CN116691618A

CN116691618A - Parking control method and device and vehicle

Info

Publication number: CN116691618A
Application number: CN202310833034.8A
Authority: CN
Inventors: 范志超; 杨振
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-07-07
Filing date: 2023-07-07
Publication date: 2023-09-05

Abstract

The application is suitable for the technical field of vehicles, and provides a parking control method and device and a vehicle. The parking control method comprises the following steps: when the vehicle finishes automatic parking according to a parking route, if the electronic parking system of the vehicle is detected to be in a fault state, the current position of a driver is obtained; if the current position of the driver is located outside the vehicle, controlling the vehicle to be stationary at a preset position, wherein the preset position is any position on the parking route; and outputting a take-over prompt message to wait for a driver to trigger a take-over control signal through a control component in the vehicle. The embodiment of the application can ensure that the vehicle can take the cost and the safety into consideration, and the parking safety is ensured at low cost.

Description

Parking control method and device and vehicle

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a parking control method and device and a vehicle.

Background

With the development of the vehicle industry, vehicles are increasingly involved in the life and work of the public. In face of various use scenes and use demands, intelligent services of vehicles are becoming an important research direction in the field of vehicles.

An automatic parking system is one of the vehicle-mounted systems that provides an intelligent service. Currently, some automatic parking systems of vehicles support drivers to park outside the vehicle through a remote parking function. The remote parking function allows a driver to remotely control a vehicle to perform parking, exiting, straight in, straight out, etc., using a remote control device (e.g., a smart phone, a key fob, etc.). An electronic parking system (Electrical Park Brake, EPB) can enable automatic parking of a vehicle after the vehicle has been parked. In the remote control parking process, if the electronic parking system is in a failure scene, the vehicle can slide down due to no one in the vehicle, and the potential risk of collision with a driver or other road participants exists.

Some related technologies can use a dual EPB controller or use the EPB controller and a mechanical P gear (parking gear) to realize double-chain parking, so as to avoid the problems. When the single EPB controller is in a failure scene, the vehicle can realize a parking function through the other EPB controller or the mechanical P gear. This approach requires the vehicle to be configured with multiple EPB controllers or mechanical P-stops, resulting in increased vehicle costs. For vehicles not equipped with multiple EPB controllers and mechanical P range, there is still a risk of a hill slip, and thus it is difficult to secure parking safety at low cost.

Disclosure of Invention

The embodiment of the application provides a parking control method, a device and a vehicle, which can solve the problem that the parking safety is difficult to ensure under low cost in the related technology.

A first aspect of an embodiment of the present application provides a parking control method, including: when the vehicle finishes automatic parking according to a parking route, if the electronic parking system of the vehicle is detected to be in a fault state, the current position of a driver is obtained; if the current position of the driver is located outside the vehicle, controlling the vehicle to be stationary at a preset position, wherein the preset position is any position on the parking route; and outputting a take-over prompt message to wait for a driver to trigger a take-over control signal through a control component in the vehicle.

A second aspect of the embodiment of the present application provides a parking control apparatus, including: the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the current position of a driver if the electronic parking system of the vehicle is detected to be in a fault state when the vehicle finishes automatic parking according to a parking route; the control unit is used for controlling the vehicle to be stationary at a preset position if the current position of the driver is located outside the vehicle, wherein the preset position is any position on the parking route; and the take-over prompting unit is used for outputting take-over prompting information so as to wait for a driver to trigger a take-over control signal through a control component in the vehicle.

A third aspect of the embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the parking control method described above when executing the computer program.

A fourth aspect of the embodiment of the present application provides a vehicle configured with an automatic parking system and an electronic parking system, the vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above-described parking control method when executing the computer program.

A fifth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described parking control method.

A sixth aspect of the embodiments of the present application provides a computer program product for causing an electronic device/vehicle to execute the parking control method described in the first aspect above, when the computer program product is run on the electronic device/vehicle.

In the embodiment of the application, when the vehicle finishes automatic parking according to the parking route, if the electronic parking system of the vehicle is detected to be in a fault state, the current position of the driver is obtained, if the current position of the driver is positioned outside the vehicle, the vehicle is controlled to be at any position on the parking route and the takeover prompt information is output, so that the driver waits for triggering the takeover control signal through the control component in the vehicle, the vehicle can be at the preset position when the electronic parking system is in a fault scene, the driver is given time to return to the vehicle to take over the vehicle, the vehicle is prevented from sliding on a slope after the parking is finished, and the mode does not need to be provided with a redundant EPB controller or a mechanical P gear for the vehicle, so that the vehicle can take into account cost and safety problems, and the parking safety is ensured at low cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic implementation flow chart of a parking control method according to an embodiment of the present application;

fig. 2 is a schematic diagram of an architecture of an automatic parking system according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a specific implementation of the automatic parking suppression function according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a specific implementation flow for controlling a vehicle to be stationary at a parking end position according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a parking control device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be protected by the present application based on the embodiments of the present application.

The electronic parking system can realize automatic parking of the vehicle after the vehicle is parked. In the remote control parking process, if the electronic parking system is in a failure scene, the vehicle can slide down due to no one in the vehicle, and the potential risk of collision with a driver or other road participants exists.

Some related technologies can use double EPB controllers or EPB controllers and mechanical P gears to realize double-chain parking, so that the problems are avoided. When the single EPB controller is in a failure scene, the vehicle can realize a parking function through the other EPB controller or the mechanical P gear. This approach requires the vehicle to be configured with multiple EPB controllers or mechanical P-stops, resulting in increased vehicle costs. For vehicles not equipped with multiple EPB controllers and mechanical P range, there is still a risk of a hill slip, and thus it is difficult to secure parking safety at low cost.

In view of the above, the application provides a parking control method, which can give a driver a buffer time for returning to a controlled vehicle in a vehicle again in a scene of failure of an electronic parking system, and can avoid the occurrence of vehicle sliding and take into account the safety of parking control and the cost problem of the vehicle when the vehicle is only provided with a single EPB controller.

In order to illustrate the technical scheme of the application, the following description is made by specific examples.

Fig. 1 shows a schematic implementation flow chart of a parking control method according to an embodiment of the present application, which is applicable to situations where parking safety needs to be improved at low cost.

It should be noted that the parking control method shown in fig. 1 may be executed by a processor, and the processor may be integrated in the vehicle or may be integrated in a separate electronic device. The electronic equipment can be intelligent equipment such as a computer, a smart phone, vehicle-mounted equipment and the like, and can be used for parking control of a vehicle. When the processor is integrated in the vehicle, the vehicle may perform autonomous parking control by the parking control method shown in fig. 1. And, the vehicle may be a new energy vehicle, a fuel oil vehicle or other types of vehicles. The application is not limited in this regard.

Specifically, the above-described parking control method may include the following steps S101 to S103.

Step S101, when the vehicle completes automatic parking according to the parking route, if it is detected that the electronic parking system of the vehicle is in a fault state, the current position of the driver is obtained.

The vehicle is a vehicle to be automatically controlled for parking, and for example, the vehicle is referred to as the vehicle.

Specifically, the vehicle may be configured with an automatic parking system, an electronic parking system, and a power system. As shown in fig. 2, the automatic parking system may collect environmental information around the vehicle by sensing sensors configured in the system, plan a parking route based on the environmental information, and send an acceleration/deceleration request, a gear request, and an EPB request to a brake controller configured in the automatic parking system, so that the vehicle completes automatic parking according to the parking route. When the acceleration request is an acceleration request, an acceleration module of the brake controller may convert the acceleration request to a positive torque for output to a vehicle powertrain. When the acceleration and deceleration request is a deceleration request, the deceleration module of the brake controller can convert the deceleration request into braking torque to be output to the hydraulic module for decelerating the vehicle. For a gear request, a gear module of the brake controller may relay the gear request to a vehicle powertrain. For EPB requests, the brake controller can transfer the EPB requests to the electronic parking system to perform parking control of the vehicle. The power controller of the vehicle powertrain is operable to accelerate the vehicle in response to an acceleration request from the brake controller and to perform a vehicle gear change in response to a gear request from the brake controller.

In some embodiments, if the electronic parking system detects a link failure or a hardware failure through self-detection, or the external controller cannot receive a signal sent by the electronic parking system, it may be determined that a system state of the electronic parking system is a failure state, where the failure state indicates that the electronic parking system has a failure.

For example, as shown in fig. 2, the system state of the electronic parking system may be detected by the brake controller and then fed back to the automatic parking system.

If the system state of the electronic parking system is detected to be in a fault state, the electronic parking system is in a failure scene, locking cannot be performed according to an EPB request to prevent a slide slope, and at the moment, the processor needs to acquire the current position of the driver so as to analyze the use scene of the current vehicle.

The current position of the driver can be detected by a driving detection system (Driver Monitor System, DMS) configured by the vehicle, and the driving detection system can analyze whether the driver is positioned at a driving position or not by a weight sensor or an in-vehicle camera. The current position of the driver can also be determined according to the distance between the remote control device and the vehicle when the driver performs remote control parking. The application is not limited in this regard.

In step S102, if the current position of the driver is located outside the vehicle, the vehicle is controlled to be stationary at the preset position.

In an embodiment of the present application, a usage scenario of a vehicle may be classified into a driver being located inside the vehicle and a driver being located outside the vehicle. It will be appreciated that the ease with which a vehicle is taken over is different when the driver is in different positions. If the current position of the driver is located outside the vehicle, the driver needs to return to the vehicle and take over the vehicle. During the return of the driver to the vehicle, a vehicle may run downhill due to the incomplete parking of the vehicle. To avoid the occurrence of a hill slip problem, the processor may control the vehicle to rest at a predetermined position.

The preset position may be any position on the parking route, for example, may be a parking end position where the vehicle is located when automatic parking is completed, or may be a parking start position where automatic parking is started.

Step S103, outputting a takeover prompt message to wait for a driver to trigger a takeover control signal through a control component in the vehicle.

Specifically, the processor may send the takeover prompt information to the application software on the mobile phone through instant communication with the mobile phone of the driver, or output the takeover prompt information through the display system of the vehicle, the vehicle-mounted sound system, the output component of the vehicle such as the loudspeaker, etc., so as to prompt the driver to trigger the takeover control signal through the control component in the vehicle.

The control component can refer to a steering wheel, a brake pedal and the like, and a driver can trigger the take-over control signal by rotating the steering wheel and stepping on the brake pedal. In response to the take over control signal, the vehicle may exit the auto park function, taking over vehicle control by the driver.

In the embodiment of the application, when the vehicle finishes automatic parking according to the parking route, if the electronic parking system of the vehicle is detected to be in a fault state, the current position of the driver is obtained, if the current position of the driver is positioned outside the vehicle, the vehicle is controlled to be stationary at any position on the parking route and the takeover prompt information is output, so that the driver waits for triggering the takeover control signal through the control component in the vehicle, the vehicle can be stationary at a preset position when the vehicle parks on a slope and the electronic parking system is in a failure scene, the driver is given time to return to the vehicle to take over the vehicle, the vehicle is prevented from sliding on a slope after parking is finished, and the mode does not need to be provided with a redundant EPB controller or a mechanical P gear for the vehicle, so that the vehicle can take into consideration of cost and safety problems, and the parking safety is ensured at low cost.

In the embodiment of the application, the vehicle can monitor the gradient information of the position of the vehicle and the system state of the electronic parking system in real time.

When a parking request is received, the processor may select to trigger or inhibit an automatic parking function according to the second gradient information of the parking start position and the system state of the electronic parking system.

Specifically, as shown in fig. 3, the following steps S301 to S302 may be included before the vehicle completes the automatic parking according to the parking route.

Step S301, obtaining second gradient information of a parking start position on a parking route.

At the start of automatic parking, the vehicle may acquire gradient information of the position where the vehicle is located, that is, second gradient information of the parking start position. The second gradient information is used to characterize the gradient of the parking start position.

Step S302, if the second gradient information meets the slope sliding condition and the electronic parking system of the vehicle is detected to be in a fault state, stopping automatic parking.

If the gradient is greater than the first gradient threshold value (for example, 1%), it is confirmed that the second gradient information satisfies the slip condition. If the second gradient information meets the slope sliding condition, the condition that the vehicle is located in the slope environment indicates that a certain gradient possibly exists at the parking end position, and at the moment, if the electronic parking system of the vehicle is detected to be in a fault state, the condition that the vehicle is in a slope sliding risk when parking is completed is indicated, the processor can stop automatic parking, and the automatic parking function is inhibited.

In view of the fact that there is a risk of sliding a slope even if parking is completed when the gradient is very high, a second gradient threshold may be set, and when the gradient is greater than the second gradient threshold, the processor may directly stop automatic parking, suppressing the automatic parking function. Wherein the second grade threshold is greater than the first grade threshold, for example 10%.

In other embodiments, after the second gradient information of the parking start position is obtained, if the second gradient information meets a slope sliding condition and it is detected that the electronic parking system of the vehicle is in a normal working state, the processor may trigger an automatic parking function to control the vehicle to complete automatic parking according to a parking route because the electronic parking system may normally complete parking to avoid sliding.

The normal working state indicates that the electronic parking system does not detect faults.

Preferably, when the second gradient information satisfies the slope sliding condition, the vehicle still has a certain slope sliding risk, and when the second gradient information satisfies the slope sliding condition and the electronic parking system of the vehicle is detected to be in a normal working state, the processor can detect the distance between the driver and the vehicle, and when the distance is smaller than or equal to a preset takeover distance threshold value, the processor controls the vehicle to automatically park according to the parking route.

The distance between the driver and the vehicle can be determined through the signal intensity of a remote control device of the driver, or the distance is obtained through information acquisition through a sensor of the vehicle, and the application is not limited. The take over distance threshold may be set according to an empirical value, for example, set to 7 meters, for ensuring that the driver can take over the vehicle in time.

That is, when the vehicle is located in a ramp environment, but the electronic parking system can work normally, the distance between the driver and the vehicle can be limited, an automatic parking function is triggered, and once the vehicle is abnormal in the automatic parking process, for example, a slope sliding problem occurs, the driver can take over the vehicle in time.

In other embodiments, after the second gradient information of the parking start position is obtained, if the second gradient information does not meet the slope sliding condition, which indicates that the vehicle is located in a level road environment, the slope sliding risk is small, and at this time, whether the electronic parking system is detected to be in a fault state or a normal working state, the processor can trigger an automatic parking function to control the vehicle to complete automatic parking according to the parking route.

By way of example, setting the first grade threshold to 1%, setting the second grade threshold to 10%, and setting the distance threshold to 7 meters, the triggering process of the auto park function may be represented by the following table:

After the parking function is triggered, the vehicle can reach the parking end position according to the parking route, and automatic parking is completed. At this time, the processor may select an end logic of the automatic parking according to the first gradient information of the parking end position and the system state of the electronic parking system.

Specifically, the parking end position is an end position of automatic parking of the vehicle, and may be a parkable position determined by the automatic parking system through analysis of the lane lines, or a parking space set by a driver, or the like. Taking fig. 2 as an example, the automatic parking system may transmit a monitoring signal to the power sensor to monitor the parking state, and confirm whether the automatic parking is completed. When the vehicle completes automatic parking according to the parking route, the vehicle can acquire first gradient information of a parking end position through sensors such as an inertial measurement unit (Inertial Measurement Unit, IMU) and an infrared probe. The first gradient information characterizes a gradient of the parking end position.

In the first case, when the gradient of the parking end position is less than or equal to the first gradient threshold value, for example, when the gradient is less than or equal to 1%, it may be confirmed that the second gradient information does not satisfy the slip condition. At this time, the possibility of the vehicle sliding on the parking end position is small, if the electronic parking system of the vehicle is detected to be in a normal working state, the electronic parking system can be controlled to automatically park, and after the electronic parking system finishes automatic parking, the automatic parking function is normally ended.

In the second case, when the gradient of the parking end position is less than or equal to the first gradient threshold value, it may be confirmed that the second gradient information does not satisfy the slip condition. At this time, if it is detected that the electronic parking system of the vehicle is in a failure state, the processor may output failure prompt information and output the failure information to the power controller.

The fault prompting information is used for prompting the driver that the electronic parking system has a fault, and the output mode can refer to the output mode of the takeover prompting information, so that the application is not repeated. The fault information is used to instruct the power controller to stop outputting Creep Torque (Creep Torque) to the motor and shift the gear of the vehicle to N (neutral) or P (P) to prevent the vehicle from moving. After the power controller completes the response to the fault information, the processor may end the auto park function.

In a third case, when the gradient is greater than or equal to the first gradient threshold value, which indicates that the vehicle has a slope sliding danger at the parking end position, the processor may confirm that the first gradient information of the parking end position satisfies the slope sliding condition. At this time, a vehicle may slide on a parking end position, and if the electronic parking system of the vehicle is detected to be in a normal working state, the processor may control the electronic parking system to perform automatic parking, and after the electronic parking system completes automatic parking, the automatic parking function is normally ended.

It should be appreciated that in the above three cases, since the gradient of the parking end position is small, or the electronic parking system may complete automatic parking, the risk of the vehicle sliding down is small, and the automatic parking function may end normally.

In the fourth case, if the first gradient information of the parking end position satisfies the hill-drop condition and the electronic parking system of the vehicle is detected to be in a fault state, the processor needs to acquire the current position of the driver to analyze the usage scenario of the vehicle.

Specifically, if the current position of the driver is located outside the vehicle, the processor may execute steps S102 to S103 to wait for the driver to trigger the take-over control signal through the control component in the vehicle.

In step S102, in order to allow the vehicle to wait for the driver to take over in the safe position, the processor may acquire second gradient information of a parking start position on the parking route, and when the second gradient information does not satisfy the slope sliding condition, control the vehicle to return to and rest at the parking start position with the parking start position as a preset position.

The second gradient information of the parking start position may be gradient information acquired when the vehicle starts to automatically park. It should be appreciated that when the second gradient information does not satisfy the hill-drop condition, indicating that the gradient of the vehicle at the parking start position is small, the risk of the vehicle sliding off is relatively low even if automatic parking is not completed, and at this time, the processor may control the vehicle to return to the parking start position according to the parking route and control the vehicle to rest at the parking start position.

Specifically, after the vehicle returns to the park start position, the processor may output a fault notification and output fault information to the power controller. The specific application of the fault prompting information and the fault information can refer to the foregoing description, and the description of the application is omitted.

In this way, the vehicle can wait for the driver to return to the vehicle at the position with smaller gradient on the parking route, so that the possibility of collision caused by sliding is reduced, the parking safety is improved, the gradient of the parking starting position is smaller, and the cost (such as power consumption, heat productivity of a controller and the like) required for the vehicle to be stationary at the parking starting position is less.

In other embodiments, if the second gradient information satisfies the slope sliding condition, the parking end position may be set as the preset position, and the vehicle may be controlled to be stationary at the parking end position by the brake controller and/or the power controller of the vehicle.

Specifically, as shown in fig. 4, the control of the vehicle to be stationary at the parking end position may include the following steps S401 to S403.

In step S401, the brake controller is controlled to hydraulically brake the vehicle to control the vehicle to be stationary at the parking end position.

In particular, the hydraulic module of the brake controller may generate hydraulic pressure that is transmitted by the brake fluid through the lines to the wheel brake assemblies to apply a force to the wheels to control the vehicle to rest in the park end position. During a vehicle stationary in a park end position, the processor may output a take over prompt to await a driver triggering a take over control signal via a control assembly within the vehicle.

In step S402, the duration of the hydraulic brake is acquired.

And step S403, stopping hydraulic braking when the duration time is longer than the duration time threshold value, and controlling the motor to output negative torque through the power controller so as to control the vehicle to be stationary at the parking end position.

During hydraulic braking, the processor may record the duration of the hydraulic braking. It will be appreciated that when the duration of hydraulic braking is too long, the brake controller will overheat and may be damaged if severe, and therefore the processor may set a duration threshold, stop hydraulic braking when the duration is greater than the duration threshold, and control the motor to output negative torque via the power controller to control the vehicle to rest in the park end position.

The time period threshold may be adjusted according to practical situations, for example, set to 3 minutes.

Specifically, the power controller may calculate the required negative torque according to the first gradient information of the parking end position, and control the motor to output the negative torque. When the motor outputs negative torque, the motor rotates reversely to provide reverse torque for wheels, so that the effect of controlling the vehicle to be stationary at the parking end position is achieved. In the process of controlling the motor to output negative torque through the power controller, the processor can output the takeover prompt information again so as to wait for the driver to trigger the takeover control signal through the control component in the vehicle.

If the processor detects that the braking controller has a fault, the processor can directly control the motor to output negative torque through the power controller so as to control the vehicle to be stationary at the parking end position.

In some embodiments, the duration of the negative torque output by the motor can be further obtained, when the duration of the negative torque output by the motor is longer than a duration threshold, the control of the negative torque output by the motor by the power controller is stopped, and the hydraulic braking is restarted, so that the braking controller and the power controller are alternately controlled, and the overheat problem caused by long-time work of a single controller is avoided.

In the embodiment of the application, the parking position is changed (namely, the vehicle returns to the parking starting position), or the vehicle is controlled to be stationary at the parking ending position by the brake controller and/or the power controller, so that a certain buffer time can be given to a driver, the driver outside the vehicle can return to the vehicle taking over, the problem of sliding slope is avoided, and the safety of automatic parking can be improved.

In other embodiments, if the current position of the driver is located in the vehicle, the processor may output a take-over prompt message, and control the vehicle to rest in the parking end position through a brake controller and/or a power controller of the vehicle, so as to wait for the driver to trigger a take-over control signal through a control component in the vehicle.

Specifically, since the current position of the driver is located in the vehicle, the driver does not need to return into the vehicle from outside the vehicle, and can immediately take over the vehicle, the processor can output take over prompt information and control the vehicle to be stationary at the parking end position through the brake controller and/or the power controller of the vehicle to wait for the driver to take over the vehicle. In this way, the driver does not need to re-park from the parking start position by returning the vehicle to the parking start position.

It should be noted that, the foregoing output takes over the prompt information and the manner of controlling the vehicle to be stationary at the parking end position may refer to the foregoing description, and the description of the present application is omitted.

When the vehicle is at a preset position, if the vehicle receives the take-over control signal, the vehicle can exit the automatic parking function, and the driver controls the vehicle by himself.

By way of example, setting the first grade threshold to 1% and the duration threshold to 3 minutes, the end of the auto park function may be represented by the following table:

it should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may occur in other orders in accordance with the application.

Fig. 5 is a schematic structural diagram of a parking control device 500 according to an embodiment of the present application, where the parking control device 500 is configured on a processor.

Specifically, the parking control apparatus 500 may include:

an obtaining unit 501, configured to obtain a current position of a driver if it is detected that an electronic parking system of a vehicle is in a fault state when the vehicle completes automatic parking according to a parking route;

the control unit 502 is configured to control the vehicle to be stationary at a preset position if the current position of the driver is located outside the vehicle, where the preset position is an arbitrary position on the parking route;

and the take-over prompting unit 503 is used for outputting take-over prompting information to wait for a driver to trigger a take-over control signal through a control component in the vehicle.

In some embodiments of the present application, the acquiring unit 501 may be specifically configured to: acquiring first gradient information of a parking end position; and if the first gradient information meets the slope sliding condition and the electronic parking system is detected to be in the fault state, acquiring the current position of the driver.

In some embodiments of the present application, the control unit 502 may be specifically configured to: acquiring second gradient information of a parking starting position on the parking route; and if the second gradient information does not meet the slope sliding condition, taking the parking starting position as the preset position, and controlling the vehicle to return and rest at the parking starting position.

In some embodiments of the present application, the control unit 502 may be specifically configured to: and if the second gradient information meets the slope sliding condition, taking a parking end position as the preset position, and controlling the vehicle to be stationary at the parking end position through a brake controller and/or a power controller of the vehicle.

In some embodiments of the present application, the control unit 502 may be specifically configured to: controlling the brake controller to hydraulically brake the vehicle so as to control the vehicle to be stationary at the parking end position; acquiring the duration of the hydraulic braking; and stopping hydraulic braking when the duration time is longer than a duration time threshold value, and controlling a motor to output negative torque through the power controller so as to control the vehicle to be stationary at the parking end position.

In some embodiments of the present application, the control unit 502 may be specifically configured to: and if the current position of the driver is positioned in the vehicle, outputting the takeover prompt information, and controlling the vehicle to be stationary at the parking ending position through a brake controller and/or a power controller of the vehicle so as to wait for the driver to trigger a takeover control signal through a control component in the vehicle.

In some embodiments of the present application, the parking control apparatus 500 may include a parking trigger unit for: acquiring second gradient information of a parking start position on the parking route; and if the second gradient information meets the slope sliding condition and the electronic parking system of the vehicle is detected to be in a fault state, stopping the automatic parking.

In some embodiments of the present application, the parking trigger unit may be specifically configured to: if the second gradient information meets the slope sliding condition and the electronic parking system of the vehicle is detected to be in a normal working state, detecting the distance between a driver and the vehicle; and controlling the vehicle to automatically park according to the parking route when the distance is smaller than or equal to a preset takeover distance threshold value.

It should be noted that, for convenience and brevity of description, the specific working process of the above-mentioned parking control apparatus 500 may refer to the corresponding process of the method described in fig. 1 to 4, and will not be described herein again.

Fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present application. Specifically, the electronic device 6 may include: a processor 60, a memory 61 and a computer program 62, such as a parking control program, stored in the memory 61 and executable on the processor 60. The processor 60, when executing the computer program 62, implements the steps of the respective parking control method embodiments described above, such as steps S101 to S103 shown in fig. 1. Alternatively, the processor 60 may implement the functions of the modules/units in the above-described device embodiments when executing the computer program 62, such as the functions of the acquisition unit 501, the control unit 502, and the take over prompting unit 503 shown in fig. 5.

The computer program may be divided into one or more modules/units which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the electronic device.

For example, the computer program may be split into: the device comprises an acquisition unit, a control unit and a take-over prompting unit. The specific functions of each unit are as follows: the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the current position of a driver if the electronic parking system of the vehicle is detected to be in a fault state when the vehicle finishes automatic parking according to a parking route; the control unit is used for controlling the vehicle to be stationary at a preset position if the current position of the driver is located outside the vehicle, wherein the preset position is any position on the parking route; and the take-over prompting unit is used for outputting take-over prompting information so as to wait for a driver to trigger a take-over control signal through a control component in the vehicle.

The electronic device may include, but is not limited to, a processor 60, a memory 61. It will be appreciated by those skilled in the art that fig. 6 is merely an example of an electronic device and is not meant to be limiting, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.

The processor 60 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 61 may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device. Further, the memory 61 may also include both an internal storage unit and an external storage device of the electronic device. The memory 61 is used for storing the computer program and other programs and data required by the electronic device. The memory 61 may also be used for temporarily storing data that has been output or is to be output.

It should be noted that, for convenience and brevity of description, the structure of the electronic device may refer to a specific description of the structure in the method embodiment, which is not repeated herein.

Fig. 7 is a schematic diagram of a vehicle according to an embodiment of the present application. Specifically, the vehicle 7 may be configured with the aforementioned automatic parking system and electronic parking system. The vehicle 7 may include: a processor 70, a memory 71 and a computer program 72, such as a parking control program, stored in the memory 71 and executable on the processor 70. The processor 70, when executing the computer program 72, implements the steps of the respective parking control method embodiments described above, such as steps S101 to S103 shown in fig. 1. Alternatively, the processor 70 may implement the functions of the modules/units in the above-described device embodiments when executing the computer program 72, such as the functions of the acquisition unit 501, the control unit 502, and the take over prompting unit 503 shown in fig. 5. Specifically, the vehicle 7 may implement the above-described automatic parking control method by an automatic parking system.

It should be noted that, for convenience and brevity of description, the structure of the vehicle may refer to the description in the embodiment of the electronic device, and the specific description of the structure in the embodiment of the method, which is not described herein again.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A parking control method, characterized by comprising:

when the vehicle finishes automatic parking according to a parking route, if the electronic parking system of the vehicle is detected to be in a fault state, the current position of a driver is obtained;

if the current position of the driver is located outside the vehicle, controlling the vehicle to be stationary at a preset position, wherein the preset position is any position on the parking route;

and outputting a take-over prompt message to wait for a driver to trigger a take-over control signal through a control component in the vehicle.

2. The parking control method according to claim 1, characterized in that the obtaining the current position of the driver includes:

Acquiring first gradient information of a parking end position;

and if the first gradient information meets the slope sliding condition and the electronic parking system is detected to be in the fault state, acquiring the current position of the driver.

3. The parking control method according to claim 1, characterized in that the controlling the vehicle to be stationary at a preset position includes:

acquiring second gradient information of a parking starting position on the parking route;

and if the second gradient information does not meet the slope sliding condition, taking the parking starting position as the preset position, and controlling the vehicle to return and rest at the parking starting position.

4. The parking control method according to claim 3, characterized by further comprising, after the acquisition of the second gradient information of the parking start position on the parking route:

and if the second gradient information meets the slope sliding condition, taking a parking end position as the preset position, and controlling the vehicle to be stationary at the parking end position through a brake controller and/or a power controller of the vehicle.

5. The parking control method according to claim 4, wherein the controlling the vehicle to be stationary at the parking end position by a brake controller and/or a power controller of the vehicle includes:

Controlling the brake controller to hydraulically brake the vehicle so as to control the vehicle to be stationary at the parking end position;

acquiring the duration of the hydraulic braking;

and stopping hydraulic braking when the duration time is longer than a duration time threshold value, and controlling a motor to output negative torque through the power controller so as to control the vehicle to be stationary at the parking end position.

6. The parking control method according to any one of claims 1 to 5, characterized by comprising, after the acquisition of the current position of the driver:

and if the current position of the driver is positioned in the vehicle, outputting the takeover prompt information, and controlling the vehicle to be stationary at the parking ending position through a brake controller and/or a power controller of the vehicle so as to wait for the driver to trigger a takeover control signal through a control component in the vehicle.

7. The parking control method according to any one of claims 1 to 5, characterized by comprising, before the vehicle completes automatic parking according to a parking route:

acquiring second gradient information of a parking start position on the parking route;

and if the second gradient information meets the slope sliding condition and the electronic parking system of the vehicle is detected to be in a fault state, stopping the automatic parking.

8. The parking control method according to claim 7, characterized by further comprising, after the acquisition of the second gradient information of the parking start position:

if the second gradient information meets the slope sliding condition and the electronic parking system of the vehicle is detected to be in a normal working state, detecting the distance between a driver and the vehicle;

and controlling the vehicle to automatically park according to the parking route when the distance is smaller than or equal to a preset takeover distance threshold value.

9. A parking control apparatus, characterized by comprising:

the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the current position of a driver if the electronic parking system of the vehicle is detected to be in a fault state when the vehicle finishes automatic parking according to a parking route;

the control unit is used for controlling the vehicle to be stationary at a preset position if the current position of the driver is located outside the vehicle, wherein the preset position is any position on the parking route;

and the take-over prompting unit is used for outputting take-over prompting information so as to wait for a driver to trigger a take-over control signal through a control component in the vehicle.

10. A vehicle provided with an automatic parking system and an electronic parking system, the vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the parking control method according to any one of claims 1 to 8 when the computer program is executed.