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CN-121989888-A - Parking control method and vehicle

CN121989888ACN 121989888 ACN121989888 ACN 121989888ACN-121989888-A

Abstract

The application provides a parking control method and a vehicle, which are applied to the technical field of parking. When the vehicle is detected to need to automatically park, determining the inclination angle of the vehicle based on the external image of the vehicle, determining the parking maintaining force corresponding to the inclination angle, and controlling the vehicle to automatically park by adopting the parking maintaining force. According to the method provided by the application, the inclination angle of the vehicle is determined through the external image shot by the vehicle-mounted camera, and a sensor for measuring the inclination angle of the vehicle is not required to be additionally arranged on the vehicle, so that the hardware cost of the vehicle can be prevented from being increased.

Inventors

  • ZHANG CHAO

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20260319

Claims (10)

  1. 1. A parking control method, characterized by comprising: When the vehicle is detected to need to automatically park, determining the inclination angle of the vehicle based on the external image of the vehicle obtained by shooting by the vehicle-mounted camera; determining a parking holding force of the vehicle corresponding to the inclination angle; and controlling the vehicle to automatically park by adopting the parking maintaining force.
  2. 2. The method of claim 1, wherein the determining the parking hold force of the vehicle corresponding to the inclination angle includes: when the inclination angle is smaller than a preset first inclination angle threshold value, determining that the parking holding force is a preset basic holding force; Determining a first holding force increment positively correlated to the angle of inclination when the angle of inclination is greater than or equal to the first angle of inclination threshold and less than or equal to a second angle of inclination threshold; Determining a second holding force increment according to a deviation between the tilt angle and the second tilt angle threshold when the tilt angle is greater than the second tilt angle threshold, the deviation being positively correlated to the second holding force increment; the parking holding force is determined from a sum of the base holding force, the second holding force increment, and the third holding force increment.
  3. 3. The method according to claim 2, characterized in that, before the determination of the parking-holding force of the vehicle corresponding to the inclination angle, the method further includes: determining the type of the road surface on which the vehicle is located based on the external image; determining the base holding force, the first inclination angle threshold value, and the second inclination angle threshold value corresponding to the road surface type.
  4. 4. The method of claim 1, wherein prior to said employing said park maintaining force to control said vehicle to automatically park, said method further comprises: Determining whether the weather of the external environment where the vehicle is located is a preset type of weather, wherein the preset type of weather comprises rain and snow weather; if yes, the parking holding force is increased.
  5. 5. The method of claim 1, wherein the method further comprises: determining a release time corresponding to the tilt angle, the tilt angle being positively correlated to the release time; and after the vehicle is controlled to automatically park, if the vehicle is determined to be required to be released, the vehicle is controlled to release the parking after waiting for the release time.
  6. 6. The method of claim 5, wherein the determining a release time corresponding to the tilt angle comprises: when the inclination angle is smaller than a third inclination angle threshold value, determining that the release time is a preset basic time; and when the inclination angle is larger than or equal to the third inclination angle threshold value, determining the release time according to the sum of the basic time and the time increment, wherein the time increment is a preset value or is positively related to the inclination angle.
  7. 7. The method of claim 5, wherein prior to said controlling the vehicle to be out of park, the method further comprises: Determining a tilt direction of the vehicle in a front-rear direction based on the external image, and predicting a traveling direction of the vehicle after releasing parking, the tilt direction being forward or backward, the traveling direction being forward or backward; Reducing the release time when the incline direction is the same as the travel direction; When the inclination direction is opposite to the traveling direction, the release time is increased.
  8. 8. The method of claim 7, wherein the reducing the release time comprises: when the inclination angle is larger than a preset initial inclination angle, determining time amplitude reduction based on the inclination angle, wherein the time amplitude reduction is positively related to the inclination angle; and reducing the release time by the time reduction amplitude.
  9. 9. The method of claim 7, wherein the increasing the release time comprises: when the inclination angle is larger than a preset initial inclination angle, determining time amplification based on the inclination angle, wherein the time amplification is positively related to the inclination angle; increasing the release time by the time increment.
  10. 10. A vehicle, characterized in that the vehicle comprises: A memory for storing executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method of any one of claims 1 to 9.

Description

Parking control method and vehicle Technical Field The present application relates to the field of parking technology, and more particularly, to a parking control method and a vehicle in the field of parking technology. Background Currently, most vehicles are equipped with an automatic parking system, and the automatic parking system can control the vehicle to automatically park after the vehicle temporarily parks. While configuring an automatic parking system for a vehicle, a high-precision sensor needs to be additionally installed for the vehicle to detect an inclination angle of the vehicle through the sensor in the process of automatic parking, and a parking maintaining force in the automatic parking process is set according to the inclination angle to control the vehicle to automatically park with the parking maintaining force. This method has a problem in that a sensor for detecting the inclination angle of the vehicle needs to be added to the vehicle, which increases the hardware cost of the vehicle. Disclosure of Invention The application provides a parking control method and a vehicle, wherein the method can reduce hardware cost of the vehicle. In a first aspect, a parking control method is provided, the method including: When the vehicle is detected to need to automatically park, determining the inclination angle of the vehicle based on the external image of the vehicle obtained by shooting by the vehicle-mounted camera; determining a parking holding force of the vehicle corresponding to the inclination angle; and controlling the vehicle to automatically park by adopting the parking maintaining force. In the embodiment of the application, when the vehicle is detected to need to automatically park, the inclination angle of the vehicle is determined based on the external image of the vehicle shot by the vehicle-mounted camera, the parking maintaining force corresponding to the inclination angle is determined, and the vehicle is controlled to automatically park by adopting the parking maintaining force. In the method, the inclination angle of the vehicle is determined through the external image shot by the vehicle-mounted camera, and a sensor for measuring the inclination angle of the vehicle is not required to be additionally arranged on the vehicle, so that the hardware cost of the vehicle can be prevented from being increased. Optionally, the determining the parking holding force of the vehicle corresponding to the inclination angle includes: when the inclination angle is smaller than a preset first inclination angle threshold value, determining that the parking holding force is a preset basic holding force; Determining a first holding force increment positively correlated to the angle of inclination when the angle of inclination is greater than or equal to the first angle of inclination threshold and less than or equal to a second angle of inclination threshold; Determining a second holding force increment according to a deviation between the tilt angle and the second tilt angle threshold when the tilt angle is greater than the second tilt angle threshold, the deviation being positively correlated to the second holding force increment; the parking holding force is determined from a sum of the base holding force, the second holding force increment, and the third holding force increment. In the embodiment of the application, when the inclination angle is smaller than a preset first inclination angle threshold value, the parking holding force is determined to be a preset basic holding force, when the inclination angle is larger than or equal to the first inclination angle threshold value and smaller than or equal to a second inclination angle threshold value, a first holding force increment positively related to the inclination angle is determined, the parking holding force is determined according to the sum of the basic holding force and the first holding force increment, when the inclination angle is larger than the second inclination angle threshold value, a second holding force increment positively related to the deviation between the inclination angle and the first inclination angle threshold value is determined, a third holding force increment positively related to the second inclination angle threshold value is determined, and the parking holding force is determined according to the sum of the basic holding force, the third holding force increment and the second holding force increment. By the method, the parking holding force can be controlled to be positively correlated with the inclination angle of the vehicle, and when the inclination angle of the vehicle is large, the vehicle has large parking holding force, so that the probability of sliding the vehicle on a road surface with a large gradient can be reduced. Optionally, before the parking holding force of the vehicle corresponding to the inclination angle is determined, the method further comprises determining a road surface type of a r