CN117644857A

CN117644857A - Method and device for controlling gear of vehicle, vehicle and storage medium

Info

Publication number: CN117644857A
Application number: CN202311666467.5A
Authority: CN
Inventors: 国浩然; 王辰宇; 张慧峰; 耿保山
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-12-06
Filing date: 2023-12-06
Publication date: 2024-03-05

Abstract

The application provides a method, a device, a vehicle and a storage medium for controlling a vehicle gear, wherein the method is applied to the field of automatic parking and comprises the following steps: when the automatic parking function of the vehicle is started, a first gear shifting request is responded, the first gear shifting request is used for enabling the vehicle to be switched from a current gear to a target gear, and the running parameter is used for representing the running state of the vehicle in the automatic parking process; judging whether the vehicle meets a preset gear shifting condition according to the driving parameters and the target gear; and controlling the vehicle to switch to the target gear under the condition that the vehicle meets the preset gear shifting condition. The method can reasonably shift gears in combination with the current running parameters of the vehicle in the automatic parking process of the vehicle, improves the reliability and accuracy of gear shifting, and avoids the problem of parking experience reduction caused by error gear shifting.

Description

Method and device for controlling gear of vehicle, vehicle and storage medium

Technical Field

The present application relates to the field of automatic parking, and more particularly, to a method, apparatus, vehicle, and storage medium for controlling a vehicle gear in the field of automatic parking.

Background

Currently, in a vehicle, in order to provide a better experience for a user and reduce the driving load of the user, an automatic parking assist (Auto Parking Asist, APA) function (or an autonomous parking function, an automatic parking function) may be configured in the vehicle, so that the user may use the automatic parking function to complete the parking process of the vehicle during the parking process.

In one possible implementation manner, if the automatic parking controller determines that the vehicle needs to switch gear positions during parking of the vehicle, the automatic parking controller may generate a gear shift request and send the gear shift request to a whole vehicle control unit (Vehicle Control Unit, VCU, also referred to as a whole vehicle controller) so as to complete the gear shift process of the vehicle through the VCU.

In the gear shifting process, when the data acquired by the automatic parking controller is not timely or accurate, misjudgment possibly occurs, so that the gear request is triggered by mistake or jumps back and forth. In this scenario, if the VCU continues to respond to the gear request, a problem of inaccurate gear shifting may result.

In summary, how to realize accurate switching and control of the gear of the vehicle in the parking process becomes a problem to be solved urgently.

Disclosure of Invention

The method can reasonably shift gears in combination with the current running parameters of the vehicle in the automatic parking process of the vehicle, improves the reliability and accuracy of shifting gears, and avoids the problem of parking experience reduction caused by error shifting gears.

In a first aspect, a method of controlling a vehicle gear is provided, the method comprising: when the automatic parking function of the vehicle is started, a first gear shifting request is responded, the first gear shifting request is used for enabling the vehicle to be switched from a current gear to a target gear, and the running parameter is used for representing the running state of the vehicle in the automatic parking process; judging whether the vehicle meets a preset gear shifting condition according to the driving parameters and the target gear; and controlling the vehicle to switch to the target gear under the condition that the vehicle meets the preset gear shifting condition.

In the above technical scheme, when a gear shift is required in the vehicle parking process, the application provides a method for controlling the gear of the vehicle. Specifically, when the automatic parking function is started, if the vehicle receives a first gear shifting request, the vehicle can respond to the first gear shifting request to acquire the current running parameters. The first gear shifting request is used for enabling the vehicle to be switched from a current gear to a target gear, and the driving parameters represent the running state of the vehicle when the vehicle is parked. And judging whether the vehicle meets the preset gear shifting condition or not by combining the running parameters and the target gear, and if so, controlling the vehicle to switch to the target gear. The gear shifting is judged through the driving parameters and the target gear, so that the reliability and the accuracy in the gear shifting process are ensured, compared with the direct gear shifting, the misoperation of gear shifting is avoided, the safety of a vehicle is ensured, and the automatic parking experience of a driver is improved.

With reference to the first aspect, in some possible implementations, the driving parameter includes an actual vehicle speed and an average braking force of wheels of the vehicle, and the determining whether the vehicle meets a preset gear shift condition according to the driving parameter and the target gear includes: judging whether the vehicle meets the preset gear shifting condition according to the average braking force and the actual vehicle speed under the condition that the target gear is a parking gear; and under the condition that the target gear is not the parking gear, judging whether the vehicle meets the preset gear shifting condition according to the average braking force.

In the technical scheme, in the parking process, the driving parameters comprise the actual vehicle speed and the average braking force of wheels. Specifically, when judging whether to shift according to the target gear and the driving parameter, when the target gear is the parking gear, the average braking force and the actual vehicle speed can be combined to judge whether to shift. When the target gear is not the parking gear, whether the gear shift is performed or not is judged by combining the average braking force of the vehicle.

When the vehicle is in gear shifting, the vehicle speed cannot be too high in order to ensure the safety of the vehicle. In order to reduce the speed of the vehicle, this may be achieved by applying a braking force to the wheels of the vehicle.

In this case, when the target gear is the parking gear, the parking gear is used for stopping the vehicle, that is, when the vehicle shifts to the parking gear, the vehicle is in a stationary state currently, so that when the target gear is the parking gear, the average braking force and the actual vehicle speed of the vehicle need to be considered at the same time, thereby ensuring the safety of stopping the vehicle. In another case, when the target gear is not the parking gear, it is not necessary to stop the vehicle at the time of shifting the gear, and in this case, only the influence of the braking force needs to be taken into consideration. The magnitude of the braking force can reflect the braking force and the correlation of the magnitude of the braking force and the magnitude of the braking force is negative, so that the vehicle is controlled to shift through the average braking force, certain braking measures can be taken for the vehicle in the shifting process, and the safety of the vehicle is ensured.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the determining whether the vehicle meets the preset gear shifting condition according to the average braking force and the actual vehicle speed includes: determining that the vehicle meets the preset gear shifting condition under the condition that the average braking force is larger than the preset braking force and the actual vehicle speed is smaller than or equal to the preset vehicle speed; and determining that the vehicle does not meet the preset gear shifting condition under the condition that the average braking force is smaller than or equal to the preset braking force or the actual vehicle speed is larger than the preset vehicle speed.

According to the technical scheme, when the target gear is the parking gear, if the average braking force is larger than the preset braking force and the actual vehicle speed is smaller than or equal to the preset vehicle speed, the gear shifting can be determined, and otherwise, the gear shifting can not be determined. Wherein, the average braking force is greater than the preset braking force, which means that the braking performance of the wheels is better. The actual vehicle speed is less than or equal to the preset vehicle speed, indicating that the vehicle is in a stationary state. The above process ensures the rationality of the vehicle when the vehicle shifts the parking gear, improves the accuracy of the shift and ensures the safety of the vehicle.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the determining, according to the average braking force, whether the vehicle meets the preset gear shifting condition includes: under the condition that the average braking force is larger than the preset braking force, determining that the vehicle meets the preset gear shifting condition; and determining that the vehicle does not meet the preset gear shifting condition when the average braking force is less than or equal to the preset braking force.

In the above technical solution, when the target gear is not the parking gear, if the average braking force is greater than the preset braking force, it is determined that gear shifting is possible, and on the contrary, it is determined that gear shifting is not possible. According to the gear shifting method, the braking force of the vehicle is considered during gear shifting, damage to vehicle parts caused by gear shifting when the braking is poor is avoided, and the service life of the vehicle is prolonged.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the method further includes: if the vehicle does not meet the preset gear shifting condition, if a second gear shifting request is not received within a preset time period after the current moment, or if the vehicle does not meet the preset gear shifting condition, if the vehicle does not meet the preset gear shifting condition when the second gear shifting request is received within the preset time period, controlling the vehicle to exit the automatic parking function; and generating target prompt information according to the state of the automatic parking function, wherein the target prompt information is used for prompting a driver to park manually, and the state of the automatic parking function is used for indicating whether the automatic parking function is started or not.

In the above technical solution, if the first shift request does not meet the preset shift condition, the vehicle may determine whether the second shift request can also be received within the next preset time period. If the second gear shifting request is not received within the preset time period, or the vehicle still does not meet the preset gear shifting condition when the second gear shifting request is received, the automatic parking function of the vehicle may be determined to be wrong, and in this case, the automatic parking function needs to be withdrawn in time, so that the automatic parking function is prevented from continuing misoperation. Further, the vehicle can combine the state of the current automatic parking function to generate target prompt information, so that the driver can park manually. The process ensures that the continuous parking process can be ensured through manual parking when the automatic parking function cannot be normally used, so that the running obstruction possibly caused by vehicle parking interruption to other vehicles is avoided, and the vehicle use experience of a driver is improved.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the driving parameter includes an actual vehicle speed and an average braking force of wheels of the vehicle, and the acquiring the driving parameter of the vehicle includes: collecting the actual vehicle speed through a vehicle speed sensor; acquiring a left front wheel braking force, a right front wheel braking force, a left rear wheel braking force and a right rear wheel braking force of the vehicle; the average braking force is determined based on the left front wheel braking force, the right front wheel braking force, the left rear wheel braking force, and the right rear wheel braking force.

In the technical scheme, when the actual vehicle speed is acquired, the vehicle can be acquired through the vehicle speed sensor. When the average braking force is obtained, the braking forces corresponding to the four wheels of the vehicle can be obtained, and the braking forces of the four wheels are further averaged to obtain the average braking force. Through the acquisition process, a data acquisition source can be provided for whether the vehicle can shift gears or not, and accurate judgment and decision of vehicle gear shifting are ensured.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, after the controlling the vehicle to switch to the target gear, the method further includes: and sending gear shifting feedback information to an automatic parking controller so that the automatic parking controller can determine a target parking route of the vehicle according to the environmental information of the position of the vehicle and the driving parameter, wherein the environmental information is used for representing the environmental state of the position of the vehicle and the relative state between the vehicle and objects in the environment.

According to the technical scheme, after the vehicle is switched to the target gear, the vehicle can further control the automatic parking controller to continue planning the target parking route according to the environmental information and the driving parameters of the current position so as to realize automatic parking. The above-mentioned process ensures that after gear shifting, the automatic parking of the vehicle is continued, so that the vehicle smoothly completes the automatic parking process and is safely parked in a parking area.

In summary, the present application provides a method for controlling a vehicle gear when a shift is required during a vehicle parking. Specifically, when the automatic parking function is started, if the vehicle receives a first gear shifting request, the vehicle can respond to the first gear shifting request to acquire the current running parameters. The first gear shifting request is used for enabling the vehicle to be switched from a current gear to a target gear, and the driving parameters represent the running state of the vehicle when the vehicle is parked. And judging whether the vehicle meets the preset gear shifting condition or not by combining the running parameters and the target gear, and if so, controlling the vehicle to switch to the target gear. The gear shifting is judged through the driving parameters and the target gear, so that the reliability and the accuracy in the gear shifting process are ensured, compared with the direct gear shifting, the misoperation of gear shifting is avoided, the safety of a vehicle is ensured, and the automatic parking experience of a driver is improved.

The driving parameters include the actual vehicle speed and the average braking force of the wheels during parking. Specifically, when judging whether to shift according to the target gear and the driving parameter, when the target gear is the parking gear, the average braking force and the actual vehicle speed can be combined to judge whether to shift. When the target gear is not the parking gear, whether the gear shift is performed or not is judged by combining the average braking force of the vehicle.

When the target gear is a parking gear, if the average braking force is larger than the preset braking force and the actual vehicle speed is smaller than or equal to the preset vehicle speed, the gear shifting is determined to be possible, otherwise, the gear shifting is determined to be impossible. Wherein, the average braking force is greater than the preset braking force, which means that the braking performance of the wheels is better. The actual vehicle speed is less than or equal to the preset vehicle speed, indicating that the vehicle is in a stationary state. The above process ensures the rationality of the vehicle when the vehicle shifts the parking gear, improves the accuracy of the shift and ensures the safety of the vehicle.

When the target gear is not the parking gear, if the average braking force is larger than the preset braking force, the gear shifting is determined to be possible, and otherwise, the gear shifting is determined to be impossible. According to the gear shifting method, the braking force of the vehicle is considered during gear shifting, damage to vehicle parts caused by gear shifting when the braking is poor is avoided, and the service life of the vehicle is prolonged.

If the first shift request does not meet the preset shift condition, the vehicle may determine whether the second shift request can still be received within a subsequent preset time period. If the second gear shifting request is not received within the preset time period, or the vehicle still does not meet the preset gear shifting condition when the second gear shifting request is received, the automatic parking function of the vehicle may be determined to be wrong, and in this case, the automatic parking function needs to be withdrawn in time, so that the automatic parking function is prevented from continuing misoperation. Further, the vehicle can combine the state of the current automatic parking function to generate target prompt information, so that the driver can park manually. The process ensures that the continuous parking process can be ensured through manual parking when the automatic parking function cannot be normally used, so that the running obstruction possibly caused by vehicle parking interruption to other vehicles is avoided, and the vehicle use experience of a driver is improved.

When the actual vehicle speed is acquired, the vehicle can be acquired through a vehicle speed sensor. When the average braking force is obtained, the braking forces corresponding to the four wheels of the vehicle can be obtained, and the braking forces of the four wheels are further averaged to obtain the average braking force. Through the acquisition process, a data acquisition source can be provided for whether the vehicle can shift gears or not, and accurate judgment and decision of vehicle gear shifting are ensured.

After the vehicle is switched to the target gear, the vehicle can further control the automatic parking controller to continuously plan a target parking route according to the environmental information and the running parameters of the current position so as to realize automatic parking. The above-mentioned process ensures that after gear shifting, the automatic parking of the vehicle is continued, so that the vehicle smoothly completes the automatic parking process and is safely parked in a parking area.

In a second aspect, there is provided an apparatus for controlling a gear of a vehicle, the apparatus comprising: the system comprises an acquisition module, a first gear shifting module and a second gear shifting module, wherein the acquisition module is used for responding to a first gear shifting request when an automatic parking function of a vehicle is started, the first gear shifting request is used for enabling the vehicle to be switched from a current gear to a target gear, and the running parameter is used for representing the running state of the vehicle in the automatic parking process; the judging module is used for judging whether the vehicle meets a preset gear shifting condition according to the driving parameters and the target gear; and the control module is used for controlling the vehicle to switch to the target gear under the condition that the vehicle meets the preset gear shifting condition.

With reference to the second aspect, in some possible implementations, the determining module is specifically configured to: judging whether the vehicle meets the preset gear shifting condition according to the average braking force and the actual vehicle speed under the condition that the target gear is a parking gear; and under the condition that the target gear is not the parking gear, judging whether the vehicle meets the preset gear shifting condition according to the average braking force.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining module is further configured to: judging whether the vehicle meets the preset gear shifting condition according to the average braking force and the actual vehicle speed under the condition that the target gear is a parking gear; and under the condition that the target gear is not the parking gear, judging whether the vehicle meets the preset gear shifting condition according to the average braking force.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining module is further configured to: under the condition that the average braking force is larger than the preset braking force, determining that the vehicle meets the preset gear shifting condition; and determining that the vehicle does not meet the preset gear shifting condition when the average braking force is less than or equal to the preset braking force.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the apparatus further includes: the first processing module is used for controlling the vehicle to exit the automatic parking function if the second gear shifting request is not received within a preset time period after the current moment under the condition that the vehicle does not meet the preset gear shifting condition, or if the vehicle does not meet the preset gear shifting condition when the second gear shifting request is received within the preset time period under the condition that the vehicle does not meet the preset gear shifting condition; and generating target prompt information according to the state of the automatic parking function, wherein the target prompt information is used for prompting a driver to park manually, and the state of the automatic parking function is used for indicating whether the automatic parking function is started or not.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the driving parameter includes an actual vehicle speed and an average braking force of wheels of the vehicle, and the obtaining module is specifically configured to: collecting the actual vehicle speed through a vehicle speed sensor; acquiring a left front wheel braking force, a right front wheel braking force, a left rear wheel braking force and a right rear wheel braking force of the vehicle; the average braking force is determined based on the left front wheel braking force, the right front wheel braking force, the left rear wheel braking force, and the right rear wheel braking force.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, after the controlling the vehicle to switch to the target gear, the apparatus further includes: and the second processing module is used for sending gear shifting feedback information to the automatic parking controller so that the automatic parking controller can determine a target parking route of the vehicle according to the environment information of the position of the vehicle and the driving parameter, wherein the environment information is used for representing the environment state of the position of the vehicle and the relative state between the vehicle and objects in the environment.

In a third aspect, a vehicle is provided that includes a memory and a processor. The memory is for storing executable program code and the processor is for calling and running the executable program code from the memory such that the vehicle performs the method of the first aspect or any of the possible implementations of the first aspect.

In a fourth aspect, there is provided a computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the method of the first aspect or any one of the possible implementations of the first aspect.

In a fifth aspect, a computer readable storage medium is provided, the computer readable storage medium storing computer program code which, when run on a computer, causes the computer to perform the method of the first aspect or any one of the possible implementations of the first aspect.

Drawings

Fig. 1 is a schematic view of a parking scenario of a vehicle according to an embodiment of the present application;

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

FIG. 3 is a schematic flow chart of a method of controlling a vehicle gear provided in an embodiment of the present application;

fig. 4 is a schematic view of a scene for displaying target prompt information according to an embodiment of the present application;

FIG. 5 is a schematic structural view of an apparatus for controlling a gear of a vehicle according to an embodiment of the present application;

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

Detailed Description

The technical solutions in the present application will be clearly and thoroughly described below with reference to the accompanying drawings. Wherein, in the description of the embodiments of the present application, "/" means or is meant unless otherwise indicated, for example, a/B may represent a or B: the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, "plural" means two or more than two.

The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

Fig. 1 is a schematic view of a parking scenario of a vehicle according to an embodiment of the present application.

For example, as shown in fig. 1, fig. 1 illustrates a scenario in which a vehicle is parked outdoors. The vehicle 101 is a host vehicle (own vehicle), and the vehicle 102 is a side vehicle. The side car 102 is parked in the parking space 103, and the host car 101 is about to be parked in the parking space 104.

In one possible implementation, the driver may subjectively determine the surrounding environment, as well as the relative position between the vehicle 101 and surrounding obstacles, and manually control the vehicle 101 to stop to the parking space 104. Correspondingly, this manner of parking is referred to as "manual parking" in embodiments of the present application.

In another possible implementation, when the vehicle 101 is configured with an autonomous parking function, the driver may activate the autonomous parking function to control the vehicle 101 to park to the parking space 104 based on the autonomous parking function, freeing up the hands of the driver, and enabling the parking process of the vehicle 101 to be more intelligent. Correspondingly, such a parking mode is referred to as "automatic parking" or "autonomous parking" in the embodiments of the present application.

Optionally, the driver may trigger the autonomous parking function to be turned on by any one of a clicking operation, a gesture adjustment operation, a rotating operation, a voice command, and the like.

For example, when a virtual switch (for example, a virtual key) having an autonomous parking function is displayed on the display device of the vehicle 101, the driver may control the autonomous parking function to be turned on by clicking the selected virtual switch.

Still another example, when a physical switch (e.g., a physical key) of the autonomous parking function is provided in the vehicle 101, the driver may control the autonomous parking function to be turned on by clicking the selected physical switch.

In still another example, when a gesture adjustment operation corresponding to the opening of the autonomous parking function is stored in the vehicle 101 in advance, the driver may control the opening of the autonomous parking function by making a comparison of the gesture adjustment operation.

Still another example, the driver may also control the autonomous parking function to be on directly through a voice command, such as a voice of "on autonomous parking function", in response to which the vehicle 101 controls the autonomous parking function to be on.

In still another example, when application control software corresponding to the vehicle 101 is installed in the driver's terminal device, the driver may click to operate, and the control terminal device displays a configuration interface of the autonomous parking function in the display area. In the configuration interface, the driver can control the on of the autonomous parking function by clicking and operating the virtual switch for selecting the autonomous parking function.

In the case where the autonomous parking function is turned on, as shown in fig. 1, the vehicle 101 may plan a parking path of the vehicle 101 according to a relative position between the current vehicle 101 and two side parking space lines of the parking space 104 and a relative position between the vehicle 101 and the rear tree 105, and control the vehicle 101 to successfully complete a parking process according to the parking path.

After describing the application scenario of the embodiment of the present application, the following describes in detail the structure of the autonomous parking system on which the parking process of the embodiment of the present application depends.

Fig. 2 is a schematic structural diagram of an autonomous parking system according to an embodiment of the present application.

As illustrated in fig. 2, the autonomous parking system 201 in the vehicle 101 is mainly composed of three parts, namely an environmental data collection unit 2011, a data processing unit 2012, and an execution unit 2013. Wherein:

the environmental data collection unit 2011 is used for collecting environmental information around the vehicle 101, relative positions between the vehicle 101 and the surrounding environment, and the like.

Based on the use of the environmental data collection unit 2011, the environmental data collection unit 2011 may be a plurality of different types of sensors. Various sensors such as hall sensors, acceleration sensors, ultrasonic sensors, vehicle radar (e.g., lidar), visual charge-coupled device (Charge Coupled Device, CCD) cameras, global positioning system (Global Positioning System, GPS), etc.

During parking, the environmental data collection unit 2011 may send the collected data to the data processing unit 2012, so that the data processing unit 2012 plans a parking path according to the various data.

Alternatively, an autonomous parking system 201 provided in the embodiment of the present application may be a separate control system in the vehicle 101, and when the autonomous parking system 201 is a separate system, the data processing unit 2012 may be understood as an electronic control unit (Electronic Control Unit, ECU) in the autonomous parking system 201, which is referred to as an "autonomous parking controller" or "parking controller" in the embodiment of the present application. Furthermore, the autonomous parking system 201 may also be one subsystem integrated in other systems in the vehicle 101, such as the autonomous parking system 201 may be integrated in an intelligent driving system or an advanced driving assistance system (Advanced Driving Assistance System, ADAS), in which case the data processing unit 2012 may be in particular an intelligent driving controller or an advanced driving assistance controller. In the following description, embodiments of the present application are described in detail using the autonomous parking system 201 as a separate control system.

After planning the parking path, the data processing unit 2012 may control the execution unit 2013 to complete parking according to the parking path.

Optionally, the execution unit 2013 may specifically include an electronic power steering system, an Anti-lock brake system (Anti-Lock Brake System, ABS), a vehicle control unit (Vehicle Control Unit, VCU, also referred to as a vehicle control unit), and the like. The electronic power steering system may cooperate with the data processing unit 2012 to control the vehicle 101 to turn during parking of the vehicle 101. The ABS is used to cooperate with the data processing unit 2012 to prevent locking of the wheels during parking of the vehicle 101. The VCU is configured to control the vehicle 101 to shift gears in cooperation with the data processing unit 2012 during parking of the vehicle 101.

In the related art, when the automatic parking function is started, if the parking controller determines that the vehicle needs to switch the gear position during parking, the gear shift request can be directly sent to the VCU, and the VCU controls the vehicle to complete gear shift in response to the gear shift request. However, when the data acquired by the automatic parking controller is not timely or accurate, misjudgment may occur, so that the gear request is triggered by mistake or jumps back and forth. In this scenario, if the VCU continues to respond to the gear request, a problem of inaccurate gear shifting may result.

Based on the above problems, the embodiment of the application provides a method for controlling a vehicle gear, which can reasonably shift gears in combination with the current running parameters of a vehicle in the process of automatic parking of the vehicle, improves the reliability and accuracy of gear shifting, and avoids the problem of parking experience reduction caused by error gear shifting.

After the application scenario of the embodiment of the present application and the corresponding structural composition of the autonomous parking system are described, a method for controlling a vehicle gear provided by the embodiment of the present application is described below.

Fig. 3 is a schematic flow chart of a method of controlling a vehicle gear provided in an embodiment of the present application. It should be appreciated that the method may be applied to a vehicle 101 as shown in fig. 1, and in particular to a VCU for implementing gear control in the vehicle 101.

Illustratively, as shown in FIG. 3, the method 300 includes:

301, when an automatic parking function of a vehicle is started, a driving parameter of the vehicle is acquired in response to a first shift request, wherein the first shift request is used for enabling the vehicle to be switched from a current gear to a target gear, and the driving parameter is used for representing a running state of the vehicle in an automatic parking process.

In a vehicle equipped with an automatic parking function, the automatic parking function may be implemented if a driver needs to control the vehicle to park.

For example, when a virtual switch (for example, a virtual key) having an autonomous parking function is displayed on a display device of the vehicle, the driver may select the virtual switch by a click operation to control the autonomous parking function to be turned on.

Still further, as an example, when a physical switch (e.g., a physical key) of the autonomous parking function is provided in the vehicle, the driver may control the autonomous parking function to be turned on by clicking the selected physical switch.

In still another example, when a gesture adjustment operation corresponding to the opening of the autonomous parking function is stored in the vehicle in advance, the driver may control the opening of the autonomous parking function by making a comparison with the gesture adjustment operation.

Still further exemplary, the driver may also control the autonomous parking function to be on directly through a voice command, such as a voice of "turn on autonomous parking function", in response to which the vehicle is controlling the autonomous parking function to be on.

In still another example, when application control software corresponding to the vehicle is installed in the terminal device of the driver, the driver may click to operate, and the control terminal device displays a configuration interface of the autonomous parking function in the display area. In the configuration interface, the driver can control the on of the autonomous parking function by clicking and operating the virtual switch for selecting the autonomous parking function.

After the automatic parking function in the vehicle is started, a parking controller in the autonomous parking system can continuously plan a parking path of the vehicle in the parking process by combining the current position of the vehicle and the environmental information around the vehicle so as to control the vehicle to realize intelligent parking according to the parking path.

During parking, if the parking controller determines that the vehicle needs to shift gears, a first shift request may be generated and sent to the VCU. The first shift request is for the VCU to control a shift of the vehicle from a current gear to a target gear.

In this embodiment of the present application, in order to ensure the accuracy of gear shifting, after receiving a first gear shifting request, the VCU may first determine whether the first gear shifting request is valid, and when the first gear shifting request is valid, then control the vehicle to complete gear shifting. Wherein, whether the first shift request is valid may indicate whether the vehicle satisfies a preset shift condition.

Specifically, when judging whether the vehicle meets the preset gear shifting condition, the current running state of the vehicle is closely related to whether the vehicle can shift gears. Based on this, the VCU may specifically determine, when determining whether the first shift request is valid, through a driving parameter of the vehicle and a target gear to be shifted, where the driving parameter indicates a running state of the vehicle during automatic parking.

Optionally, the driving parameters include an actual vehicle speed and an average braking force of wheels of the vehicle.

It should be understood that braking force, as the name implies, refers to the force used to dampen the vehicle dynamics, primarily to slow or stop the vehicle. To ensure the safety of the vehicle during parking, it is often necessary to control the vehicle at a lower speed or to control the vehicle to stop. In addition, the vehicle speed can represent whether the vehicle is in a stationary state, so the embodiment of the application needs to combine the actual vehicle speed of the vehicle and the average braking force of wheels to make a decision when shifting gears.

In a possible implementation manner, acquiring the running parameters of the vehicle specifically includes:

collecting an actual vehicle speed through a vehicle speed sensor;

acquiring left front wheel braking force, right front wheel braking force, left rear wheel braking force and right rear wheel braking force of the vehicle;

the average braking force is determined from the left front wheel braking force, the right front wheel braking force, the left rear wheel braking force, and the right rear wheel braking force.

The VCU may specifically collect an actual speed of the vehicle, that is, a current speed of the vehicle, through a speed sensor in the vehicle.

Still another example, the VCU may obtain the vehicle speed displayed in the display area of the dashboard as the actual vehicle speed through an instrument sensor in the vehicle.

Still further exemplary, the VCU may also take the maximum wheel speed among the wheel speeds of the four wheels of the vehicle as the actual vehicle speed of the vehicle by the wheel speeds of the four wheels.

The above are only illustrative examples of the vehicle speed obtaining modes, and all the modes capable of obtaining the vehicle speed are within the protection scope of the embodiment of the application.

For example, for braking forces of four wheels, the VCU may be obtained in particular by an electronic braking force distribution (Electronic Brake force Distribution, EBD) system in the vehicle. Generally, in a vehicle with an EBD, when the vehicle needs to be braked, the EBD can acquire the current mass of the whole vehicle through a mass sensor of the whole vehicle. The EBD may also obtain the wheel speeds of four wheels of the vehicle through a wheel speed sensor. The EBD can also acquire the current road surface image through the camera outside the vehicle, and identify and analyze the road surface image to acquire the road surface type of the road surface where the current vehicle is located. By acquiring the above-described several parameters, the EBD can be calculated to obtain a braking force corresponding to each wheel, and the braking force corresponding to each wheel is applied to each wheel, respectively. Therefore, the VCU can directly obtain braking forces corresponding to the four wheels of the vehicle from the EBD.

After the braking forces respectively corresponding to the four wheels are obtained, the VCU may average the braking forces of the four wheels to obtain an average braking force.

Through the above process, the VCU may obtain the driving parameters required to determine whether the first shift request is valid.

302, according to the driving parameters and the target gear, judging whether the vehicle meets the preset gear shifting condition.

It should be appreciated that the gears that may be involved in Parking a typical vehicle include a Drive (D) gear, a park (P) gear, also referred to as a "park gear or park gear" and a Reverse (R) gear.

Since the P range indicates that the vehicle is in a stopped state, it is generally necessary to ensure that the vehicle is in a stationary state when the vehicle needs to be shifted to the P range. For the D gear and the R gear, the vehicle is not required to be in a stationary state in the switching process, and only a lower vehicle speed is required to be maintained. That is, the vehicle speed is not a necessary condition when shifting the shift position, but no matter which shift position is shifted, since the braking state of the vehicle is considered, the influence of the average braking force on the shift process needs to be considered.

In combination with the difference of the running parameters under different gears, when the VCU judges whether the vehicle meets the preset gear shifting condition, the gear type can be determined first, then the running parameters under the gear type are determined, and then whether the vehicle meets the preset gear shifting condition is judged.

In one possible implementation manner, determining whether the vehicle meets a preset gear shift condition according to the driving parameter and the target gear includes:

determining a gear type of the target gear, wherein the gear type is used for indicating whether the target gear is a parking gear or not;

determining a running parameter corresponding to the gear type, wherein the running parameter comprises an average braking force, or the running parameter comprises the average braking force and an actual vehicle speed;

and judging whether the vehicle meets the preset gear shifting condition according to the gear type and the running parameters corresponding to the gear type.

Based on the P, D, and R gears involved in the parking process in the embodiment of the present application, gear types may be divided into two main categories: namely, a parking gear and a non-parking gear, the running parameters related to different gear types are different, and the specific judging process can be further subdivided into the following two scenes:

Under the condition that the target gear is a parking gear, judging whether the vehicle meets a preset gear shifting condition according to the average braking force and the actual vehicle speed;

and under the condition that the target gear is not the parking gear, judging whether the vehicle meets the preset gear shifting condition according to the average braking force.

As is apparent from the foregoing description, since the vehicle needs to be kept stationary when shifting to P range, the braking force indicates whether the vehicle is in a stationary state or not, and the braking force indicates whether the vehicle is in a stationary state or not. Therefore, when the target gear is the P gear, besides judging the current average braking force of the vehicle, the actual vehicle speed is combined, and whether the vehicle meets the preset gear shifting condition is judged.

In contrast, when the target gear is not the P gear (for example, the D gear or the R gear), since the vehicle is not required to stop because the gear is shifted in this case, it is only necessary to determine whether the vehicle satisfies the preset shift condition in this case by combining the average braking force.

By combining the different gear shifting conditions corresponding to the vehicles in different gears, the embodiment of the application can be divided into two scenes to judge whether the vehicles meet the preset gear shifting conditions.

In a possible implementation manner, when the target gear is a parking gear, determining whether the vehicle meets a preset gear shift condition includes:

Under the condition that the average braking force is larger than the preset braking force and the actual vehicle speed is smaller than or equal to the preset vehicle speed, determining that the vehicle meets the preset gear shifting condition;

and determining that the vehicle does not meet the preset gear shifting condition under the condition that the average braking force is smaller than or equal to the preset braking force or the actual vehicle speed is larger than the preset vehicle speed.

The preset braking force is calibrated in advance by a technician, and can meet the minimum braking force when the vehicle shifts gears.

Specifically, in the process of calibrating the preset braking force, the vehicle speed corresponding to the vehicle in the parking process (the vehicle speed in the general parking process can be about 20 km/h) and the ideal vehicle speed of the vehicle (the ideal vehicle speed in the gear shifting process can be 0 km/h) can be obtained at first. Further, in order to maintain stability during braking of the vehicle, an ideal braking time t of the vehicle may be preset. And combining the difference value between the vehicle speed and the ideal vehicle speed in the parking process and the ideal braking time to obtain the braking deceleration. Then, the braking deceleration is multiplied by the mass of the vehicle to obtain the preset braking force of the vehicle. In consideration of the difference between the vehicle mass when the vehicle is empty and when the vehicle is fully loaded, the average value of the empty mass and the full load mass of the vehicle can be taken as the vehicle mass when the preset braking force is calculated.

Through the process, the calibration of the preset braking force of the vehicle can be completed, and the calibrated preset braking force is stored in the VCU.

Alternatively, the preset vehicle speed may be understood as an approximate vehicle speed under a stationary condition of the vehicle, and in general, when the vehicle speed is less than or equal to 2km/h, the vehicle may be considered to be in a stationary state, and thus the preset vehicle speed may be 2km/h.

For example, assuming that the preset braking force is 3000N, when the VCU calculates an average braking force of 4000N according to the braking forces of four wheels of the vehicle and the actual vehicle speed is 0km/h, the VCU determines that the vehicle satisfies the preset shift condition.

In contrast, if the average braking force calculated by the VCU is 2000N and the actual vehicle speed is 4km/h, the VCU determines that the vehicle does not meet the preset shift condition.

In another possible implementation, when the target gear is not a park gear, the VCU determines whether the vehicle satisfies a preset shift condition, including:

under the condition that the average braking force is larger than the preset braking force, determining that the vehicle meets the preset gear shifting condition;

and determining that the vehicle does not meet the preset gear shifting condition under the condition that the average braking force is smaller than or equal to the preset braking force.

When the target gear is not the parking gear, the target gear may be the D gear or the R gear, which is different from the P gear, and when the vehicle is switched to the D gear or the R gear, the vehicle is not necessarily in a stationary state, and only the smaller vehicle speed is required to be satisfied. In this case, therefore, the current braking force of the vehicle can be determined by the braking force applied to the vehicle to determine whether to shift gears.

For example, assuming that the preset braking force is 3000N, when the VCU calculates an average braking force of 4000N according to the braking forces of four wheels of the vehicle, the VCU determines that the vehicle satisfies the preset shift condition.

In contrast, if the average braking force calculated by the VCU is 2000N, the VCU determines that the vehicle does not satisfy the preset shift condition.

In the above-mentioned process of judging whether the vehicle shifts, when the VCU judges that the vehicle does not meet the preset shift condition, the vehicle cannot be controlled to shift. In order to ensure that the vehicle can continue parking, the VCU may determine whether to shift gears by determining whether a valid shift request can be continuously received within a subsequent period of time, including:

if the vehicle does not meet the preset gear shifting condition, if the second gear shifting request is not received within the preset time after the current moment, or if the vehicle does not meet the preset gear shifting condition, if the second gear shifting request is received within the preset time, the vehicle does not meet the preset gear shifting condition, and the vehicle is controlled to exit the automatic parking function;

according to the state of the automatic parking function, generating target prompt information, wherein the target prompt information is used for prompting a driver to park manually, and the state of the automatic parking function is used for indicating whether the automatic parking function is started or not.

It should be appreciated that when the first shift request is invalid, the vehicle may not complete the shift, in which case the park controller may frequently send shift requests to the VCU to cause the VCU to respond. Therefore, when the first shift request is invalid, the VCU may determine whether to shift based on whether the second shift request can still be received within the preset time period, or whether the received second shift request is valid.

Optionally, the preset duration may be 200ms, and may also be adjusted according to actual requirements.

For example, if the VCU does not receive the second shift request sent by the parking controller within the next 200ms, or after receiving the second shift request, the VCU determines that the second shift request is an invalid request in the same manner as the above-described manner of determining whether the shift request is valid, which indicates that a misjudgment may occur when the parking controller makes a vehicle shift decision. In order to ensure the parking safety of the vehicle, the VCU may then first control the autonomous parking function to be turned off.

Specifically, when the VCU controls the autonomous parking function to be turned off, an autonomous parking function turning-off instruction may be generated first and sent to the parking controller. The parking controller controls the autonomous parking function to be turned off in response to the autonomous parking function turning-off instruction.

Further, in order to ensure that the vehicle parking process continues, the VCU may generate target prompt information according to the state of the current autonomous parking function, so as to prompt the driver to park manually.

Fig. 4 is a schematic view of a scenario for displaying target prompt information according to an embodiment of the present application.

Exemplary, as shown in fig. 4 (a), a schematic view of a scene in which target prompt information is displayed on a display device of a vehicle is shown. After the VCU controls the vehicle to exit the autonomous parking function, the VCU may generate target prompt information according to a closed state of the autonomous parking function. As shown in fig. 4 (a), the target prompt may be "autonomous parking function is turned off, please park manually".

When the vehicle is in the autonomous parking process, the display interface of the display device of the vehicle can display the current parking interface in real time, so that a driver can intuitively see the current vehicle parking process.

Therefore, when the autonomous parking function is turned off, the VCU may control the multimedia controller to display the target prompt information on the parking interface of the display device, so that the driver performs manual parking.

In addition, as shown in fig. 4 (b), when the driver controls the vehicle to perform autonomous parking through the application control software on the terminal device, after the VCU controls the autonomous parking function to exit, the VCU may transmit the target prompt information to the terminal device of the driver in a wireless communication manner through a Telematics Box (T-Box) and a vehicle remote service provider (Telematics Service Provider, TSP) in the vehicle to remind the driver to perform manual parking.

In the above technical solution, if the first shift request does not meet the preset shift condition, the vehicle may determine whether the second shift request can also be received within the next preset time period. If the second gear shifting request is not received within the preset time period, or the vehicle still does not meet the preset gear shifting condition when the second gear shifting request is received, the automatic parking function of the vehicle is possibly determined to be wrong, and in this case, the automatic parking function needs to be withdrawn in time, so that the automatic parking function is prevented from continuing misoperation. Further, the vehicle can combine the state of the current automatic parking function to generate target prompt information, so that the driver can park manually. The process ensures that the continuous parking process can be ensured through manual parking when the automatic parking function cannot be normally used, so that the running obstruction possibly caused by vehicle parking interruption to other vehicles is avoided, and the vehicle use experience of a driver is improved.

In contrast, if the second shift request received in the preset duration meets the preset control condition, the VCU may control the vehicle to complete gear shifting according to the gear to be shifted in the second shift request.

303, controlling the vehicle to switch to the target gear in the case that the vehicle satisfies the preset shift condition.

When the VCU determines that the vehicle meets the preset shift condition through the above step 302, it indicates that the current first shift request is a valid request. In this case, the VCU may control the vehicle to shift from the current gear to the target gear.

Further, after the vehicle finishes shifting gears, the VCU may further prompt the parking controller to enable the parking controller to continuously control the vehicle to continue the autonomous parking process, which specifically includes:

and transmitting gear shifting feedback information to the automatic parking controller so that the automatic parking controller can determine a target parking route of the vehicle according to the environmental information of the position of the vehicle and the driving parameters, wherein the environmental information is used for representing the environmental state of the position of the vehicle and the relative state between the vehicle and objects in the environment.

For example, after the VCU controls the vehicle to complete a shift, the VCU may generate shift feedback information that is sent to the auto park controller. The automatic parking controller responds to the gear shifting feedback information to continue the automatic parking process.

When the automatic parking is realized, the parking controller can plan a parking path by combining the environmental information of the position of the vehicle and the running parameters to obtain a target parking route corresponding to the vehicle.

Specifically, the driving parameters of the vehicle include the current position of the vehicle during planning of the parking path. When the parking controller performs parking path planning, as algorithms such as path planning, pose estimation, vehicle transverse and longitudinal control and the like are integrated in the parking controller in advance, the parking controller can generate a parking path corresponding to the vehicle according to environmental information of the position where the vehicle is located, such as position information of a parking place to be parked, current position information of the vehicle and the algorithm integrated in advance, and control the vehicle to complete a parking process.

In another scenario, after the autonomous parking function is turned on, if the driver performs a manual parking intervention, such as manual shifting or stepping on a throttle, etc. In this case, in order to prevent the misoperation of the driver, the VCU may generate a prompt message to ask the driver whether the driver needs to exit the autonomous parking function to perform manual parking. When the driver confirms that manual parking is needed, the VCU can control the automatic parking function to be closed and remind the driver of manual parking.

If the first shift request does not meet the preset shift condition, the vehicle may determine whether the second shift request can still be received within a subsequent preset time period. If the second gear shifting request is not received within the preset time period, or the vehicle still does not meet the preset gear shifting condition when the second gear shifting request is received, the automatic parking function of the vehicle is possibly determined to be wrong, and in this case, the automatic parking function needs to be withdrawn in time, so that the automatic parking function is prevented from continuing misoperation. Further, the vehicle can combine the state of the current automatic parking function to generate target prompt information, so that the driver can park manually. The process ensures that the continuous parking process can be ensured through manual parking when the automatic parking function cannot be normally used, so that the running obstruction possibly caused by vehicle parking interruption to other vehicles is avoided, and the vehicle use experience of a driver is improved.

Fig. 5 is a schematic structural view of a device for controlling a gear of a vehicle according to an embodiment of the present application.

Illustratively, as shown in FIG. 5, the apparatus 500 includes:

an obtaining module 501, configured to, when an automatic parking function of a vehicle is turned on, obtain a running parameter of the vehicle in response to a first shift request, where the first shift request is used to switch the vehicle from a current gear to a target gear, and the running parameter is used to indicate a running state of the vehicle during automatic parking;

The judging module 502 is configured to judge whether the vehicle meets a preset gear shifting condition according to the driving parameter and the target gear;

and a control module 503, configured to control the vehicle to switch to the target gear when the vehicle meets the preset gear shifting condition.

In a possible implementation manner, the determining module 502 is specifically configured to: judging whether the vehicle meets the preset gear shifting condition according to the average braking force and the actual vehicle speed under the condition that the target gear is a parking gear; and under the condition that the target gear is not the parking gear, judging whether the vehicle meets the preset gear shifting condition according to the average braking force.

In a possible implementation manner, the determining module 502 is further configured to: judging whether the vehicle meets the preset gear shifting condition according to the average braking force and the actual vehicle speed under the condition that the target gear is a parking gear; and under the condition that the target gear is not the parking gear, judging whether the vehicle meets the preset gear shifting condition according to the average braking force.

In a possible implementation manner, the determining module 502 is further configured to: under the condition that the average braking force is larger than the preset braking force, determining that the vehicle meets the preset gear shifting condition; and determining that the vehicle does not meet the preset gear shifting condition when the average braking force is less than or equal to the preset braking force.

Optionally, the apparatus further comprises: the first processing module is used for controlling the vehicle to exit the automatic parking function if the second gear shifting request is not received within a preset time period after the current moment under the condition that the vehicle does not meet the preset gear shifting condition, or if the vehicle does not meet the preset gear shifting condition when the second gear shifting request is received within the preset time period under the condition that the vehicle does not meet the preset gear shifting condition; and generating target prompt information according to the state of the automatic parking function, wherein the target prompt information is used for prompting a driver to park manually, and the state of the automatic parking function is used for indicating whether the automatic parking function is started or not.

In a possible implementation, the driving parameters include an actual vehicle speed and an average braking force of wheels of the vehicle, and the obtaining module 501 is specifically configured to: collecting the actual vehicle speed through a vehicle speed sensor; acquiring a left front wheel braking force, a right front wheel braking force, a left rear wheel braking force and a right rear wheel braking force of the vehicle; the average braking force is determined based on the left front wheel braking force, the right front wheel braking force, the left rear wheel braking force, and the right rear wheel braking force.

Optionally, after the controlling the vehicle to shift to the target gear, the apparatus further includes: and the second processing module is used for sending gear shifting feedback information to the automatic parking controller so that the automatic parking controller can determine a target parking route of the vehicle according to the environment information of the position of the vehicle and the driving parameter, wherein the environment information is used for representing the environment state of the position of the vehicle and the relative state between the vehicle and objects in the environment.

For example, as shown in fig. 6, the vehicle 101 includes: the vehicle gear control device comprises a memory 601 and a processor 602, wherein executable program codes 6011 are stored in the memory 601, and the processor 602 is used for calling and executing the executable program codes 6011 to execute a method for controlling the vehicle gear.

In addition, the embodiment of the application also protects a device, which can comprise a memory and a processor, wherein executable program codes are stored in the memory, and the processor is used for calling and executing the executable program codes to execute the method for controlling the vehicle gear provided by the embodiment of the application.

In this embodiment, the functional modules of the apparatus may be divided according to the above method example, for example, each functional module may be corresponding to one processing module, or two or more functions may be integrated into one processing module, where the integrated modules may be implemented in a hardware form. It should be noted that, in this embodiment, the division of the modules is schematic, only one logic function is divided, and another division manner may be implemented in actual implementation.

In the case of dividing the respective function modules by the respective functions, the apparatus may further include an acquisition module, a judgment module, a control module, and the like. It should be noted that, all relevant contents of each step related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein.

It should be appreciated that the apparatus provided in this embodiment is used to perform the above-described method for controlling a vehicle gear, and thus the same effects as those of the above-described implementation method can be achieved.

In case of an integrated unit, the apparatus may comprise a processing module, a memory module. Wherein, when the device is applied to a vehicle, the processing module can be used for controlling and managing the action of the vehicle. The memory module may be used to support the vehicle in executing mutual program code, etc.

Wherein the processing module may be a processor or controller that may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the present disclosure. A processor may also be a combination of computing functions, e.g., including one or more microprocessors, digital signal processing (digital signal processing, DSP) and microprocessor combinations, etc., and a memory module may be a memory.

In addition, the apparatus provided by the embodiments of the present application may be a chip, a component, or a module, where the chip may include a processor and a memory connected to each other; the memory is used for storing instructions, and when the processor calls and executes the instructions, the chip can be caused to execute the method for controlling the gear of the vehicle provided by the embodiment.

The present embodiment also provides a computer-readable storage medium having stored therein computer program code which, when run on a computer, causes the computer to perform the above-mentioned related method steps to implement a method for controlling a vehicle gear provided by the above-mentioned embodiments.

The present embodiment also provides a computer program product which, when run on a computer, causes the computer to perform the above-mentioned related steps to implement a method of controlling a vehicle gear provided by the above-mentioned embodiments.

The apparatus, the computer readable storage medium, the computer program product, or the chip provided in this embodiment are used to execute the corresponding method provided above, and therefore, the advantages achieved by the apparatus, the computer readable storage medium, the computer program product, or the chip can refer to the advantages of the corresponding method provided above, which are not described herein.

It will be appreciated by those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.

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

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of controlling a vehicle gear, the method comprising:

When an automatic parking function of a vehicle is started, a first gear shifting request is responded, the first gear shifting request is used for enabling the vehicle to be switched from a current gear to a target gear, and the running parameter is used for representing the running state of the vehicle in the automatic parking process;

judging whether the vehicle meets a preset gear shifting condition according to the driving parameters and the target gear;

and controlling the vehicle to switch to the target gear under the condition that the vehicle meets the preset gear shifting condition.

2. The method according to claim 1, wherein the running parameters include an actual vehicle speed and an average braking force of wheels of the vehicle, and the determining whether the vehicle satisfies a preset shift condition according to the running parameters and the target gear includes:

judging whether the vehicle meets the preset gear shifting condition according to the average braking force and the actual vehicle speed under the condition that the target gear is a parking gear;

and judging whether the vehicle meets the preset gear shifting condition according to the average braking force under the condition that the target gear is not the parking gear.

3. The method according to claim 2, wherein the determining whether the vehicle satisfies the preset shift condition based on the average braking force and the actual vehicle speed includes:

determining that the vehicle meets the preset gear shifting condition under the condition that the average braking force is larger than a preset braking force and the actual vehicle speed is smaller than or equal to a preset vehicle speed;

4. The method according to claim 2, wherein the determining whether the vehicle satisfies the preset shift condition according to the average braking force includes:

determining that the vehicle meets the preset gear shifting condition under the condition that the average braking force is larger than a preset braking force;

and under the condition that the average braking force is smaller than or equal to the preset braking force, determining that the vehicle does not meet the preset gear shifting condition.

5. The method according to claim 1, wherein the method further comprises:

if the vehicle does not meet the preset gear shifting condition, if a second gear shifting request is not received within a preset time period after the current moment, or if the vehicle does not meet the preset gear shifting condition, if the vehicle does not meet the preset gear shifting condition when the second gear shifting request is received within the preset time period, controlling the vehicle to exit the automatic parking function;

And generating target prompt information according to the state of the automatic parking function, wherein the target prompt information is used for prompting a driver to park manually, and the state of the automatic parking function is used for indicating whether the automatic parking function is started or not.

6. The method of claim 1, wherein the driving parameters include an actual vehicle speed and an average braking force of the vehicle wheels, and wherein the obtaining the driving parameters of the vehicle comprises:

collecting the actual vehicle speed through a vehicle speed sensor;

acquiring a left front wheel braking force, a right front wheel braking force, a left rear wheel braking force and a right rear wheel braking force of the vehicle;

7. The method of claim 1, wherein after the controlling the vehicle to shift to the target gear, the method further comprises:

and sending gear shifting feedback information to an automatic parking controller so that the automatic parking controller can determine a target parking route of the vehicle according to the environment information of the position of the vehicle and the driving parameter, wherein the environment information is used for representing the environment state of the position of the vehicle and the relative state between the vehicle and objects in the environment.

8. An apparatus for controlling a gear of a vehicle, the apparatus comprising:

the system comprises an acquisition module, a first gear shifting module and a second gear shifting module, wherein the acquisition module is used for responding to a first gear shifting request when an automatic parking function of a vehicle is started, the first gear shifting request is used for enabling the vehicle to be switched from a current gear to a target gear, and the running parameter is used for representing the running state of the vehicle in the automatic parking process;

the judging module is used for judging whether the vehicle meets a preset gear shifting condition or not according to the running parameters and the target gear;

and the control module is used for controlling the vehicle to switch to the target gear under the condition that the vehicle meets the preset gear shifting condition.

9. A vehicle, characterized in that the vehicle comprises:

a memory for storing executable program code;

a processor for calling and running the executable program code from the memory, causing the vehicle to perform the method of any one of claims 1 to 7.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed, implements the method according to any of claims 1 to 7.