CN116729365A

CN116729365A - Parking control method and device, electronic equipment and vehicle

Info

Publication number: CN116729365A
Application number: CN202310834278.8A
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: 2023-09-12

Abstract

The application is suitable for the technical field of vehicles, and provides a parking control method, a device, electronic equipment and a vehicle. The parking control method comprises the following steps: acquiring a parking map; determining a backup parking area of the vehicle according to the map information recorded in the parking map, wherein the first gradient information of the backup parking area meets the safety gradient condition; and when the vehicle finishes parking in the target parking area, if the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state, controlling the vehicle to move to the backup parking area for parking. The embodiment of the application can improve the parking safety.

Description

Parking control method and device, electronic equipment and vehicle

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a parking control method and device, electronic equipment 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 ramp parking process, if the electronic parking system is in a failure scene, a vehicle may slide, and potential risks of collision with a driver or other road participants exist, so that parking safety is low.

Disclosure of Invention

The embodiment of the application provides a parking control method, a device, electronic equipment and a vehicle, which can solve the problem of lower parking safety in the related technology.

A first aspect of an embodiment of the present application provides a parking control method, including: acquiring a parking map; determining a backup parking area of the vehicle according to the map information recorded in the parking map, wherein the first gradient information of the backup parking area meets the safety gradient condition; and when the vehicle finishes parking in the target parking area, if the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state, controlling the vehicle to move to the backup parking area for parking.

A second aspect of the embodiment of the present application provides a parking control apparatus, including: the acquisition unit is used for acquiring a parking map; the determining unit is used for determining a backup parking area of the vehicle according to the map information recorded in the parking map, and the first gradient information of the backup parking area meets the safety gradient condition; and the control unit is used for controlling the vehicle to move to the backup parking area for parking if the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state when the vehicle finishes parking in the target parking area.

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, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the vehicle being configured with an electronic parking system and an automatic parking system, 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, the backup parking area of the vehicle is determined by acquiring the parking map and according to the map information recorded in the parking map, when the vehicle finishes parking in the target parking area, if the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state, the vehicle is controlled to move to the backup parking area of which the first gradient information meets the safety gradient condition for parking, so that the vehicle is controlled to move to a position with a lower gradient for parking when the vehicle parks on a slope and the electronic parking system is in a failure scene, the problem of sliding of the vehicle is prevented, and the parking safety is improved.

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 adjusting a backup parking area according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a specific implementation flow for determining a backup parking area according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of a specific implementation of outputting a takeover prompt message according to an embodiment of the present application;

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

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

fig. 8 is a schematic structural view 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.

An electronic parking system (Electrical Park Brake, EPB) can enable automatic parking of a vehicle after the vehicle has been parked. In the ramp parking process, if the electronic parking system is in a failure scene, a vehicle may slide, and potential risks of collision with a driver or other road participants exist, so that parking safety is low.

In view of the above, the application provides a parking control method, which can determine a parking area with a lower gradient in advance through a parking map, and can control a vehicle to park in the parking area with the lower gradient when the vehicle is on a slope and an electronic parking system is invalid, so that the problem of sliding is prevented, and the parking safety is improved.

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.

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, a parking map is acquired.

The parking map refers to an electronic map for automatic parking of a vehicle. By way of example, the parking map may be a map of the environment in which the vehicle is scanning and constructing a parking environment (e.g., a parking lot), for example, the vehicle may scan the environment and construct a parking map via a SLAM (Simultaneous Localization and Mapping, SLAM) algorithm. The parking map may also be an electronic map drawn based on a design drawing of the parking environment. And, it should be noted that the parking map may be a grid map, a vector map, or another type of map, which is not a limitation of the present application.

Step S102, determining a backup parking area of the vehicle according to the map information recorded in the parking map.

In an embodiment of the present application, map information may be recorded in a parking map, and the map information may include position information of prohibition markings (e.g., lane lines, parking space lines, etc.) within a parking environment, position information of static obstacles, gradient information of a road surface, and the like. Based on the map information, the processor may determine a backup parking area for the vehicle within the parking environment from the parking map.

The backup parking area is a safe parking area used when the parking is invalid, and the vehicle can be parked safely under unexpected conditions. Specifically, the first gradient information of the backup parking area satisfies the safe gradient condition. The first gradient information represents the gradient of the backup parking area, and when the gradient of the backup parking area is smaller than or equal to a gradient threshold value, the processor can confirm that the first gradient information of the backup parking area meets a safety gradient condition. The gradient threshold value may be set according to an empirical value, for example, may be set to 1%.

In some embodiments, the parking map may include a plurality of layers, each layer having different map information recorded therein. For example, the parking map may include a parking space map layer, a road surface map layer, a static obstacle map layer, and the like. The processor extracts a parking space line pattern layer and a road surface pattern layer from the parking map, determines a region in which the vehicle is allowed to park based on the parking space line information in the parking space line pattern layer and the obstacle information in the obstacle pattern layer, determines a region in which the gradient information satisfies the safe gradient condition in the region in which the vehicle is allowed to park based on the gradient information in the road surface pattern layer, and further takes at least one of the regions as a backup parking region.

Step S103, when the vehicle finishes parking in the target parking area, if the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state, the vehicle is controlled to move to the backup parking area for parking.

In an embodiment of the application, the vehicle may be automatically parked in response to a user-triggered automatic parking request. The target parking area is a target location for automatic parking, and may be a user-set parking area (e.g., a user's parking space), or a nearest parking space confirmed by the automatic parking system from around 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. The automatic parking system may transmit a monitoring signal to the power sensor to perform parking status monitoring to confirm whether automatic parking is completed.

When the vehicle completes parking in the target parking area, the vehicle can detect a system state of an electronic parking system of the vehicle, and parking control is performed according to second gradient information and the system state of the target parking area.

The second gradient information represents the gradient of the target parking area, and the processor can acquire the second gradient information through a parking map, and can acquire the second gradient information through sensors such as an inertial measurement unit (Inertial Measurement Unit, IMU) and an infrared probe.

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.

When the gradient of the target parking area is greater than the gradient threshold value, for example, when the gradient is greater than 1%, the vehicle is indicated to have a sliding slope danger in the target parking area, and at the moment, the second gradient information of the target parking area can be confirmed to not meet the safety gradient condition. If the electronic parking system of the vehicle is detected to be in a fault state at this time, which indicates that the electronic parking system is in a failure scene and cannot be locked according to the EPB request to prevent the vehicle from sliding, the processor can control the vehicle to move to the backup parking area to park, so that the vehicle is prevented from sliding in the target parking area.

Specifically, the vehicle may perform path planning based on the parking map, determine a route from the target parking area to the backup parking area, and control the vehicle to move to the backup parking area based on the route to park.

In the embodiment of the application, the vehicle may be automatically parked by using a self-created map, or may be automatically parked by using a known map.

Specifically, for a vehicle that automatically parks by adopting a self-map mode, a parking map is an electronic map constructed according to the first sensor information. At this time, the electronic map is a local map of the parking environment. The first sensor information is information acquired in advance according to a vehicle sensor. The vehicle sensor is arranged on the vehicle, can be a sensor with environmental information acquisition capability such as a laser radar and a camera, and can acquire information in the moving process of the vehicle. The processor may perform a self-building map based on the first sensor information acquired in advance by the vehicle sensor and determine a backup parking area of the vehicle.

Considering that a certain field of view blind area exists in a vehicle sensor such as a laser radar and a camera, a certain information loss exists in an initial parking map, and a certain information update exists between the current time and the acquisition time of the first sensor information in the parking environment, therefore, the backup parking area determined based on the initial parking map is not necessarily the optimal backup parking area, for example, the backup parking area may be far away from the target parking area or the path substitution value moving to the backup parking area is high, therefore, as shown in fig. 3, in some embodiments, after determining the backup parking area of the vehicle according to the map information recorded in the parking map, the following steps S301 to S302 may be further included.

Step S301, updating map information of a parking map according to second sensor information acquired by a vehicle sensor during a process that the vehicle moves to a target parking area.

In the embodiment of the application, the vehicle sensor can acquire information in real time in the process of moving the vehicle to the target parking area, so as to obtain the second sensor information. The second sensor information collected by the vehicle sensor such as the laser radar and the camera can comprise new sensor information besides the first sensor. At this time, the processor may update map information of the parking map according to second sensor information acquired by the vehicle sensor.

Step S302, according to the updated map information, the backup parking area is adjusted.

Specifically, the updated map information may include new parking space line information, new static obstacle information, and new gradient information. Based on the updated map information, the processor may analyze from the parking environment whether a new backup parking area exists, and if the new backup parking area exists, may adjust the backup parking area, and adjust the original backup parking area to the new backup parking area.

In some embodiments, the processor may compare the new backup parking area with the original backup parking area, and select whether to adjust the backup parking area according to the comparison result.

Specifically, if the distance between the new backup parking area and the target parking area is smaller than the distance between the original backup parking area and the target parking area, the processor may adjust the original backup parking area to the new backup parking area. Or if the path cost of the target parking area to the new backup parking area is smaller than the path cost of the target parking area to the original backup parking area, the processor may adjust the original backup parking area to the new backup parking area. Wherein the path cost value is related to the path length, the number of turns, etc.

In this way, in the process of automatic parking of the vehicle, the processor can continuously adjust the backup parking area along with updating of the parking map, and when the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state, the processor controls the vehicle to move to the adjusted backup parking area for parking.

For vehicles that automatically park using known maps, the parking map is an electronic map pre-built for the target area. The target area, that is, the parking environment, can cover the target parking area. For example, when the target parking area is a parking space of a parking lot, the target area may refer to the parking lot; when the target parking area is a temporary parking spot, the target area may refer to a road on which the temporary parking spot is located.

For the target area, the staff can usually complete the pre-construction of the high-definition electronic map through the design drawing or the scanning equipment performs the scanning in advance. At this time, the parking map records complete information of the parking environment, and the processor can search for a backup parking area based on the pre-constructed parking map.

Specifically, as shown in fig. 4, in some embodiments, determining the backup parking area of the vehicle according to the map information recorded in the parking map may include the following steps S401 to S402.

Step S401, extracting gradient information of each parking-capable area in the target area according to the map information recorded in the parking map.

Specifically, the map information recorded in the parking map may include parking space line information, static obstacle information, gradient information, and the like in the entire target area. Based on the parking spot line information and the static obstacle information, the processor may determine respective parkable areas within the target area. A parkable area is an area in which a vehicle is allowed to park, for example, a parking space. After determining each parkable region, gradient information of each parkable region may be extracted.

In step S402, the parkable area whose gradient information satisfies the safe gradient condition is confirmed as the backup parking area.

Specifically, using the gradient information, the processor may compare the gradient of each of the parkable areas with a gradient threshold, and if the gradient is less than the gradient threshold, may confirm that the corresponding parkable area satisfies the safe gradient condition, and confirm that the parkable area whose gradient information satisfies the safe gradient condition is the backup parking area. At this time, the gradient information of the parking area, that is, the aforementioned first gradient information, is backed up.

In some embodiments, when determining the backup parking area of the vehicle according to the map information recorded in the parking map, the processor may use a parkable area which is closest to the target parking area and whose gradient information satisfies the safe gradient condition as the backup parking area according to the map information recorded in the parking map.

In other embodiments, when determining the backup parking area of the vehicle according to the map information recorded in the parking map, the processor may use the parked area with the most gentle gradient as the backup parking area according to the map information recorded in the parking map, where the gradient information satisfies the safe gradient condition.

The application is not limited in the manner in which the backup parking area is determined.

In this way, the processor may analyze the optimal backup parking area by using the known map, and when the second gradient information of the target parking area does not meet the safe gradient condition and the electronic parking system of the vehicle is detected to be in a fault state, control the vehicle to move to the optimal backup parking area for parking.

The processor may further analyze a usage scenario of the vehicle during control of the movement of the vehicle to the backup parking area. Specifically, the usage scenario of a vehicle may be classified into a driver inside the vehicle and a driver outside the vehicle. Because the driver can avoid the vehicle to slide by taking over the vehicle, and the difficulty level of taking over the vehicle by the driver is different under different use scenes, the processor can adopt different control modes under different use scenes.

Specifically, as shown in fig. 5, the above-mentioned control of the vehicle to move to the backup parking area for parking may include the following steps S501 to S502.

Step S501, the current position of the driver is detected.

The current position of the driver can be detected by a driving detection system (DriverMonitorSystem, 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.

Step S502, if the current position of the driver is located outside the vehicle, the vehicle is controlled to move to the backup parking area for parking, and take over prompt information is output.

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. In the process that the driver returns to the vehicle, the vehicle may slip due to incomplete parking of the vehicle, and in order to avoid the slip, the processor may directly control the vehicle to move to the backup parking area for parking, and output the take-over prompt information.

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 assembly may refer to a steering wheel, a brake pedal, etc., and the driver may trigger the take over control signal by turning 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.

After controlling the vehicle to move to the backup parking area for parking, the processor may further control the motor to stop outputting the creep torque, and shift the gear of the vehicle to N (neutral) or P (park) to control the vehicle to be stationary in the backup parking area. After the shift of the vehicle to the N range or the P range, the processor may output the take-over cue signal again.

Therefore, the vehicle can wait for the user to take over at the position (namely the backup parking area) where the vehicle is not easy to slide, and the parking safety can be improved.

In other embodiments, if the driver's current location is within the vehicle, the processor may output a take over prompt and control the vehicle to rest in the target parking area.

Specifically, the processor may control the vehicle to rest in the target parking area via a brake controller and/or a power controller of the vehicle. The hydraulic module of the brake controller can generate hydraulic pressure, and the hydraulic pressure is transmitted to each wheel brake assembly through a pipeline by the brake fluid, so that certain force is applied to the wheels to control the vehicle to be stationary in a target parking area. The power controller can calculate the required negative torque according to the second gradient information, 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 in a target parking area is achieved.

And recording the duration that the vehicle is stationary in the target parking area, and if the duration is longer than a preset duration threshold value and the vehicle does not receive a take-over control signal triggered by a driver, controlling the vehicle to move to the backup parking area to park.

The time period threshold may be set according to practical situations, for example, 1 minute.

That is, when the driver is in the vehicle, the driver can take over the vehicle in time, the processor outputs the take-over prompt message preferentially and controls the vehicle to wait in situ, and the driver can control the take-over prompt message by himself. If the driver does not take over for a long time, the vehicle is controlled to wait for the user to take over at a position where the vehicle is not easy to slide, namely, a backup parking area, so that the parking safety is improved.

Similarly, after controlling the vehicle to move to the backup parking area for parking, the processor may further control the motor to stop outputting the creep torque, and switch the gear of the vehicle to N or P to control the vehicle to be stationary in the backup parking area. After the shift of the vehicle to the N range or the P range, the processor may output the take-over cue signal again.

For ease of understanding, the following table shows the parking control process of the vehicle:

According to the embodiment of the application, the safety parking environment is provided for the vehicle by utilizing the backup parking area under the parking failure scene according to different sources of the parking map and whether the driver is in the vehicle or not, so that the reliability of the automatic parking function and the parking safety can be ensured. For vehicles without redundant EPB controllers or mechanical P gear, automatic parking can be achieved more safely by using a single controller, so that the cost of the vehicle is reduced.

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. 6 is a schematic structural diagram of a parking control device 600 according to an embodiment of the present application, where the parking control device 600 is configured on a processor.

Specifically, the parking control apparatus 600 may include:

an acquisition unit 601, configured to acquire a parking map;

a determining unit 602, configured to determine a backup parking area of the vehicle according to map information recorded in the parking map, where first gradient information of the backup parking area meets a safe gradient condition;

And the control unit 603 is configured to, when the vehicle completes parking in the target parking area, control the vehicle to move to the backup parking area for parking if the second gradient information of the target parking area does not meet the safe gradient condition and the electronic parking system of the vehicle is detected to be in a fault state.

In some embodiments of the present application, the parking map is configured to construct the electronic map according to first sensor information, where the first sensor information is information acquired in advance according to a vehicle sensor; the above-described determination unit 602 may also be used to: updating map information of the parking map according to second sensor information acquired by the vehicle sensor in the process that the vehicle moves to the target parking area; and adjusting the backup parking area according to the updated map information.

In some embodiments of the present application, the parking map is an electronic map pre-constructed for a target area, where the target area covers the target parking area; the determining unit 602 may specifically be configured to: extracting gradient information of each parking area in the target area according to map information recorded in the parking map; and confirming the parkable area with gradient information meeting the safety gradient condition as the backup parking area.

In some embodiments of the present application, the determining unit 602 may be specifically configured to: and according to the map information recorded in the parking map, taking a parking area which is closest to the target parking area and has gradient information meeting the safety gradient condition as the backup parking area.

In some embodiments of the present application, the control unit 603 may specifically be configured to: detecting a current position of a driver; and if the current position of the driver is located outside the vehicle, controlling the vehicle to move to the backup parking area for parking, and outputting a take-over prompt message.

In some embodiments of the present application, the control unit 603 may specifically be configured to: if the current position of the driver is located in the vehicle, outputting the takeover prompting information and controlling the vehicle to be stationary in the target parking area; and if the duration time of the vehicle which is stationary in the target parking area is longer than a preset duration time threshold value and the vehicle does not receive a takeover control signal triggered by a driver, the vehicle is controlled to move to the backup parking area to park.

In some embodiments of the present application, the control unit 603 may specifically be configured to: and controlling the motor to stop outputting the creep torque, and switching the gear of the vehicle to N gear or P gear so as to control the vehicle to be stationary in the backup parking area.

It should be noted that, for convenience and brevity, the specific working process of the parking control apparatus 600 may refer to the corresponding process of the method described in fig. 1 to 5, and will not be described herein again.

Fig. 7 is a schematic diagram of an electronic device according to an embodiment of the present application. Specifically, the electronic device 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 601, the determination unit 602, and the control unit 603 shown in fig. 6.

The computer program may be divided into one or more modules/units which are stored in the memory 71 and executed by the processor 70 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: an acquisition unit, a determination unit and a control unit. The specific functions of each unit are as follows: the acquisition unit is used for acquiring a parking map; the determining unit is used for determining a backup parking area of the vehicle according to the map information recorded in the parking map, and the first gradient information of the backup parking area meets the safety gradient condition; and the control unit is used for controlling the vehicle to move to the backup parking area for parking if the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state when the vehicle finishes parking in the target parking area.

The electronic device may include, but is not limited to, a processor 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is merely an example of an electronic device and is not meant to be limiting, and that more or fewer components than shown may be included, or that certain components may be combined, or that different components may be included, for example, in an electronic device that may also include an input-output device, a network access device, a bus, etc.

The processor 70 may be a central processing unit (Central Processing Unit, CPU), or may be another general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array or other programmable logic device, discrete gate or transistor logic device, 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 71 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 71 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 71 may also include both an internal storage unit and an external storage device of the electronic device. The memory 71 is used for storing the computer program and other programs and data required by the electronic device. The memory 71 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.

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.

Fig. 8 is a schematic diagram of a vehicle according to an embodiment of the present application. Specifically, the vehicle 8 may be configured with the aforementioned automatic parking system and electronic parking system. The vehicle 8 may include: a processor 80, a memory 81 and a computer program 82, such as a parking control program, stored in the memory 81 and executable on the processor 80. The processor 80, when executing the computer program 82, implements the steps of the respective embodiments of the parking control method described above, such as steps S101 to S103 shown in fig. 1. Alternatively, the processor 80 may implement the functions of the modules/units in the above-described device embodiments when executing the computer program 82, such as the functions of the acquisition unit 601, the determination unit 602, and the control unit 603 shown in fig. 6. Specifically, the vehicle 8 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.

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:

acquiring a parking map;

determining a backup parking area of the vehicle according to the map information recorded in the parking map, wherein the first gradient information of the backup parking area meets the safety gradient condition;

and when the vehicle finishes parking in the target parking area, if the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state, controlling the vehicle to move to the backup parking area for parking.

2. The parking control method according to claim 1, wherein the parking map is an electronic map constructed based on first sensor information, which is information acquired in advance based on a vehicle sensor;

After determining the backup parking area of the vehicle according to the map information recorded in the parking map, the method further comprises the following steps:

updating map information of the parking map according to second sensor information acquired by the vehicle sensor in the process that the vehicle moves to the target parking area;

and adjusting the backup parking area according to the updated map information.

3. The parking control method according to claim 1, wherein the parking map is an electronic map pre-constructed for a target area, the target area covering the target parking area;

the determining the backup parking area of the vehicle according to the map information recorded in the parking map comprises the following steps:

extracting gradient information of each parking area in the target area according to map information recorded in the parking map;

and confirming the parkable area with gradient information meeting the safety gradient condition as the backup parking area.

4. The parking control method according to claim 1, wherein the determining a backup parking area of the vehicle based on map information recorded in the parking map includes:

And according to the map information recorded in the parking map, taking a parking area which is closest to the target parking area and has gradient information meeting the safety gradient condition as the backup parking area.

5. The parking control method according to claim 1, wherein the controlling the vehicle to move to the backup parking area for parking includes:

detecting a current position of a driver;

and if the current position of the driver is located outside the vehicle, controlling the vehicle to move to the backup parking area for parking, and outputting a take-over prompt message.

6. The parking control method according to claim 5, characterized by further comprising, after said detecting the current position of the driver:

if the current position of the driver is located in the vehicle, outputting the takeover prompting information and controlling the vehicle to be stationary in the target parking area;

and if the duration time of the vehicle which is stationary in the target parking area is longer than a preset duration time threshold value and the vehicle does not receive a takeover control signal triggered by a driver, the vehicle is controlled to move to the backup parking area to park.

7. The parking control method according to any one of claims 1 to 6, characterized by further comprising, after said controlling said vehicle to move to said backup parking area for parking:

and controlling the motor to stop outputting the creep torque, and switching the gear of the vehicle to N gear or P gear so as to control the vehicle to be stationary in the backup parking area.

8. A parking control apparatus, characterized by comprising:

the acquisition unit is used for acquiring a parking map;

the determining unit is used for determining a backup parking area of the vehicle according to the map information recorded in the parking map, and the first gradient information of the backup parking area meets the safety gradient condition;

and the control unit is used for controlling the vehicle to move to the backup parking area for parking if the second gradient information of the target parking area does not meet the safety gradient condition and the electronic parking system of the vehicle is detected to be in a fault state when the vehicle finishes parking in the target parking area.

9. An electronic device 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 7 when the computer program is executed.

10. A vehicle comprising a memory, a processor and a computer program stored in the memory and operable on the processor, the vehicle being provided with an electronic parking system and an automatic parking system, characterized in that the processor, when executing the computer program, implements the steps of the parking control method according to any one of claims 1 to 7.