater than or equal to the fourth threshold value, the vehicle is stopped, and in order to prevent the vehicle from rolling down a slope, the AVH may be controlled to lock the wheels so as to switch the AVH from the release state or the standby state to the locked state.

As another example, when the vehicle is in the non-single-pedal driving mode, after the user deeply depresses the brake pedal to stop the vehicle, the user may first release a part of the brake pedal (not completely released), and the stroke of the brake push rod of the vehicle is reduced, and then, when the user deeply depresses the brake pedal, and the stroke of the brake push rod of the vehicle is increased, and the increased stroke of the brake push rod is greater than the set threshold, the AVH may be controlled to lock the wheel, so that the AVH is switched from the release state or the standby state to the lock state.

In summary, by monitoring whether the vehicle satisfies at least one of the following second conditions while the AVH of the vehicle is in the released state or the standby state; under the condition that at least one second condition is met, the AVH is controlled to lock the wheel, so that the AVH is switched to a locking state, therefore, by presetting a plurality of second conditions and when the vehicle meets at least one of the second conditions, AVH function enabling can be realized, the diversity of modes for triggering the AVH function enabling is increased, the flexibility of AVH control is improved, parking control of vehicles in different pedal driving modes can be realized, and the driving experience of users is improved.

In order to further improve the intellectualization of parking control, automatically realize the long-time braking of the vehicle and improve the driving experience of a user, the disclosure also provides another parking control method. Fig. 6 is a flowchart illustrating another parking control method according to an embodiment of the disclosure.

As shown in fig. 6, the parking control method may include the steps of:

step 601, monitoring whether the vehicle meets at least one of the following third conditions when the AVH of the vehicle is in a locked state.

Wherein the plurality of third conditions includes: the time period that the vehicle is in the locked state is greater than or equal to a fifth threshold value; loosening a safety belt of the vehicle; opening a door of the vehicle; the number of times of downhill rolling of the vehicle is greater than or equal to a sixth threshold value.

In an embodiment of the present disclosure, in a locked state of an AVH of a vehicle, it may be monitored by the AVH system whether the vehicle satisfies at least one of a plurality of third conditions, wherein the plurality of third conditions includes: the time period that the vehicle is in the locked state is greater than or equal to a fifth threshold value; loosening a safety belt of the vehicle; opening a door of the vehicle; the number of times the vehicle rolls down the slope is greater than or equal to a sixth threshold value.

And step 602, in the case that at least one third condition is met, requesting an Electronic Parking Brake (EPB) of the vehicle to perform parking control so that the AVH is switched from the locked state to the handover state.

In the disclosed embodiment, as shown in fig. 7, in the case where at least one third condition is satisfied, the electronic parking brake EPB of the vehicle may be requested to perform parking control to switch the AVH from the locked state to the handover state.

As an example, when the AVH of the vehicle is in the locked state and the length of time that the vehicle is in the locked state is greater than or equal to a fifth threshold, an Electronic Park Brake (EPB) of the vehicle may be automatically requested to perform parking control, and the Brake pressure retained by the AVH in the locked state may be released, so that the AVH is switched from the locked state to the handover state, so as to automatically implement long-time braking of the vehicle by the EPB.

As another example, when the AVH of the vehicle is in a locked state, and when the seat belt of the vehicle is released, the EPB of the vehicle may be automatically requested to perform parking control, and the brake pressure that the AVH retains in the locked state is released, so that the AVH is switched from the locked state to the handover state to automatically achieve long-time braking of the vehicle by the EPB.

As another example, while the AVH of the vehicle is in the locked state, the EPB of the vehicle may be automatically requested to perform parking control when the door of the vehicle is opened, so that the AVH is switched from the locked state to the handover state to automatically achieve long-time braking of the vehicle by the EPB.

As another example, when the number of times of the vehicle rolling downhill is greater than or equal to a sixth threshold value while the AVH of the vehicle is in the locked state, the EPB of the vehicle may be automatically requested to perform parking control, and the brake pressure that the AVH retains in the locked state is released to switch the AVH from the locked state to the handover state to automatically achieve long-time braking of the vehicle by the EPB.

In summary, by monitoring whether the vehicle satisfies at least one of the following third conditions while the AVH of the vehicle is in the locked state; and under the condition that at least one third condition is met, the EPB of the vehicle is requested to perform parking control so that the AVH is switched from the locked state to the handover state, so that the AVH can be switched from the locked state to the handover state by presetting a plurality of third conditions and when the vehicle meets at least one of the plurality of third conditions, the long-time braking of the EPB on the vehicle can be automatically realized, and the intellectualization of the parking control of the vehicle is improved.

In order to increase the diversity of the AVH function activation modes and improve the flexibility of AVH function activation control, the disclosure also provides another parking control method. Fig. 8 is a flowchart illustrating another parking control method according to an embodiment of the disclosure.

As shown in fig. 8, the parking control method may include the steps of:

in step 801, in the event that the vehicle is not AVH enabled, it is monitored whether the vehicle satisfies at least one of a plurality of fourth conditions.

Wherein, a plurality of fourth condition includes: the switch of the AVH is turned on, the single-pedal driving mode is activated, and the traffic light in the traveling direction of the vehicle is red.

In an embodiment of the present disclosure, in the event that the vehicle is not AVH enabled, it may be monitored by the AVH system whether the vehicle satisfies at least one of a plurality of fourth conditions. Wherein, a plurality of fourth condition includes: the switch of the AVH turns on, activates the single-pedal driving mode and the traffic light in the traveling direction of the vehicle is red.

And step 802, enabling the AVH under the condition that at least one fourth condition is met, so that the AVH of the vehicle is in a standby state.

Further, as shown in fig. 9, in the case where the vehicle satisfies at least one fourth condition, the AVH may be enabled to put the AVH of the vehicle in a standby state.

In the embodiment of the disclosure, when the switch of the AVH of the vehicle is turned on, the AVH can be started to enable the AVH of the vehicle to be in a standby state, so that the AVH function is turned on through the switch of the AVH, and when the vehicle is stationary, the AVH is controlled to lock the wheel, and the state of the AVH is switched to a locked state, so that the user can keep the vehicle stationary while releasing the pedal, the driving fatigue of the user is reduced, and the driving experience of the user is improved.

It should be understood that, in the related art, the vehicle is not associated with the AVH in the single-pedal driving mode, that is, the vehicle cannot be controlled to lock the wheel when the vehicle is stationary in the single-pedal driving mode, in the embodiment of the present disclosure, the AVH may be automatically enabled when the single-pedal driving mode of the vehicle is activated, so that the AVH of the vehicle is in a standby state, and when the vehicle is stationary, the AVH may be switched from the standby state to a locked state to lock the wheel, thereby, it is possible to automatically enable the AVH when the single-pedal driving mode is activated, so that when the vehicle is stationary, the AVH is controlled to lock the wheel, so that the user can keep the vehicle stationary while releasing the pedal, thereby reducing driving fatigue of the user and improving the driving experience of the user.

In the related art, when a traffic signal lamp in the driving direction of a vehicle is a red light, the AVH cannot be automatically activated, a driver needs to turn on the AVH through a switch, and the AVH is complicated in steps and not intelligent enough. In the embodiment of the disclosure, whether a traffic light exists in the driving direction of the vehicle or not can be monitored, the color of the traffic light is identified when the traffic light exists in the driving direction of the vehicle to determine the color of the traffic light, and the AVH is started when the traffic light in the driving direction of the vehicle is red light to enable the AVH of the vehicle to be in a standby state.

As an example, a vehicle is equipped with a positioning device and a camera, and based on a positioning position detected by the positioning device in a map and a traffic light position marked in the map, whether a traffic light exists in the driving direction of the vehicle is monitored; when the traffic signal lamp in the driving direction of the vehicle is monitored, the camera is adopted to carry out color identification on the traffic signal lamp so as to determine the color of the traffic signal lamp, and when the color of the traffic signal lamp in the driving direction of the vehicle is red, the AVH can be started so as to enable the AVH of the vehicle to be in a standby state.

That is, the signal processing module in the AVH system may receive the positioning position detected by the positioning device in the map, and determine whether there is a traffic signal in the vehicle driving direction by combining the position of the traffic signal marked in the map, and further, in the case that it is determined that there is a traffic signal in the vehicle driving direction, the color recognition of the traffic signal may be performed according to the image of the traffic signal taken by the camera to determine the color of the traffic signal. When the color of the traffic signal lamp in the driving direction of the vehicle is red, the AVH can be started to enable the AVH of the vehicle to be in a standby state, and furthermore, the AVH can be switched from the standby state to a locking state after the vehicle stops. Therefore, when the red lights such as a traffic light intersection and a vehicle is static are detected, the AVH can be automatically started, and further, when the situation that the vehicle meets at least one second condition is monitored, the AVH can be switched from a standby state to a locking state to lock wheels, so that a user can keep the vehicle static while loosening a pedal, driving fatigue of the user is relieved, and driving experience of the user is improved.

As another example, a vehicle is mounted with a radar and a camera; monitoring whether a traffic signal lamp exists in the driving direction of the vehicle based on a radar or a camera; when the traffic signal lamp in the vehicle driving direction is red, the AVH can be started to enable the AVH of the vehicle to be in a standby state.

That is, the signal processing module in the AVH system may receive the radar signal on the vehicle or the image information captured by the camera, determine whether there is a traffic signal in the driving direction according to the radar signal on the vehicle or the image information captured by the camera, and perform color recognition of the traffic signal according to the image of the traffic signal captured by the camera to determine the color of the traffic signal in the case where there is a traffic signal in the driving direction of the vehicle. Therefore, when the red lights such as a traffic light intersection and a vehicle is static are detected, the AVH can be automatically started, and further, when the situation that the vehicle meets at least one second condition is monitored, the AVH can be switched from a standby state to a locking state to lock wheels, so that a user can keep the vehicle static while loosening a pedal, driving fatigue of the user is relieved, and driving experience of the user is improved.

In summary, by presetting a plurality of fourth conditions and enabling the AVH when the vehicle meets at least one of the plurality of fourth conditions, the AVH of the vehicle is in a standby state, the flexibility of AVH function activation control is improved, the diversity of AVH function activation modes is increased, and further, when the vehicle is monitored to meet at least one second condition, the AVH can be switched from the standby state to a locked state to lock the wheels, so that the vehicle can be kept stationary while the user can release the pedal, the driving fatigue of the user is reduced, and the driving experience of the user is improved.

In order to more clearly illustrate the above embodiments, the description will now be made by way of example.

For example, as shown in fig. 10, fig. 10 is a schematic structural diagram of a state machine in an AVH system according to an embodiment of the present disclosure, and AVH states in the state machine may include an OFF state (OFF), a Standby state (Standby), a locked state (Active-Hold), a released state (Active-Release), and a handover state (Active-Take Over). Wherein, it should be noted that, when the vehicle satisfies at least one of the fourth conditions, the AVH may be switched from the off state to the standby state; the AVH may be switched from the standby state to the locked state when the vehicle satisfies at least one of the plurality of second conditions; the AVH may be switched from the locked state to the handoff state when the vehicle satisfies at least one of the plurality of third conditions; the AVH may be switched from the locked state to the released state when the vehicle satisfies at least one of a plurality of first conditions; furthermore, without a trigger condition, the AVH may switch directly from the release state to the standby state and the AVH may switch directly from the handover state to the off state.

The plurality of second conditions includes: the stroke of a brake push rod of the vehicle is greater than or equal to a third threshold value; the brake recovery torque of the vehicle in the single-pedal driving mode is greater than or equal to a fourth threshold value; the stroke of a brake push rod of the vehicle is firstly reduced and then increased, and the increased stroke of the brake push rod is larger than a set threshold value.

The plurality of third conditions includes: the time length for which the vehicle is in the locked state is greater than or equal to a fifth threshold value; loosening a safety belt of the vehicle; opening a door of the vehicle; the number of times the vehicle rolls down the slope is greater than or equal to a sixth threshold value.

The plurality of fourth conditions includes: the switch of the AVH is turned on; activating a single-pedal driving mode; the traffic signal light in the traveling direction of the vehicle is a red light.

The parking control method of the embodiment of the present disclosure monitors whether a vehicle satisfies at least one of the following first conditions by maintaining an AVH in a locked state of an automatic vehicle of the vehicle; controlling the AVH to release the locking of the wheel to switch the AVH from the locked state to the released state or the standby state if at least one first condition is satisfied; wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; the vehicle has transverse motion, therefore, through presetting a plurality of first conditions, and when the vehicle satisfies at least one of a plurality of first conditions, can realize AVH function release, increased the variety that triggers AVH function release mode, improved the flexibility of AVH control, can satisfy different users 'driving habits, improved user's driving experience.

In order to implement the above embodiments, the present disclosure also proposes a parking control device.

Fig. 11 is a schematic structural diagram of a parking control device according to an embodiment of the present disclosure.

As shown in fig. 11, parking control apparatus 1100 includes: a first monitoring module 1110 and a first control module 1120.

The first monitoring module 1110 is configured to monitor whether the vehicle meets at least one of the following first conditions while an automatic vehicle maintenance AVH of the vehicle is in a locked state; a first control module 1120 configured to control the AVH to release the locking of the wheel such that the AVH switches from a locked state to a released state or a standby state if at least one first condition is satisfied; wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; there is lateral movement of the vehicle.

As one possible implementation manner of the embodiment of the present disclosure, the parking control apparatus 1100 further includes: the device comprises a second monitoring module and a second control module.

The second monitoring module is used for monitoring whether the vehicle meets at least one of the following second conditions when the AVH of the vehicle is in a release state or a standby state; the second control module is used for controlling the AVH to lock the wheel under the condition that at least one second condition is met, so that the AVH is switched to a locking state; wherein the plurality of second conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a third threshold value; the brake recovery torque of the vehicle in the single-pedal driving mode is greater than or equal to a fourth threshold value; the stroke of a brake push rod of the vehicle is firstly reduced and then increased, and the increased stroke of the brake push rod is larger than a set threshold value.

As one possible implementation manner of the embodiment of the present disclosure, the parking control apparatus 1100 further includes: the device comprises a third monitoring module and a third control module.

The third monitoring module is used for monitoring whether the vehicle meets at least one of the following third conditions when the AVH of the vehicle is in a locked state; a third control module for requesting an electronic parking brake EPB of the vehicle to perform parking control to switch the AVH from the locked state to the handover state, if at least one third condition is satisfied; wherein the plurality of third conditions include: the time length that the vehicle is in the locked state is greater than or equal to a fifth threshold value; loosening a safety belt of the vehicle; opening a door of the vehicle; the number of times the vehicle rolls down the slope is greater than or equal to a sixth threshold value.

As one possible implementation manner of the embodiment of the present disclosure, the parking control apparatus 1100 further includes: the monitoring system comprises a fourth monitoring module and a fourth control module.

The fourth monitoring module is used for monitoring whether the vehicle meets at least one of the following fourth conditions or not under the condition that the AVH is not started; the fourth control module is used for enabling the AVH under the condition that at least one fourth condition is met so as to enable the AVH of the vehicle to be in a standby state; wherein, a plurality of fourth condition includes: the switch of the AVH is turned on; activating a single-pedal driving mode; the traffic signal light in the traveling direction of the vehicle is a red light.

As a possible implementation manner of the embodiment of the present disclosure, a vehicle is equipped with a positioning device and a camera; parking control apparatus 1100 further includes: the device comprises a fifth monitoring module and a first identification module.

The fifth monitoring module is used for monitoring whether a traffic signal lamp exists in the driving direction of the vehicle or not based on the positioning position detected by the positioning device in the map and the position of the traffic signal lamp marked in the map; the first identification module is used for identifying the color of the traffic signal lamp by adopting the camera under the condition that the traffic signal lamp exists in the running direction of the vehicle so as to determine the color of the traffic signal lamp.

As one possible implementation manner of the embodiment of the present disclosure, a vehicle is mounted with a radar and a camera, and parking control apparatus 1100 further includes: a sixth monitoring module and a second identification module.

The sixth monitoring module is used for monitoring whether a traffic signal lamp exists in the driving direction of the vehicle based on a radar or a camera; and the second identification module is used for identifying the color of the traffic signal lamp by adopting the camera under the condition that the traffic signal lamp exists in the running direction of the vehicle so as to determine the color of the traffic signal lamp.

The parking control apparatus of the embodiment of the present disclosure monitors whether or not a vehicle satisfies at least one of the following first conditions by keeping an AVH of the vehicle in a locked state automatically; controlling the AVH to release the locking of the wheel under the condition that at least one first condition is met, so that the AVH is switched from a locking state to a releasing state or a standby state; wherein the plurality of first conditions include: the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value; a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value; the vehicle has transverse motion, so that the AVH function can be released by presetting a plurality of first conditions and when the vehicle meets at least one of the first conditions, the diversity of AVH function release triggering modes is increased, the flexibility of AVH control is improved, the driving habits of different users can be met, and the driving experience of the users is improved.

It should be noted that the foregoing explanation of the embodiment of the parking control method is also applicable to the parking control apparatus of this embodiment, and is not repeated herein.

In order to achieve the above embodiment, the present disclosure also proposes a vehicle including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the parking control method of the above-described embodiments.

In order to achieve the above embodiments, the present disclosure also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the parking control method described in the above embodiments.

In order to implement the above-mentioned embodiments, the present disclosure also proposes a computer program product comprising a computer program which, when executed by a processor, implements the parking control method of an embodiment of the present disclosure.

FIG. 12 is a block diagram illustrating a vehicle 1200 according to an exemplary embodiment. For example, the vehicle 1200 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. Vehicle 1200 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to fig. 12, a vehicle 1200 may include various subsystems such as an infotainment system 1210, a perception system 1220, a decision control system 1230, a drive system 1240, and a computing platform 1250. Vehicle 1200 may also include more or fewer subsystems, and each subsystem may include multiple components, among others. In addition, the interconnection between each subsystem and each component of the vehicle 1200 may be achieved through wired or wireless means.

In some embodiments, infotainment system 1210 may include a communication system, an entertainment system, a navigation system, and the like.

The perception system 1220 may include several types of sensors for sensing information about the environment surrounding the vehicle 1200. For example, the sensing system 1220 may include a global positioning system (the global positioning system may be a GPS system, a beidou system or other positioning systems), an Inertial Measurement Unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

Decision control system 1230 may include a computing system, a vehicle control unit, a steering system, a throttle, and a braking system.

Drive system 1240 may include components that provide powered motion to vehicle 1200. In one embodiment, drive system 1240 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engine, electric motor, air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functions of the vehicle 1200 are controlled by the computing platform 1250. Computing platform 1250 can include at least one processor 1251 and memory 1252, the processor 1251 can execute instructions 1253 stored in the memory 1252.

The processor 1251 may be any conventional processor, such as a commercially available CPU. The processor may also include a processor such as a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

The memory 1252 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

In addition to the instructions 1253, the memory 1252 may also store data such as road maps, route information, vehicle location, direction, speed, etc. The data stored by the memory 1252 may be used by the computing platform 1250.

In the disclosed embodiment, processor 1251 may execute instructions 1253 to complete all or some of the steps of the parking control method described above.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although 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, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.

Claims

1. A parking control method characterized by comprising:

monitoring whether a vehicle satisfies at least one of a plurality of first conditions while an automatic vehicle-holding AVH of the vehicle is in a locked state;

controlling the AVH to release the locking of the wheel to switch the AVH from the locked state to a released state or a standby state if at least one of the first conditions is satisfied;

wherein the plurality of first conditions include:

the stroke of a brake push rod of the vehicle is greater than or equal to a first threshold value;

a driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold;

the vehicle has lateral motion;

monitoring whether the vehicle satisfies at least one of the following second conditions while the AVH of the vehicle is in the released state or the standby state;

controlling the AVH to lock the wheel so that the AVH is switched to the locked state if at least one of the second conditions is satisfied;

wherein the second condition comprises:

the brake recovery torque of the vehicle in the single-pedal driving mode is greater than or equal to a fourth threshold;

the stroke of a brake push rod of the vehicle is reduced and then increased, and the increased stroke of the brake push rod is larger than a set threshold value;

monitoring whether the vehicle satisfies at least one of the following fourth conditions in the event that the vehicle is not AVH enabled;

enabling the AVH to enable the AVH of the vehicle to be in the standby state if at least one fourth condition is met;

wherein the fourth condition includes:

the single-pedal driving mode is activated.

2. The method of claim 1, wherein the second condition further comprises:

the stroke of a brake push rod of the vehicle is larger than or equal to a third threshold value.

3. The method of claim 1, further comprising:

monitoring whether the vehicle satisfies at least one of the following third conditions while the AVH of the vehicle is in the locked state;

requesting an Electronic Parking Brake (EPB) of the vehicle to perform parking control so that the AVH is switched from the locked state to a handover state if at least one of the third conditions is satisfied;

wherein a plurality of the third conditions include:

the length of time that the vehicle is in the locked state is greater than or equal to a fifth threshold;

a seat belt of the vehicle is unfastened;

opening a door of the vehicle;

the number of times of hill fall of the vehicle is greater than or equal to a sixth threshold value.

4. The method of claim 1, wherein the fourth condition further comprises:

the switch of the AVH is turned on;

and the traffic signal lamp in the driving direction of the vehicle is a red lamp.

5. The method of claim 4, wherein the vehicle is equipped with a positioning device and a camera;

the method further comprises the following steps:

monitoring whether a traffic signal lamp exists in the driving direction of the vehicle or not based on the positioning position detected by the positioning device in the map and the position of the traffic signal lamp marked in the map;

and under the condition that the traffic signal lamp exists in the driving direction of the vehicle, carrying out color identification on the traffic signal lamp by adopting the camera so as to determine the color of the traffic signal lamp.

6. The method of claim 4, wherein the vehicle is equipped with a radar and a camera;

the method further comprises the following steps:

monitoring whether a traffic signal lamp exists in the driving direction of the vehicle or not based on the radar or the camera;

7. A parking control apparatus, characterized by comprising:

the automatic vehicle locking device comprises a first monitoring module, a second monitoring module and a locking module, wherein the first monitoring module is used for monitoring whether the vehicle meets at least one of the following first conditions or not when an automatic vehicle of the vehicle keeps an AVH in a locked state;

the first control module is used for controlling the AVH to release the locking of the wheel under the condition that at least one first condition is met, so that the AVH is switched from the locking state to the releasing state or the standby state;

wherein the plurality of first conditions comprises:

the driving torque of an accelerator pedal of the vehicle is greater than or equal to a second threshold value;

the vehicle has lateral motion;

a second monitoring module, configured to monitor whether the vehicle satisfies at least one of the following second conditions when the AVH of the vehicle is in the release state or the standby state;

the second control module is used for controlling the AVH to lock the wheel under the condition that at least one second condition is met, so that the AVH is switched to the locking state;

wherein the second condition comprises:

a fourth monitoring module for monitoring whether the vehicle satisfies at least one of the following fourth conditions if the vehicle is not AVH enabled;

the fourth control module is used for enabling the AVH under the condition that at least one fourth condition is met so as to enable the AVH of the vehicle to be in the standby state;

wherein the fourth condition includes:

the single-pedal driving mode is activated.

8. The apparatus of claim 7, wherein the second condition comprises further comprising:

9. The apparatus of claim 7, further comprising:

a third monitoring module for monitoring whether the vehicle satisfies at least one of a plurality of third conditions when the AVH of the vehicle is in the locked state;

a third control module for requesting an electronic parking brake EPB of the vehicle to perform parking control so that the AVH is switched from the locked state to a handover state, if at least one of the third conditions is satisfied;

wherein a plurality of the third conditions include:

a seat belt of the vehicle is unfastened;

opening a door of the vehicle;

the number of times of slope falling of the vehicle is greater than or equal to a sixth threshold value.

10. The apparatus of claim 7, wherein the fourth condition further comprises:

the switch of the AVH is turned on;

11. The device of claim 10, wherein the vehicle is equipped with a positioning device and a camera;

the device further comprises:

the fifth monitoring module is used for monitoring whether a traffic signal lamp exists in the driving direction of the vehicle or not based on the positioning position detected by the positioning device in the map and the position of the traffic signal lamp marked in the map;

the first identification module is used for identifying the color of the traffic signal lamp by adopting the camera under the condition that the traffic signal lamp exists in the driving direction of the vehicle, so as to determine the color of the traffic signal lamp.

12. The apparatus according to claim 10, wherein the vehicle is mounted with a radar and a camera;

the device further comprises:

the sixth monitoring module is used for monitoring whether a traffic signal lamp exists in the driving direction of the vehicle or not based on the radar or the camera;

and the second identification module is used for identifying the color of the traffic signal lamp by adopting the camera under the condition that the traffic signal lamp exists in the driving direction of the vehicle so as to determine the color of the traffic signal lamp.

13. A vehicle, characterized by comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the parking control method of any of claims 1-6.

14. A non-transitory computer-readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a parking control method according to any of claims 1-6.