WO2024138335A1

WO2024138335A1 - Automatic parking method, automatic parking system, and computer-readable storage medium

Info

Publication number: WO2024138335A1
Application number: PCT/CN2022/142075
Authority: WO
Inventors: 代超; 陈立宏
Original assignee: 宁德时代(上海)智能科技有限公司; 宁德时代新能源科技股份有限公司
Priority date: 2022-12-26
Filing date: 2022-12-26
Publication date: 2024-07-04

Abstract

Disclosed in the present application are an automatic parking method, an automatic parking system, and a computer-readable storage medium. The automatic parking method comprises: in response to a vehicle being in an automatic parking stage, detecting whether a braking system of the vehicle has a fault; and if the braking system of the vehicle has a fault, enabling an energy recovery function to brake the vehicle, so as to complete parking. By means of the method, when a braking system of a vehicle has a fault, an energy recovery function assumes control of automatic parking, such that a vehicle degradation strategy that can be operated during the failure of the braking system is realized, and the vehicle can thus enter a safety state by virtue of the energy recovery function, thereby improving the safety of automatic parking of the vehicle.

Description

Automatic parking method, automatic parking system and computer readable storage medium

[Technical field]

The present application relates to the field of vehicle control, and in particular to an automatic parking method, an automatic parking system, and a computer-readable storage medium.

【Background technique】

With the rapid development of the automobile industry, people are becoming more and more dependent on cars for their daily travel.

The automatic parking function of a vehicle requires braking to be achieved by the vehicle's braking system. However, when the vehicle's braking system fails, the safety requirements of the automatic parking function cannot be met.

[Summary of the invention]

In view of the above problems, the present application provides an automatic parking method, an automatic parking system and a computer-readable storage medium, which can meet the safety requirements of the automatic parking function when the vehicle's braking system fails.

In a first aspect, the present application provides an automatic parking method, comprising: in response to the vehicle starting an automatic parking function, detecting a working state of a braking system of the vehicle; and determining whether to start an energy recovery function to brake the vehicle according to the working state of the braking system of the vehicle.

In the technical solution of the embodiment of the present application, when the vehicle starts the automatic parking function, the braking mode of the vehicle is determined by detecting the working state of the vehicle's braking system; if it is detected that the vehicle's braking system fails, the energy recovery function is started to brake the vehicle to complete parking; if it is detected that the vehicle's braking system is not faulty, the braking system is used to brake to complete parking. Such a design realizes the use of the energy recovery function and the braking system to form a braking redundancy system of the automatic parking system, so that the braking system does not need to design a master-slave braking unit to meet the redundant braking requirements of automatic parking, so that in the case of a failure in the vehicle's braking system, the energy recovery function takes over the automatic parking, and the whole vehicle degradation strategy of the brake system failure can be realized, so that the vehicle can rely on the energy recovery function to enter a safe state, achieve safe parking, and improve the safety of the vehicle's automatic parking function; in addition, in the process of braking through the energy recovery function, the high-voltage energy system of the vehicle can be charged to increase the power of the high-voltage energy system.

In some embodiments, in response to the vehicle starting the automatic parking function, before the step of detecting the working status of the vehicle's braking system, it also includes: receiving a request to start the automatic parking function; detecting whether the vehicle meets the conditions for starting the energy recovery function based on the start request; if the conditions for starting the energy recovery function are met, controlling the vehicle to start the automatic parking function.

By first determining whether the vehicle status meets the conditions for starting the energy recovery function, the automatic parking function is started when the conditions for starting the energy recovery function are met, and then the energy recovery function and the braking system can be used to form a braking redundancy system for the automatic parking system, thereby improving the safety of the vehicle's automatic parking function.

In some embodiments, the step of detecting whether the vehicle meets the conditions for starting the energy recovery function according to the start request includes: obtaining the vehicle's performance data and external environment data; and determining whether the vehicle meets the conditions for starting the energy recovery function according to the vehicle's performance data and external environment data.

By considering the vehicle's performance data as well as external environmental data to determine whether the conditions for initiating the energy recovery function are met, the safety of braking relying on the energy recovery function can be improved.

In some embodiments, the vehicle's performance data includes the remaining charge of the vehicle's battery and the battery temperature, and the external environment data includes the slope of the road.

By considering factors such as the remaining battery charge of the vehicle, the battery temperature, and the slope of the road to determine whether the conditions for starting the energy recovery function are met, the safety of braking relying on the energy recovery function can be improved.

In some embodiments, the step of determining whether the vehicle meets the conditions for starting the energy recovery function based on the vehicle's performance data and external environmental data specifically includes: if the current road is a flat road, the battery temperature is lower than a first set temperature or the remaining power is greater than the set power, or, if the slope of the road is greater than the first set slope and less than the second set slope, the battery temperature is lower than the second set temperature or the remaining power is greater than the set power, or, the slope of the road is greater than the second set slope, it is determined that the conditions for starting the energy recovery function are not met; wherein, the first set temperature is lower than the second set temperature.

When the vehicle's remaining power, battery temperature and road slope affect the safety of braking through the energy recovery function during automatic parking, the safety of braking through the energy recovery function can be improved by setting the corresponding temperature, power and slope ranges to limit the conditions for starting the energy recovery function.

In some embodiments, after receiving the start request of the automatic parking function, the method further includes: detecting the working state of the vehicle's braking system; and determining, according to the vehicle's braking system, whether to execute the step of detecting whether the vehicle meets the conditions for starting the energy recovery function according to the start request.

When you want to enable the automatic parking function, in addition to detecting whether the vehicle meets the conditions for starting the energy recovery function, you also need to detect whether there is a fault in the vehicle's braking system. When the braking system is effective and the vehicle meets the conditions for starting the energy recovery function, you can use the energy recovery function and the braking system to form a braking redundancy system for the automatic parking system to improve the safety of the vehicle's automatic parking function.

In some embodiments, in response to the vehicle starting an automatic parking function, the step of detecting the working state of the vehicle's braking system includes: determining whether the vehicle's braking system fails based on the vehicle's status data.

When the vehicle starts the automatic parking function, the vehicle status data can be used to determine whether the vehicle's braking system has a fault. Then, in the event of a fault in the vehicle's braking system, the energy recovery function can take over automatic parking, thereby improving the safety of the vehicle's automatic parking function.

In some embodiments, the status data includes the maximum parking speed and current parking speed of the vehicle; the step of determining whether the braking system of the vehicle is faulty based on the status data of the vehicle includes: obtaining and determining the difference between the maximum parking speed and the current parking speed; if the current parking speed is greater than the maximum parking speed, determining that the braking system of the vehicle is faulty.

By comparing the maximum parking speed of the vehicle with the current parking speed, it is determined whether the vehicle's braking system has a fault, which can improve the accuracy of confirming whether the braking system is effective.

In some embodiments, the step of obtaining the maximum parking speed includes: determining the maximum parking speed according to a parking distance between a current position of the vehicle and a target position.

The maximum parking speed of the vehicle is determined by the parking distance between the current position of the vehicle and the target position, so as to determine whether the braking system of the vehicle fails.

In some embodiments, the status data includes a power signal and/or a communication signal of the braking system; the step of determining whether the braking system of the vehicle is faulty based on the vehicle's status data includes: if the power signal and/or the communication signal of the braking system is abnormal, determining that the braking system of the vehicle is faulty.

The comprehensiveness and reliability of confirming whether the braking system is effective are improved by using the power supply signal and/or communication signal of the braking system.

In some embodiments, the step of determining whether to activate the energy recovery function to brake the vehicle based on the working state of the vehicle's braking system includes: when a fault occurs in the braking system, controlling the energy recovery function to be enabled to brake the vehicle; determining whether the current parking speed of the vehicle meets the enabling speed threshold for entering the electronic parking function; if the enabling speed threshold for entering the electronic parking function is met, controlling the electronic parking function to be enabled for safe parking.

After the vehicle is braked through the energy recovery function when a brake system failure occurs, the vehicle's current parking speed is compared with the enabling speed threshold for entering the electronic parking function to confirm whether the automatic parking function has ended, so that the electronic parking function can be used to park the vehicle safely after the automatic parking function ends, thereby improving the safety of the vehicle's automatic parking function.

In some embodiments, the automatic parking method further includes: if the current parking speed of the vehicle does not meet the enabling speed threshold for entering the electronic parking function, continuing to brake the vehicle through the energy recovery function.

When the vehicle's current parking speed is greater than the enabling speed threshold for entering the electronic parking function, it can be confirmed that the automatic parking function has not ended, and the vehicle continues to be braked through the energy recovery function to reduce the vehicle's current parking speed and improve the safety of the vehicle's automatic parking function.

In some embodiments, when a certain request or signal is used as a target signal, the target signal is transmitted according to a preset communication rule to detect whether the target signal is invalid.

By transmitting requests or signals through preset communication rules, it is possible to detect whether the request or signal is invalid during the transmission process, and the communication integrity requirements of the functional safety level of the response function of the request or signal can be achieved, thereby improving the safety of the vehicle's automatic parking function.

In a second aspect, the present application provides an automatic parking system capable of executing any one of the above-mentioned automatic parking methods.

In a third aspect, the present application provides a computer-readable storage medium having program instructions stored thereon, which implement any of the above-mentioned automatic parking methods when the program instructions are executed by a processor.

The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

【Brief Description of the Drawings】

Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

FIG1 is a schematic structural diagram of an embodiment of an automatic parking system provided by the present application;

FIG2 is a flow chart of an embodiment of an automatic parking method provided by the present application;

FIG3 is a flow chart of another embodiment of the automatic parking method provided by the present application;

FIG. 4 is a schematic diagram of the structure of an embodiment of a computer-readable storage medium provided in this embodiment.

The reference numerals in the specific implementation manner are as follows:

Automatic parking system 1000;

Data acquisition device 1100, ADAS controller 1200, execution unit 1300;

Camera 1101, radar 1102, high-precision map 1103;

Domain controller 1301 , electric drive controller 1302 , display screen controller 1303 , brake controller 1304 .

【Detailed ways】

The following embodiments of the technical solution of the present application will be described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.

In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

At present, the rapid development of the automobile industry has led to more and more people using cars as travel or transportation. At present, in order to meet the functional safety requirements of the automatic parking system, it is necessary to systematically design a master-slave brake unit to form a brake redundancy system. When the master brake unit fails, the slave brake unit can take over the vehicle and brake in time to ensure the safe execution of automatic parking. The inventors have noticed that when the vehicle executes the automatic parking function, the brake system may fail, which cannot meet the safety requirements of the automatic parking function.

In order to meet the safety requirements of the automatic parking function, the inventor has designed an automatic parking method after in-depth research. When the vehicle's braking system fails, the energy recovery function takes over the automatic parking, thereby implementing a vehicle downgrade strategy that allows the vehicle to operate even if the braking system fails. The vehicle can rely on the energy recovery function to enter a safe state, achieve safe parking, and improve the safety of the vehicle's automatic parking function; and, during the process of braking through the energy recovery function, the vehicle's high-voltage energy system can be charged to increase the power of the high-voltage energy system.

Please refer to Figure 1, which is a schematic diagram of the structure of an embodiment of an automatic parking system provided by the present application. The automatic parking system of this embodiment is used to implement any of the following automatic parking methods.

The automatic parking system 1000 includes a data acquisition device 1100 , an ADAS controller 1200 and an execution unit 1300 .

The data acquisition device 1100 includes at least one of a camera 1101, a radar 1102, and a high-precision map 1103. The camera 1101 is used to collect image data near the vehicle to obtain camera data, the radar 1102 is used to measure the distance between the vehicle and various obstacles or target locations, and the high-precision map 1103 is used to determine the geographical state, buildings and other map obstacles near the vehicle.

The camera 1101 may include at least one of a front view camera, a side view camera, a rear view camera, and a surround view camera. The radar 1102 may include at least one of a forward millimeter wave radar, a side angle radar, a rear millimeter wave radar, a laser radar, and an ultrasonic radar. The high-precision map 1103 includes at least one of a two-dimensional plane map, a three-dimensional map, a virtual reality map, and other high-precision maps.

The ADAS controller 1200 is an advanced driver assistance system, which is used to perform data fusion on the data collected by the data acquisition device 1100 to obtain the vehicle's environmental data and send a request instruction to the execution unit 1300 .

The execution unit 1300 includes a domain controller 1301 (CIU controller), an electric drive controller 1302 (MCU controller), a display screen controller 1303 (CDCU controller) and a brake controller 1304 (BCU controller).

The domain controller 1301 is used to receive and forward relevant requests, signals and data; the electric drive controller 1302 is used to detect whether the vehicle meets the conditions for starting the energy recovery function according to the start request of the automatic parking function, and to start the energy recovery function to brake the vehicle when the braking system of the vehicle fails, and to determine whether the current parking speed of the vehicle meets the enabling speed threshold for entering the electronic parking function, and if the current parking speed of the vehicle meets the enabling speed threshold for entering the electronic parking function, control the enabling of the electronic parking function for safe parking; the display screen controller 1303 is used to obtain and display the remaining battery power, battery temperature, road slope and status data of the vehicle; the brake controller 1304 is used to detect whether the braking system of the vehicle fails, and to brake the vehicle.

The data acquisition device 1100 is connected to the ADAS controller 1200 , and the ADAS controller 1200 is connected to the execution unit 1300 .

Specifically, the camera 1101, the radar 1102 and the high-precision map 1103 in the data acquisition device 1100 are all connected to the ADAS controller 1200. The ADAS controller 1200 is also connected to the domain controller 1301 of the execution unit 1300; the domain controller 1301 is also connected to the electric drive controller 1302, the display screen controller 1303 and the brake controller 1304 respectively.

In some embodiments, when the automatic parking system 1000 is applied to the automatic parking method, the ADAS controller 1200 sends a start request for the automatic parking function to the domain controller 1301, the electric drive controller 1302 detects whether the vehicle meets the conditions for starting the energy recovery function according to the start request, and the brake controller 1304 detects the working state of the vehicle's brake system. If there is no fault in the vehicle's brake system and the vehicle meets the conditions for starting the energy recovery function, the automatic parking function is successfully started. Specifically, the camera 1101, the radar 1102, and the high-precision map 1103 in the data acquisition device 1100 respectively collect at least one of the real-time data of the camera data, the radar data, and the high-precision map, and transmit the above real-time data to the domain controller 1301 for data fusion to obtain external environment data. The display screen controller 1303 obtains and displays the performance data and external environment data of the vehicle, and the electric drive controller 1302 determines whether the vehicle meets the conditions for starting the energy recovery function according to the performance data and external environment data of the vehicle. Specifically, the performance data of the vehicle may include the remaining power and battery temperature of the vehicle's battery, and the external environment data may include the slope of the road. Further, if the current road is a flat road, the battery temperature is lower than the first set temperature or the remaining power is greater than the set power, or, if the slope of the road is greater than the first set slope and less than the second set slope, the battery temperature is lower than the second set temperature or the remaining power is greater than the set power, or, the slope of the road is greater than the second set slope, the electric drive controller 1302 determines that the conditions for starting the energy recovery function are not met; wherein, the first set temperature is lower than the second set temperature.

After the automatic parking function is successfully started, the ADAS controller 1200 sends a parking request to the domain controller 1301, the display controller 1303 obtains and displays the vehicle status data, and the brake controller 1304 determines whether the vehicle's braking system is faulty based on the vehicle status data. If the vehicle's braking system is faulty, the electric drive controller 1302 starts the energy recovery function to brake the vehicle. If no braking system fault is detected, the brake controller 1304 brakes the vehicle to complete parking. Specifically, the status data may include the maximum parking speed and current parking speed of the vehicle. The camera 1101, radar 1102 and high-precision map 1103 in the data acquisition device 1100 respectively collect at least one of the real-time data of the camera data, radar data and high-precision map, and transmit the above real-time data to the domain controller 1301 for data fusion to obtain the parking distance between the current position of the vehicle and the target position, and determine the maximum parking speed based on the parking distance. The display screen controller 1303 obtains and displays the current parking speed. If the current parking speed is greater than the maximum parking speed, the brake controller 1304 determines that the braking system of the vehicle has a fault. The status data may also include the power signal and/or communication signal of the braking system. The display screen controller 1303 obtains and displays the power signal and/or communication signal of the braking system. If the power signal and/or communication signal of the braking system is abnormal, the brake controller 1304 determines that the braking system of the vehicle has a fault.

During the process of the electric drive controller 1302 controlling the energy recovery function to brake the vehicle, the electric drive controller 1302 determines in real time whether the current parking speed of the vehicle meets the enabling speed threshold for entering the electronic parking function. If the current parking speed of the vehicle meets the enabling speed threshold for entering the electronic parking function, the electric drive controller 1302 controls the enabling of the electronic parking function for safe parking. If the current parking speed of the vehicle does not meet the enabling speed threshold for entering the electronic parking function, the electric drive controller 1302 continues to brake the vehicle through the energy recovery function.

In the above scheme, when the braking system is effective and the vehicle meets the conditions for starting the energy recovery function, the energy recovery function and the braking system can be used to form a braking redundancy system of the automatic parking system to start the automatic parking function; when the vehicle is performing automatic parking, if no fault in the braking system of the vehicle is detected, the braking system is used to brake to complete the parking; if a fault in the braking system of the vehicle is detected, the energy recovery function takes over the automatic parking, and a vehicle degradation strategy is implemented that can operate even if the braking system fails, so that the vehicle can rely on the energy recovery function to enter a safe state, achieve safe parking, and improve the safety of the vehicle's automatic parking function. In addition, when the energy recovery function is used During the braking process, the vehicle's high-voltage energy system can be charged to increase the power of the high-voltage energy system, and the energy recovery function and the braking system can be used to form a braking redundancy system for the automatic parking system, so that the braking system does not need to design a master-slave braking unit to meet the redundant braking requirements of automatic parking, thereby reducing costs while also meeting the safety design requirements of the automatic parking function. After the vehicle is braked by the energy recovery function, the current parking speed of the vehicle is compared with the enabling speed threshold for entering the electronic parking function to confirm whether the automatic parking function has ended, so that the electronic parking function can be used to park the vehicle safely after the automatic parking function ends, thereby improving the safety of the vehicle's automatic parking function.

Please refer to FIG. 2 , which is a flowchart of an embodiment of an automatic parking method provided by the present application. The automatic parking method of this embodiment may specifically include:

Step S11: In response to the vehicle starting the automatic parking function, detecting the working state of the braking system of the vehicle.

Step S12: Determine whether to start the energy recovery function to brake the vehicle according to the working state of the braking system of the vehicle.

In the above scheme, the vehicles include but are not limited to: trucks, off-road vehicles, dump trucks, tractor trucks, special-purpose vehicles, buses, and sedans.

After the vehicle starts the automatic parking function, it can use the energy recovery function and the braking system to form a brake redundancy system of the automatic parking system to achieve automatic parking.

The vehicle's braking system can reduce the vehicle's speed, mainly by slowing down or even stopping a moving vehicle or keeping a stopped vehicle stationary.

The working state of the vehicle's brake system includes the state where the brake system fails and the state where the brake system does not fail.

The energy recovery function refers to the function of converting kinetic energy into electrical energy storage during the deceleration process after the vehicle releases the accelerator.

After the vehicle starts the automatic parking function, if a fault is detected in the vehicle's braking system, the energy recovery function is activated to brake the vehicle to complete parking. If no fault is detected in the braking system, the braking system is used to complete parking.

The above scheme, by allowing the energy recovery function to take over automatic parking in the event of a failure in the vehicle's braking system, implements a vehicle downgrade strategy that allows the vehicle to operate even if the braking system fails, so that the vehicle can rely on the energy recovery function to enter a safe state, achieve safe parking, and improve the safety of the vehicle's automatic parking function; in addition, during braking through the energy recovery function, the vehicle's high-voltage energy system can be charged to increase the power of the high-voltage energy system; and when the vehicle's braking system does not fail, the braking system is used to brake to complete parking, thereby realizing a braking redundancy system for the automatic parking system formed by the energy recovery function and the braking system, so that the braking system does not need to design a master-slave braking unit to meet the redundant braking requirements of automatic parking, thereby reducing costs while also meeting the safety design requirements of the automatic parking function.

The activation request of the automatic parking function refers to the function activation request sent by the vehicle's ADAS system to the domain controller after the user sends an automatic parking command to the vehicle.

When the vehicle meets the conditions for starting the energy recovery function, the automatic parking function is successfully started and the vehicle can be controlled to park automatically. When the vehicle does not meet the conditions for starting the energy recovery function, the automatic parking function fails to start.

The above scheme first determines whether the vehicle state meets the conditions for starting the energy recovery function. When the conditions for starting the energy recovery function are met, the automatic parking function is started, and then the energy recovery function and the braking system can be used to form a braking redundancy system for the automatic parking system, thereby improving the safety of the vehicle's automatic parking function.

The vehicle's performance data may reflect the vehicle's overall driving capability or the working capability or status of each component. External environment data refers to the surrounding environment of the vehicle's current location, such as road information, obstacle information, etc. The vehicle's performance data and external environment data may affect whether the energy recovery function can be activated.

The above scheme can improve the safety of braking relying on the energy recovery function by considering the vehicle's performance data and external environment data to determine whether the conditions for starting the energy recovery function are met.

The slope of the road can be collected by the device on the vehicle for collecting external environment data, or by the vehicle's own gravity sensor and other devices. The vehicle status data such as the remaining battery power and battery temperature will be displayed on the vehicle's display screen, so the remaining battery power, battery temperature and other data can be directly obtained through the display controller.

Since the energy recovery function will convert kinetic energy into electrical energy and charge the battery in the vehicle's high-voltage energy system after it is activated, data such as the remaining battery power and battery temperature will limit whether the energy recovery function can be activated; the energy recovery function is activated to take over and execute automatic parking when the braking system fails, and the braking of the vehicle under the energy recovery function is performed while the wheels are turning. The slope of the road will make it difficult to brake the vehicle, so the slope of the road will also limit whether the energy recovery function can be activated.

The above scheme determines whether the conditions for starting the energy recovery function are met by considering factors such as the remaining power of the vehicle's battery, the battery temperature, and the slope of the road, thereby improving the safety of braking relying on the energy recovery function.

In some embodiments, the second set slope is greater than the first set slope. By comparing the slope of the current road on which the vehicle is located with the second set slope, when the slope of the road is greater than the second set slope, it means that the energy recovery function cannot brake the vehicle on the current road when the braking system fails, and it is determined that the condition for starting the energy recovery function is not met. When the slope of the road is not greater than the second set slope, it is uncertain whether the condition for starting the energy recovery function is met, and it is necessary to further compare the slope of the current road on which the vehicle is located with the first set slope to make a judgment; when the slope of the road is greater than the first set slope and the battery temperature is lower than the second set temperature, it is determined that the condition for starting the energy recovery function is not met. It can be understood that when the slope of the road is a certain slope value less than the first set slope and greater than 0 slope, and the battery temperature is a certain temperature value lower than the second set temperature and higher than the first set temperature, it can also be determined that the condition for starting the energy recovery function is not met; and when the road is a flat road, that is, the slope of the road is 0 slope, and the battery temperature is lower than the first set temperature, it can also be determined that the condition for starting the energy recovery function is not met.

In other embodiments, by comparing the remaining power of the battery with the set power, when the remaining power is greater than the set power, it means that the power is sufficient and the energy recovery function is not needed to charge the battery, that is, it is determined that the conditions for starting the energy recovery function are not met.

When the remaining power, battery temperature and road slope do not fall under the above conditions, it is determined that the conditions for starting the energy recovery function are met.

In a specific application scenario, for example: when the road is flat, when the battery temperature is <-15°C or the SOC (remaining power) >97%, it is determined that the conditions for starting the energy recovery function are not met, and the AVP (automatic parking) request can be prohibited at this time; when the road slope is greater than 8° and less than 15°, when the battery temperature is <-10°C or the SOC >97%, it is determined that the conditions for starting the energy recovery function are not met, and the AVP (automatic parking) request can be prohibited at this time; when the road slope is greater than 15°, it is determined that the conditions for starting the energy recovery function are not met, and the AVP (automatic parking) request can be prohibited at this time.

In other application scenarios, the specific values of the first set slope, the second set slope, the first set temperature, the second set temperature and the set power can be other values, which are set based on actual needs. The above settings of the first set slope, the second set slope, the first set temperature, the second set temperature and the set power are only for illustration, and do not limit the specific values of the first set slope, the second set slope, the first set temperature, the second set temperature and the set power in actual applications.

The above scheme can improve the safety of braking relying on the energy recovery function by comparing the road slope with the first set slope or the second set slope, the battery temperature with the first set temperature or the second set temperature, and the remaining power with the set power to determine whether the vehicle meets the conditions for starting the energy recovery function.

When you want to start the automatic parking function, in addition to detecting whether the vehicle meets the conditions for starting the energy recovery function, you also need to detect whether there is a fault in the vehicle's braking system. When the braking system is effective and the vehicle meets the conditions for starting the energy recovery function, you can use the energy recovery function and the braking system to form a braking redundancy system for the automatic parking system.

The above scheme detects whether there is a fault in the vehicle's braking system before detecting whether the vehicle meets the conditions for starting the energy recovery function. When the braking system is effective and the vehicle meets the conditions for starting the energy recovery function, the automatic parking function can be started, thereby realizing a braking redundancy system of the automatic parking system formed by utilizing the energy recovery function and the braking system, thereby improving the safety of the vehicle's automatic parking function.

The vehicle status data is used to reflect whether the vehicle's braking system fails at the current moment. The vehicle status data can be acquired by the display controller and displayed on the display.

In the above scheme, when the vehicle starts the automatic parking function, it is possible to determine whether the vehicle's braking system has a fault through the vehicle's status data. Then, in the event of a fault in the vehicle's braking system, the energy recovery function can take over the automatic parking, thereby improving the safety of the vehicle's automatic parking function.

The maximum parking speed refers to a speed calculated in consideration of the riding comfort of the user or to enable the vehicle to park according to the automatic parking requirements.

The current parking speed refers to the current speed of the vehicle during the automatic parking process.

It is understandable that since the calculation of the maximum parking speed takes into account the vehicle's ability to park in accordance with the automatic parking requirements, if the current parking speed is greater than the maximum parking speed, it means that the braking system has not effectively reduced the vehicle's driving speed, and it can be determined that the vehicle's braking system has a fault.

The above scheme can improve the accuracy of confirming whether the braking system is effective by comparing the maximum parking speed of the vehicle with the current parking speed to determine whether the braking system of the vehicle has a fault.

The target position refers to the position that the vehicle needs to reach according to the automatic parking command input by the user, such as a parking space or in front of an object.

The current position and target position of the vehicle can be acquired through data acquisition equipment on the vehicle. The data acquisition equipment may include at least one of a camera, a radar and a high-precision map. After determining the current position and target position of the vehicle, the parking distance between the current position of the vehicle and the target position can be calculated. Thus, the maximum parking speed can be calculated based on the parking distance while considering the riding comfort of the user or enabling the vehicle to park at the target position.

The above scheme determines the maximum parking speed of the vehicle by the parking distance between the current position of the vehicle and the target position, so as to determine whether the braking system of the vehicle fails.

The power signal of the brake system is used to reflect whether the circuit of the control system is normal.

The communication signal of the control system is used to reflect whether the instructions sent and received by the control system are invalid.

The above scheme can improve the comprehensiveness and reliability of confirming whether the braking system is effective through the power signal and/or communication signal of the braking system.

In addition, after determining that the vehicle's brake system has a fault, a reminder can also be issued to achieve timely processing of the control system fault. For example, it can include voice reminders or warning light reminders. The voice reminder can play a pre-prepared voice through a buzzer, such as "brake abnormality", "please check the brake system circuit", etc. to give the user an auditory reminder; the warning light reminder can flash the signal lights inside the car and/or the signal lights outside the car to give a visual reminder to the user and pedestrians or vehicles outside.

The electronic parking function refers to the technology of realizing parking brake by electronic control, which can automatically apply the parking brake to avoid unsafe incidents such as forgetting to pull the handbrake when parking or forgetting to release the handbrake when starting.

If the braking system fails during the automatic parking process, the electric drive control system can take over and execute the parking request of the automatic parking system. Specifically, the electric drive control system issues an energy recovery command to enable the energy recovery function and execute the vehicle braking request for automatic parking. At the same time, the electric drive control system will determine whether the current parking speed meets the enabling speed threshold for entering the electronic parking function to achieve safe parking; if the current parking speed meets the enabling speed threshold for the electronic parking function, the electric drive control system will issue an electronic parking request and drive the electronic parking function to enable, achieving safe parking, and the automatic parking function of the automatic parking system ends and exits.

In the above scheme, after the vehicle is braked through the energy recovery function when a brake system failure occurs, by comparing the current parking speed of the vehicle with the enabling speed threshold for entering the electronic parking function, it can be confirmed whether the automatic parking function has ended, so that the electronic parking function can be used to park the vehicle safely after the automatic parking function ends, thereby improving the safety of the vehicle's automatic parking function.

If the current parking speed does not meet the enabling speed threshold of the electronic parking function, the electric drive control system will continue to brake the vehicle through the energy recovery function according to the parking request of the automatic parking system.

In the above scheme, when the current parking speed of the vehicle is greater than the enabling speed threshold for entering the electronic parking function, it can be confirmed that the automatic parking function has not ended, and the vehicle continues to be braked through the energy recovery function to reduce the current parking speed of the vehicle and improve the safety of the vehicle's automatic parking function.

The target signal may be a request command such as the start request of the automatic parking function, an energy recovery command, and an electronic parking request, or it may be vehicle performance data such as remaining power, battery temperature, and external environmental data such as the slope of the road, or it may be vehicle status data such as the maximum parking speed, current parking speed, power signal of the braking system, and/or communication signal.

The preset communication rule refers to the transmission method preset during the transmission of the target signal.

In a specific application scenario, the preset communication rule may be a rule for counting and verifying data according to a preset transmission protocol to prevent data loss. For example, during the process of sending and receiving the target signal, the verification bytes continuously counted by the counter are used to determine whether the target signal has data loss.

In another specific application scenario, the preset communication rules may be rules for encoding and decoding data according to a preset transmission protocol to protect data security. For example, when the target signal is sent, it may be encoded according to the agreed encoding rules and then transmitted, and then decoded after being received at the receiving end to prevent data tampering, etc.

The above scheme transmits the request or signal through preset communication rules, and can detect whether the request or signal is invalid during the transmission process, and can achieve the communication integrity requirements of the functional safety level of the response function of the request or signal, thereby improving the safety of the vehicle's automatic parking function.

To better understand the automatic parking method provided in this embodiment, please refer to FIG. 3 , which is a flow chart of another embodiment of the automatic parking method provided in this application. The automatic parking method in this embodiment may specifically include:

Step S301: receiving a request to start the automatic parking function.

Step S302: Detect the working status of the vehicle's braking system.

Step S303: If there is no fault in the vehicle braking system, obtain the performance data and external environment data of the vehicle.

Step S304: Determine whether the vehicle meets the conditions for starting the energy recovery function based on the performance data of the vehicle and the external environment data.

Step S305: If the conditions for starting the energy recovery function are met, control the vehicle to start the automatic parking function.

Step S306: Determine whether a brake system of the vehicle fails based on the vehicle status data.

Step S307: When a brake system failure occurs, the energy recovery function is controlled to be enabled to brake the vehicle.

Step S308: Determine whether the current parking speed of the vehicle meets the enabling speed threshold for entering the electronic parking function.

Step S309: If the speed threshold for entering the electronic parking function is met, the electronic parking function is enabled to perform safe parking.

Step S310: If the current parking speed of the vehicle does not meet the enabling speed threshold for entering the electronic parking function, the vehicle continues to be braked through the energy recovery function.

Step S311: If no brake system failure is detected, parking is completed using the brake system.

In the above scheme, when the braking system is effective and the vehicle meets the conditions for starting the energy recovery function, the energy recovery function and the braking system can be used to form a braking redundancy system of the automatic parking system to start the automatic parking function; during the process of automatic parking of the vehicle, if no fault is detected in the braking system of the vehicle, the braking system is used to brake to complete the parking; if a fault is detected in the braking system of the vehicle, the energy recovery function takes over the automatic parking, realizing the vehicle degradation strategy of being able to operate even if the braking system fails, so that the vehicle can rely on the energy recovery function to enter a safe state. Safe parking is achieved and the safety of the vehicle's automatic parking function is improved. In addition, during the braking process through the energy recovery function, the vehicle's high-voltage energy system can be charged to increase the power of the high-voltage energy system, and the energy recovery function and the braking system can be used to form a braking redundancy system for the automatic parking system, so that the braking system does not need to design a master-slave braking unit to meet the redundant braking requirements of automatic parking, thereby reducing costs and meeting the safety design requirements of the automatic parking function. After the vehicle is braked through the energy recovery function, the current parking speed of the vehicle is compared with the enabling speed threshold for entering the electronic parking function to confirm whether the automatic parking function has ended, so that the electronic parking function can be used to park the vehicle safely after the automatic parking function ends, thereby improving the safety of the vehicle's automatic parking function.

The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

In the several embodiments provided in the present application, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the device implementation described above is only schematic, for example, the division of units or units is only a logical function division, and there may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

Please refer to Figure 4, which is a schematic diagram of the structure of an embodiment of a computer readable storage medium provided in this embodiment. The computer readable storage medium 40 stores program instructions 41, which are executed by a processor and are used to implement the steps in any of the above-mentioned automatic parking method embodiments.

In the above scheme, when the braking system is effective and the vehicle meets the conditions for starting the energy recovery function, the energy recovery function and the braking system can be used to form a braking redundancy system of the automatic parking system to enable the automatic parking function; when the vehicle is in the automatic parking stage, if no fault is detected in the vehicle's braking system, the braking system is used to brake to complete the parking; if a fault is detected in the vehicle's braking system, the energy recovery function takes over the automatic parking, and a vehicle degradation strategy is implemented in which the braking system can be operated even if the braking system fails, so that the vehicle can rely on the energy recovery function to enter a safe state, achieve safe parking, and improve the safety of the vehicle's automatic parking function. In addition, in the process of braking through the energy recovery function, the vehicle's high-voltage energy system can be charged to increase the power of the high-voltage energy system, so as to achieve the braking of the automatic parking system formed by the energy recovery function and the braking system. The redundant system ensures that the braking system does not need to design a master-slave braking unit to meet the redundant braking requirements of automatic parking, thereby reducing costs while also meeting the safety design requirements of the automatic parking function. After the vehicle is braked through the energy recovery function, the current parking speed of the vehicle is compared with the enabling speed threshold for entering the electronic parking function to confirm whether the automatic parking function has ended, so that the electronic parking function can be used to park the vehicle safely after the automatic parking function ends, thereby improving the safety of the vehicle's automatic parking function.

In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

An automatic parking method, characterized in that the automatic parking method comprises:

In response to the vehicle initiating an automatic parking function, detecting a working state of a braking system of the vehicle;

Determine whether to start an energy recovery function to brake the vehicle according to the working state of the braking system of the vehicle.
The automatic parking method according to claim 1, characterized in that before the step of detecting the working state of the braking system of the vehicle in response to the vehicle starting the automatic parking function, the method further comprises:

receiving a request to start an automatic parking function;

detecting, according to the start request, whether the vehicle meets a condition for starting the energy recovery function;

If the condition for starting the energy recovery function is met, the vehicle is controlled to start an automatic parking function.
The automatic parking method according to claim 2, characterized in that the step of detecting whether the vehicle meets the condition for starting the energy recovery function according to the start request comprises:

Acquiring performance data and external environment data of the vehicle;

It is determined whether the vehicle meets the condition for starting the energy recovery function according to the performance data of the vehicle and the external environment data.
The automatic parking method according to claim 3 is characterized in that the vehicle performance data includes the remaining power and battery temperature of the vehicle battery, and the external environment data includes the slope of the road.
The automatic parking method according to claim 4 is characterized in that the step of determining whether the vehicle meets the condition for starting the energy recovery function based on the performance data of the vehicle and the external environment data specifically comprises:

If the current road is flat, the battery temperature is lower than the first set temperature or the remaining power is greater than the set power, or,

If the slope of the road is greater than the first set slope and less than the second set slope, the battery temperature is lower than the second set temperature or the remaining power is greater than the set power, or,

The slope of the road is greater than a second set slope, and it is determined that the condition for starting the energy recovery function is not met;

Wherein, the first set temperature is lower than the second set temperature.
The automatic parking method according to claim 2, characterized in that after receiving the start request of the automatic parking function, the method further comprises:

Detecting the working state of the braking system of the vehicle;

The step of determining whether to execute the step of detecting whether the vehicle satisfies a condition for starting the energy recovery function according to the start request is determined according to the vehicle braking system.
The automatic parking method according to claim 1, characterized in that the step of detecting the working state of the braking system of the vehicle in response to the vehicle starting the automatic parking function comprises:

It is determined whether a brake system of the vehicle fails based on the status data of the vehicle.
The automatic parking method according to claim 7, characterized in that the state data includes a maximum parking speed and a current parking speed of the vehicle;

The step of determining whether a brake system of the vehicle fails based on the status data of the vehicle comprises:

Obtaining and determining the difference between the maximum parking speed and the current parking speed;

If the current parking speed is greater than the maximum parking speed, it is determined that a brake system of the vehicle fails.
The automatic parking method according to claim 8, characterized in that the step of obtaining the maximum parking speed comprises:

The maximum parking speed is determined according to a parking distance between a current position of the vehicle and a target position.
The automatic parking method according to claim 7, characterized in that the status data includes a power signal and/or a communication signal of the braking system;

The step of determining whether a brake system of the vehicle fails based on the status data of the vehicle comprises:

If an abnormality occurs in the power signal and/or the communication signal of the braking system, it is determined that a fault occurs in the braking system of the vehicle.
The automatic parking method according to claim 1, characterized in that the step of determining whether to start the energy recovery function to brake the vehicle according to the working state of the braking system of the vehicle comprises:

When a fault occurs in the braking system, controlling the energy recovery function to be enabled to brake the vehicle;

Determining whether the current parking speed of the vehicle meets an enabling speed threshold for entering an electronic parking function;

If the enabling speed threshold for entering the electronic parking function is met, the electronic parking function is controlled to be enabled to perform safe parking.
The automatic parking method according to claim 11, characterized in that the automatic parking method further comprises:

If the current parking speed of the vehicle does not meet the enabling speed threshold for entering the electronic parking function, the vehicle continues to be braked by the energy recovery function.
The automatic parking method according to any one of claims 1 to 12 is characterized in that when a certain request or signal is used as a target signal, the target signal is transmitted according to a preset communication rule to detect whether the target signal is invalid.
An automatic parking system, characterized in that the automatic parking system can execute the automatic parking method as described in any one of claims 1-13.
A computer-readable storage medium having program instructions stored thereon, wherein the program instructions, when executed by a processor, implement the automatic parking method according to any one of claims 1 to 13.