CN117719526A

CN117719526A - Vehicle control method and device

Info

Publication number: CN117719526A
Application number: CN202311713729.9A
Authority: CN
Inventors: 王震宁
Original assignee: Mercedes Benz Group AG
Current assignee: Mercedes Benz Group AG
Priority date: 2023-12-13
Filing date: 2023-12-13
Publication date: 2024-03-19

Abstract

The invention discloses a vehicle control method and device, and belongs to the technical field of vehicle control. One embodiment of the method comprises the following steps: detecting the sitting posture of a driver in the vehicle; determining whether a driver leans backwards according to the sitting position of the driver; when the driver is exploring backwards and the vehicle is in a static state, the vehicle is controlled to keep an automatic parking state, and a position signal of an accelerator pedal is ignored. This embodiment avoids the input of an erroneous acceleration instruction to the vehicle due to the rearward ascent of the driver, thereby improving the driving safety.

Description

Vehicle control method and device

Technical Field

The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus.

Background

The driver may input a wrong instruction to the vehicle during driving. For example, when the driver erroneously touches the accelerator by leaning backward while the vehicle is stopped, an erroneous acceleration command is input to the vehicle. This may cause a safety accident of the vehicle due to rapid acceleration, affecting the driving safety.

Disclosure of Invention

In view of the above, the present invention provides a vehicle control method and apparatus that control a vehicle to maintain an automatic parking state and ignore a subsequently received position signal of an accelerator pedal when it is determined that a driver is exploring backward and the vehicle is in a stationary state according to a driver's sitting posture by detecting the driver's sitting posture in the vehicle. Therefore, the driver is prevented from entering an incorrect acceleration instruction into the vehicle due to rearward body exploring, and driving safety is improved.

In order to solve the technical problems, the invention provides the following technical scheme:

in a first aspect, the present invention provides a vehicle control method including: detecting the sitting posture of a driver in the vehicle;

determining whether a driver leans backwards according to the sitting position of the driver;

when the driver is exploring backwards and the vehicle is in a static state, the vehicle is controlled to keep an automatic parking state, and a position signal of an accelerator pedal is ignored.

Optionally, when the driver is exploring backward and the vehicle is in a stationary state, the method further comprises:

determining a current gear of the vehicle;

determining whether the vehicle starts an automatic parking function under the condition that the current gear is neutral or a driving gear;

in the case where the automatic parking function is activated, the vehicle is controlled to maintain an automatic parking state, and the position signal of the accelerator pedal is ignored.

Optionally, in the case where the automatic parking function is not activated, the method further includes:

and adjusting the gear of the vehicle to a parking gear.

Optionally, the detecting the sitting posture of the driver in the vehicle includes:

and acquiring a driver image through a camera in the vehicle, and determining the sitting posture of the driver according to the driver image.

and collecting a pressure value according to a pressure sensor on a seat in the vehicle, and determining the sitting posture of the driver according to the pressure value.

Optionally, the method further comprises:

and sending out prompt information when the driver wanders backwards.

In a second aspect, an embodiment of the present invention provides a vehicle control apparatus including: the device comprises a detection module, a determination module and a control module; wherein,

the detection module is used for detecting the sitting posture of a driver in the vehicle;

the determining module is used for determining whether the driver leans backwards according to the sitting posture of the driver, and triggering the control module when the driver leans backwards and the vehicle is in a static state;

the control module is used for controlling the vehicle to keep an automatic parking state and ignoring a position signal of an accelerator pedal.

Optionally, the control module is used for determining the current gear of the vehicle; determining whether the vehicle starts an automatic parking function under the condition that the current gear is neutral or a driving gear; under the condition that the automatic parking function is started, controlling the vehicle to keep an automatic parking state, and ignoring a position signal of an accelerator pedal; and under the condition that the automatic parking function is not started, adjusting the gear of the vehicle to be a parking gear.

In a third aspect, an embodiment of the present invention provides an electronic apparatus for controlling a vehicle, including: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the vehicle control method according to the embodiment of the invention.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle control method of the embodiment of the present invention.

The technical scheme of the invention has the following advantages or beneficial effects: by detecting the sitting posture of the driver in the vehicle, when the driver is determined to lean backwards and the vehicle is in a static state according to the sitting posture of the driver, the vehicle is controlled to keep an automatic parking state and the position signal of the accelerator pedal received subsequently is ignored. Therefore, the driver is prevented from entering an incorrect acceleration instruction into the vehicle due to rearward body exploring, and driving safety is improved.

Drawings

Fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention;

FIG. 2 is a system architecture diagram for controlling a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of another vehicle control method according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of yet another vehicle control method according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of a further vehicle control method according to an embodiment of the present invention;

fig. 6 is a schematic diagram of main modules of a vehicle control apparatus according to an embodiment of the present invention;

FIG. 7 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;

FIG. 8 is a schematic diagram of a computer system suitable for use in implementing embodiments of the present invention.

Detailed Description

Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It should be noted that the embodiments of the present invention and the technical features in the embodiments may be combined with each other without collision.

The vehicle according to the embodiment of the invention may be an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as power sources, an electric vehicle having an electric motor as a power source, or the like. In addition, the traveling vehicle according to the embodiment of the present invention may be a traveling vehicle in the automatic/assisted driving mode or a traveling vehicle in the manual driving mode.

As shown in fig. 1, a vehicle control method according to an embodiment of the present invention mainly includes the following steps S101 to S103:

step S101: detecting the sitting posture of the driver in the vehicle.

In the embodiment of the invention, the driver image can be acquired through the camera in the vehicle, and the sitting posture of the driver can be determined according to the driver image. In this embodiment, the lightweight image processing model may be configured in an in-vehicle smart camera or the image processing model may be configured in an in-vehicle controller. After the in-vehicle camera collects the in-vehicle image, the intelligent camera or an image processing model in the vehicle-mounted controller can identify the driver and the sitting posture of the driver from the in-vehicle image. For example, the driver's sitting position may be identified by identifying the upper body orientation of the driver, such as when the driver's upper body is tilted rearward and facing rearward, determining that the driver is in a rearward lean state.

In another embodiment of the invention, the pressure value may be collected by a pressure sensor on the seat in the vehicle and the driver's sitting position may be determined from the pressure value. For example, the front and side surfaces of the driver seat are respectively provided with pressure sensors, and when the driver leans backward, the center of gravity thereof is deviated to one side, so that the pressure value detected by the pressure sensor on the side surface is increased, and the pressure value detected by the front pressure sensor is decreased accordingly. Thus, the sitting posture of the driver can be determined according to the change of the pressure value detected by the pressure sensor on the seat in the vehicle.

It will be appreciated that the above-described means for identifying the driver's sitting position from the in-vehicle image and the pressure value may be used alone or in combination with each other.

Step S102: and determining whether the driver leans backwards according to the sitting position of the driver.

Step S103: when the driver is exploring backwards and the vehicle is in a static state, the vehicle is controlled to keep an automatic parking state, and a position signal of an accelerator pedal is ignored.

When the driver is in the rearward lean state, the foot of the driver may be erroneously stepped on the accelerator pedal, and such erroneous stepping may cause rapid acceleration of the vehicle and safety accidents. In order to avoid such erroneous control, in the embodiment of the invention, if it is determined that the driver is exploring backward while the vehicle is in the stationary state, the vehicle is controlled to maintain the automatic parking state and the position information of the accelerator pedal is ignored, that is, the position information of the accelerator pedal is not processed even if it is received and the automatic parking state of the vehicle is not released. The accelerator pedal is generally provided with a position sensor for sensing and detecting position information of the accelerator pedal and converting the position information into electric information to be transmitted to the control module, so that the control module can control acceleration characteristics of the vehicle according to the position information. In the embodiment of the invention, if the driver is detected to lean backwards and the vehicle is in a stationary state, the position information of the accelerator pedal is not processed even if the position information is received, namely, the control module does not change the acceleration characteristic of the vehicle according to the position signal of the accelerator pedal when the driver lean backwards, so that the false acceleration of the vehicle can be avoided.

For example, when the vehicle is temporarily stopped, the vehicle may be in a driving range (D range), and if the driver mistakenly steps on the accelerator by leaning backward at this time, the vehicle may be erroneously accelerated. Therefore, in the embodiment of the invention, whether the vehicle starts an automatic parking (Auto Hold) function can be determined by determining the current gear of the vehicle, in the case that the current gear is the D gear; in the case where the automatic parking function is started, the control vehicle maintains Auto Hold, and ignores the position signal of the accelerator pedal. When Auto Hold is not activated, the shift position of the vehicle is adjusted to the park position (P position).

If the Auto Hold function is not activated, it may be that the Auto Hold function is not configured in the vehicle, or that the Auto Hold function is configured in the vehicle, but the Auto Hold function is in the off state. In order to facilitate control of the vehicle, in one embodiment of the present invention, after it is determined that the Auto Hold function is not activated, the driver may be prompted to turn on a switch of the Auto Hold function by a central control screen or a voice system, so that it is convenient to avoid misacceleration of the vehicle by not releasing the Auto Hold function when detecting that the driver is exploring backward. In addition, if the vehicle is not provided with the Auto Hold function, the vehicle gear may be directly adjusted to the P range, and the received accelerator pedal position signal may be ignored. It will be appreciated that for a fuel-powered vehicle, the vehicle transmission output shaft-related gear is no longer meshed with the input shaft gear after the vehicle gear has been adjusted to P-speed; for electric vehicles, the motor controller no longer receives a signal from the accelerator pedal, while the vehicle brake is activated, thereby allowing the vehicle to be stationary and preventing movement of the vehicle.

In addition, in one embodiment of the present invention, if the driver is detected to lean backward, a prompt message may be sent to the driver, for example, a warning message is displayed on the dashboard, and/or a warning sound is sent through the voice system, so as to prompt the driver to avoid performing error control on the vehicle during the backward lean.

It should be appreciated that the control function of the vehicle may be restored if the driver is detected to change from a rearward lean condition to an in-situ condition. That is, if the driver presses the accelerator pedal in an upright position, the control module may release the automatic parking function and adjust the acceleration characteristic of the vehicle according to the position signal of the accelerator pedal.

The vehicle control method provided by the present invention will be described with reference to the control architecture diagram shown in fig. 2 by way of several specific embodiments.

In fig. 2, an in-vehicle camera 201 may transmit its acquired driver image to an in-vehicle ECU (Elecmal Control Unit, electronic control unit), and a pressure sensor 202 on an in-vehicle seat transmits its acquired pressure value to the in-vehicle ECU, whereby the ECU may determine the driver's sitting posture from at least one of the driver image and the pressure value. When the ECU determines that the driver is exploring backward according to the sitting posture of the driver, if the vehicle is provided with the Auto Hold function, the ECU controls the vehicle to maintain the Auto Hold state, that is, the Auto Hold function is not released to avoid the vehicle from being erroneously accelerated, and thereafter, even if the ECU receives a position signal of the accelerator pedal, it is not transmitted to the engine 203 to cause the engine 203 to drive the vehicle to move. If the vehicle is not equipped with Auto Hold, the ECU controls the vehicle to shift to P, and for a fuel-powered vehicle, the ECU controls the output shaft-related gear of the vehicle gearbox 204 to no longer mesh with the input shaft gear, so that the vehicle is fixed, preventing movement of the vehicle.

Example 1

In this embodiment, the vehicle has an automatic parking function. Specifically, in combination with the control architecture diagram shown in fig. 2, a vehicle control method provided by the embodiment of the present invention may include the steps shown in fig. 3:

step S301: a driver image is acquired by the in-vehicle camera 201, and a driver sitting posture is determined from the driver image.

In this step, the in-vehicle camera 201 may transmit the driver image acquired by it to the in-vehicle ECU, whereby the ECU may determine the driver's sitting posture from the driver image.

Step S302: and determining whether the driver leans backwards according to the sitting position of the driver, if so, executing step S303, otherwise, continuing to execute step S301.

Step S303: and controlling the vehicle to keep an automatic parking state and sending prompt information to a driver.

Step S304: when the position signal of the accelerator pedal is received, the position signal of the accelerator pedal is ignored.

Here, even if the driver depresses the accelerator pedal to transmit the accelerator pedal position signal to the ECU while the vehicle is in the automatic parking state, the ECU does not process the accelerator pedal position signal, and does not transmit the accelerator pedal position signal to the engine.

Example two

In this embodiment, the vehicle also has an automatic parking function. Specifically, in combination with the control architecture diagram shown in fig. 2, a vehicle control method provided by the embodiment of the present invention may include the steps shown in fig. 4:

step S401: the pressure value is acquired by the pressure sensor 202 on the seat in the vehicle, and the sitting posture of the driver is determined according to the pressure value.

In this step, the pressure sensor 202 on the in-vehicle seat transmits the pressure value acquired by it to the in-vehicle ECU, whereby the ECU can determine the sitting posture of the driver from the pressure value.

Step S402: and determining whether the driver leans backwards according to the sitting position of the driver, if so, executing step S403, otherwise, continuing executing step S401.

Step S403: and controlling the vehicle to keep an automatic parking state, sending prompt information to a driver, and adjusting the gear of the vehicle from the D gear to the P gear.

After the gear of the vehicle is adjusted to be the P gear, for the fuel automobile, the related gear of the output shaft of the vehicle gearbox is not meshed with the gear of the input shaft; for electric vehicles, the motor controller no longer receives a signal from the accelerator pedal, while the vehicle brake is activated, thereby allowing the vehicle to be stationary and preventing movement of the vehicle.

Example III

In this embodiment, the vehicle does not have an automatic parking function. Specifically, as shown in fig. 5, a vehicle control method provided by an embodiment of the present invention may include the following steps:

step S501: the pressure value is acquired through a pressure sensor on a seat in the vehicle, and the image of the driver is acquired through a camera in the vehicle.

Step S502: the driver's sitting position is determined from the pressure value and the driver image.

Step S503: and determining whether the driver leans backwards according to the sitting position of the driver, if so, executing step S504, otherwise, continuing to execute step S501.

Step S504: and adjusting the gear of the vehicle from the D gear to the P gear.

Step S505: when the position signal of the accelerator pedal is received, the position signal of the accelerator pedal is ignored.

The above description of the steps in the various embodiments is provided only to assist in understanding the method, structure and core ideas of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made to the present invention without departing from the principles of the invention, and such changes and modifications are intended to be included within the scope of the appended claims.

According to the vehicle control method, the driver sitting posture in the vehicle is detected, and when the driver is determined to lean backwards according to the driver sitting posture and the vehicle is in a stationary state, the vehicle is controlled to keep an automatic parking state and a subsequently received position signal of an accelerator pedal is ignored. Therefore, the driver is prevented from entering an incorrect acceleration instruction into the vehicle due to rearward body exploring, and driving safety is improved.

Fig. 6 is a schematic diagram of main modules of a vehicle control apparatus according to an embodiment of the present invention. As shown in fig. 6, a vehicle control apparatus 600 of an embodiment of the invention includes: a detection module 601, a determination module 602, and a control module 603; wherein,

the detection module 601 is used for detecting the sitting posture of a driver in the vehicle;

the determining module 602 is configured to determine whether the driver leans backward according to the sitting posture of the driver, and trigger the control module when the driver leans backward and the vehicle is in a stationary state;

the control module 603 is configured to control the vehicle to maintain an automatic parking state and ignore a position signal of an accelerator pedal.

In one embodiment of the present invention, the control module 603 is configured to determine a current gear of the vehicle; determining whether the vehicle starts an automatic parking function under the condition that the current gear is neutral or a driving gear; under the condition that the automatic parking function is started, controlling the vehicle to keep an automatic parking state, and ignoring a position signal of an accelerator pedal; and under the condition that the automatic parking function is not started, adjusting the gear of the vehicle to be a parking gear.

In one embodiment of the present invention, the detection module 601 is configured to collect an image of a driver through an in-vehicle camera, and determine a sitting posture of the driver according to the image of the driver.

In one embodiment of the present invention, the detection module 601 is configured to collect a pressure value according to a pressure sensor on a seat in a vehicle, and determine a sitting posture of a driver according to the pressure value.

In one embodiment of the present invention, the control module 603 is further configured to send a prompt message when the driver lean backward.

According to the vehicle control device, the driver sitting posture in the vehicle is detected, and when the driver is determined to lean backwards according to the driver sitting posture and the vehicle is in a stationary state, the vehicle is controlled to keep an automatic parking state and a subsequently received position signal of an accelerator pedal is ignored. Therefore, the driver is prevented from entering an incorrect acceleration instruction into the vehicle due to rearward body exploring, and driving safety is improved.

Fig. 7 illustrates an exemplary system architecture 700 to which a vehicle control method or vehicle control apparatus of an embodiment of the invention may be applied.

As shown in fig. 7, the system architecture 700 may include a detection system 701, a power supply system 702, a network 703, and a control system 704. The power supply system 702 may include a power circuit that provides power to the detection system 701, the control system 704, and an electric system that provides a power source for the vehicle. The network 703 is used as a medium to provide a communication link between the control system 704 and the detection system 701. The network 703 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The detection system 701 may detect an in-vehicle image, a seat pressure value, etc., and the control system 704 may control a shift position, an automatic parking function, etc. of the vehicle according to the in-vehicle image and the seat pressure value acquired by the detection system 701.

It should be understood that the number of detection systems, power supply systems, networks, and control systems in fig. 7 are merely illustrative. There may be any number of detection systems, power supply systems, networks, and control systems, as desired for implementation.

Referring now to FIG. 8, there is illustrated a schematic diagram of a computer system 800 suitable for use in implementing embodiments of the present invention. The computer system shown in fig. 8 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in fig. 8, the computer system 800 includes a Central Processing Unit (CPU) 801 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.

The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, mouse, etc.; an output portion 807 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 808 including a hard disk or the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. The drive 810 is also connected to the I/O interface 805 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as needed so that a computer program read out therefrom is mounted into the storage section 808 as needed.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809, and/or installed from the removable media 811. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 801.

The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor includes a detection module, a determination module, and a control module. The names of these modules do not constitute a limitation on the module itself in some cases, and for example, the detection module may also be described as "a module that detects the sitting position of the driver in the vehicle".

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: detecting the sitting posture of a driver in the vehicle; determining whether a driver leans backwards according to the sitting position of the driver; when the driver is exploring backwards and the vehicle is in a static state, the vehicle is controlled to keep an automatic parking state, and a position signal of an accelerator pedal is ignored.

According to the technical scheme of the embodiment of the invention, by detecting the sitting posture of the driver in the vehicle, when the driver is determined to lean backwards and the vehicle is in a static state according to the sitting posture of the driver, the vehicle is controlled to keep an automatic parking state and the position signal of the accelerator pedal received subsequently is ignored. Therefore, the driver is prevented from entering an incorrect acceleration instruction into the vehicle due to rearward body exploring, and driving safety is improved.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle control method characterized by comprising:

detecting the sitting posture of a driver in the vehicle;

2. The method of claim 1, wherein when the driver is exploring backwards and the vehicle is at rest, further comprising:

determining a current gear of the vehicle;

3. The method according to claim 2, wherein in the event that the automatic parking function is not activated, further comprising:

and adjusting the gear of the vehicle to a parking gear.

4. The method of claim 1, wherein detecting the sitting position of the driver in the vehicle comprises:

5. The method of claim 1, wherein detecting the sitting position of the driver in the vehicle comprises:

6. The method as recited in claim 1, further comprising:

and sending out prompt information when the driver wanders backwards.

7. A vehicle control apparatus characterized by comprising: the device comprises a detection module, a determination module and a control module; wherein,

8. The apparatus of claim 7, wherein the device comprises a plurality of sensors,

the control module is used for determining the current gear of the vehicle; determining whether the vehicle starts an automatic parking function under the condition that the current gear is neutral or a driving gear;

under the condition that the automatic parking function is started, controlling the vehicle to keep an automatic parking state, and ignoring a position signal of an accelerator pedal;

and under the condition that the automatic parking function is not started, adjusting the gear of the vehicle to be a parking gear.

9. An electronic device for controlling a vehicle, comprising:

one or more processors;

storage means for storing one or more programs,

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle control method of any of claims 1-6.

10. A computer-readable medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 6.