WO2023028775A1 - 一种车辆的控制方法、装置和车辆 - Google Patents

一种车辆的控制方法、装置和车辆 Download PDF

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Publication number
WO2023028775A1
WO2023028775A1 PCT/CN2021/115428 CN2021115428W WO2023028775A1 WO 2023028775 A1 WO2023028775 A1 WO 2023028775A1 CN 2021115428 W CN2021115428 W CN 2021115428W WO 2023028775 A1 WO2023028775 A1 WO 2023028775A1
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WO
WIPO (PCT)
Prior art keywords
user
automatic parking
vehicle
parking system
state
Prior art date
Application number
PCT/CN2021/115428
Other languages
English (en)
French (fr)
Inventor
张宇
张永生
杨维妙
吕尚炜
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP21955355.9A priority Critical patent/EP4382381A1/en
Priority to CN202180007991.4A priority patent/CN117015492A/zh
Priority to PCT/CN2021/115428 priority patent/WO2023028775A1/zh
Publication of WO2023028775A1 publication Critical patent/WO2023028775A1/zh
Priority to US18/591,600 priority patent/US20240199045A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/12—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to conditions relating to doors or doors locks, e.g. open door
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/045—Brake-action initiating means for personal initiation foot actuated with locking and release means, e.g. providing parking brake application
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B60W2510/186—Status of parking brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/04—Vehicle stop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/21—Voice
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/186—Status of parking brakes

Definitions

  • the present application relates to the field of automobiles, in particular to a vehicle control method, device and vehicle.
  • the driver can start the automatic parking function by stepping on the brake pedal, or the driver can start the automatic parking function by operating the automatic parking start button, thereby reducing the Parking maneuvers performed by the driver.
  • the triggering method of stepping on the brake pedal may cause false triggering or fail to trigger the automatic parking; and the setting of the automatic parking start button will increase the difficulty of the layout design of the center console.
  • the embodiment of the present application provides a vehicle control method, a control device and a vehicle, which can switch the state of the automatic parking system according to the user's instruction, cancel the arrangement of the start button of the automatic parking function, and reduce the number of central control.
  • the difficulty of platform layout design while ensuring the reliability of the automatic parking system state switching, avoiding false triggering of the automatic parking function.
  • a method for controlling a vehicle including: acquiring a first user instruction, the first user instruction is used to instruct to turn on the automatic parking function; according to the first user instruction, controlling the automatic parking system Switch to the wake-up state; obtain the status information of the vehicle; switch the status of the automatic parking system according to the status information of the vehicle.
  • the state of the automatic parking system is awakened. After the automatic parking system is awakened, the state of the automatic parking system is switched according to the state information of the vehicle, so as to avoid false triggering of the automatic parking system and ensure automatic parking. operational reliability.
  • switching the state of the automatic parking system according to the state information of the vehicle includes: acquiring a user intention when the state information of the vehicle satisfies a first condition; switching the state of the automatic parking system according to the user intention.
  • the second confirmation of the user's intention to use the automatic parking function is realized, further avoiding wrong switching of the state of the automatic parking system, and improving the reliability of the automatic parking system function.
  • acquiring the user's intention specifically includes: sending first prompt information, the first prompt information is used to prompt the user to confirm the execution of the automatic parking operation; acquiring the user's second user instruction in response to the first prompt information
  • Switching the state of the automatic parking system according to the user's intention specifically includes: when the second user instruction is used to instruct and confirm the execution of the automatic parking operation, controlling the automatic parking system to switch to an active state.
  • the automatic parking system is controlled to switch to the dormant state.
  • users can turn off the automatic parking function at any time according to their own needs to improve user experience; the automatic parking system that enters the dormant state can quickly enter the activation state when the user needs automatic parking next time, and then perform automatic parking operations in time.
  • the method further includes: sending second prompt information, the second prompt information is used to inform the user of the state of at least one vehicle that does not meet the first condition information.
  • the first condition includes at least one of the following: the brake pedal travel is greater than a first threshold, the brake pedal force is greater than a second threshold, the brake system pressure is greater than a third threshold, the vehicle speed is 0, And the accelerator pedal stroke is 0, and the accelerator pedal force is 0.
  • the automatic parking operation meets the conditions required for automatic parking, and the reliability of the automatic parking function is improved.
  • the first condition further includes at least one of the following: the automatic parking system has no fault, the vehicle door is closed, and the user's seat belt is fastened.
  • audio and video information can be used to identify whether to wear a seat belt.
  • the user's image information can be obtained through a camera, and the image information can be identified by means of image recognition to eliminate the influence of false seat belt buckles.
  • the automatic parking operation can meet the safety requirements and improve user safety.
  • the electronic parking system when the state information of the vehicle satisfies the second condition, the electronic parking system is turned on; wherein the second condition includes at least one of the following: the user's seat belt is In the open state, the working time of the automatic parking system exceeds the fourth threshold, and the user leaves the vehicle.
  • the method further includes: according to a third user instruction, or when the state information of the vehicle satisfies the third condition, controlling the automatic parking system to switch to the dormant state;
  • the third user command is used to instruct to turn off the automatic parking function;
  • the third condition includes at least one of the following: the accelerator pedal stroke is not 0, the accelerator pedal force is not 0, the gear is in the parking gear, and the electronic parking system is turned on .
  • the automatic parking system can switch states according to user instructions to improve user experience; switching states through the third condition can ensure driving safety.
  • the user instruction is at least one of the following: a user's voice instruction, a user's operation instruction on the touch screen, and a user's gesture instruction.
  • a vehicle control device includes: a transceiver unit, configured to obtain a first user instruction, the first user instruction is used to instruct to turn on the automatic parking function; a control unit, configured to Instructions to control the automatic parking system to switch to the wake-up state; the transceiver unit is also used to obtain the status information of the vehicle;
  • the control unit is also used to switch the state of the automatic parking system according to the state information of the vehicle.
  • control unit is specifically configured to: acquire user intention when the state information of the vehicle satisfies the first condition; and switch the state of the automatic parking system according to the user intention.
  • control unit is specifically configured to: send first prompt information, where the first prompt information is used to prompt the user to confirm the execution of the automatic parking operation; obtain a second user instruction from the user in response to the first prompt information;
  • the control unit is specifically configured to: control the automatic parking system to switch to an activated state when the second user instruction is used to indicate confirmation of performing the automatic parking operation.
  • control unit is further configured to control the automatic parking system to switch to the dormant state when the second user instruction is for instructing to turn off the automatic parking function.
  • the transceiver unit is further configured to send second prompt information when the state information of the vehicle does not meet the first condition, and the second prompt information is used to inform the user of the status of at least one vehicle that does not meet the first condition. status information.
  • the first condition includes at least one of the following: the brake pedal travel is greater than a first threshold, the brake pedal force is greater than a second threshold, the brake system pressure is greater than a third threshold, the vehicle speed is 0, And the accelerator pedal stroke is 0, and the accelerator pedal force is 0.
  • the first condition further includes at least one of the following: the automatic parking system has no fault, the vehicle door is closed, and the user's seat belt is fastened.
  • control unit is further configured to enable the electronic parking system when the state information of the vehicle satisfies a second condition; wherein the second condition includes at least one of the following: the user's seat belt is in an unfastened state 1. At least one vehicle door is in an open state, the working time of the automatic parking system exceeds the fourth threshold, and the user leaves the vehicle.
  • control unit is further configured to control the automatic parking system to switch to the dormant state according to a third user instruction, or when the state information of the vehicle satisfies the third condition; wherein, the third user instruction uses Instructing to turn off the automatic parking function; the third condition includes at least one of the following: the accelerator pedal stroke is not 0, the accelerator pedal force is not 0, the gear is park, and the electronic parking system is turned on.
  • the user instruction is at least one of the following: a user's voice instruction, a user's operation instruction on the touch screen, and a user's gesture instruction.
  • the third aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, executable codes are stored in the memory, and the processor executes the executable codes to implement the first aspect of the embodiments of the present application and its possible implementations The method of control provided by the method.
  • the fourth aspect of the embodiments of the present application provides a computer-readable storage medium on which program instructions are stored.
  • the program instructions are executed by a computer
  • the computer executes the first aspect of the embodiments of the present application and possible implementations thereof provided control method.
  • the fifth aspect of the embodiments of the present application provides a computer program product that, when the computer program product runs on the computing device, enables the computing device to execute the control method provided in the first aspect of the embodiments of the present application and possible implementations thereof .
  • a sixth aspect of the embodiments of the present application provides a vehicle, including the device provided in the second aspect of the embodiments of the present application and its possible implementation manners.
  • FIG. 1 is a schematic diagram of an application scenario of a vehicle control method provided by an embodiment of the present application
  • FIG. 2 is a flow chart of a vehicle control method provided by an embodiment of the present application.
  • Fig. 3 is a flow chart of a specific implementation of the vehicle control method provided by the embodiment of the present application.
  • Fig. 4 is a block diagram of a control device of a vehicle provided by an embodiment of the present application.
  • Fig. 5 is a schematic block diagram of a computing device provided by an embodiment of the present application.
  • AVS Automatic Vehicle Hold
  • the vehicle's inclination degree and wheel torque are determined through sensors installed on the vehicle, and then the parking force required for parking is calculated.
  • the information provided by the sensor is used to calculate the driving force driving the vehicle.
  • the driving force is greater than the parking force, the automatic parking function exits, so that the vehicle can start smoothly.
  • the automatic parking function is enabled, there is no need to step on the brakes for a long time when the vehicle is stationary.
  • the automatic parking function can prevent the vehicle from slipping on various road surfaces when the vehicle is stationary, and keep the vehicle in a safe stationary state.
  • ESC Electronic Stability Control System
  • ESP Electronic Stability Program
  • VSC Vehicle Stability Control
  • VSA Vehicle Stability Assist
  • DSC Dynamic Stability Control
  • the control unit can determine the vehicle according to the information obtained by the sensor. If the deviation is too large, the wheel braking system is controlled to brake the wheels to reduce the deviation between the vehicle's motion trajectory and the preset trajectory.
  • Integrated Brake System (Integrated Brake System, IBS): It can include sensors, booster motors, control units, and hydraulic units.
  • the control unit calculates the magnitude of the brake booster and sends an execution signal to the booster motor based on the information obtained by the sensor.
  • the booster motor The push rod and the brake hydraulic pump are connected through the structure of the rack and pinion, and additional torque is provided to the brake hydraulic pump to achieve the effect of boosting, which can realize the braking functions of the vehicle such as ABS/ESC/AVH.
  • Electric Parking Brake It may include a control unit, a sensor, and a wheel braking system.
  • the control unit can calculate the slope of the plane on which the vehicle is located based on the data obtained by the longitudinal acceleration sensor, thereby calculating the sliding force of the vehicle on the slope due to gravity, and sending an execution signal to the motor to control the motor to apply braking force to the rear wheels to balance Glide force, which enables the vehicle to stop on a slope.
  • the control unit can calculate the braking force required to keep the vehicle on the slope through the data obtained by the displacement sensor on the clutch pedal and the throttle sensor of the accelerator pedal. Communicate with the engine computer to obtain the engine traction force, and reduce the braking force according to the increase of the engine traction force.
  • the control unit controls the motor to release the brake, so that the vehicle can start smoothly.
  • the vehicle control method and control device provided by the embodiment of the present application can be applied in the scene where road traffic is congested and vehicles need to be started and stopped frequently, especially on congested roads with slopes.
  • the vehicle control method provided by the embodiment of the present application eliminates the need for the driver to frequently control the accelerator pedal and the brake pedal, which simplifies the driver's operation.
  • the vehicle control method in the embodiment of the present application can be executed by a terminal, such as a terminal such as a vehicle, or by an electronic device such as an ESC, IBS, EPB, etc. applied in a vehicle, such as an electronic control unit (Electronic Control Unit) Unit, ECU), system chip and general chip, etc.
  • the ECU can obtain the data collected by the microphone or sensor (for example: brake pedal stroke sensor or brake pedal force sensor, brake pressure sensor, wheel speed sensor, accelerator pedal position sensor) and process it, and output corresponding control signals to the wheel brakes. system, and then control the execution of automatic parking operation.
  • Fig. 2 shows a flowchart of a vehicle control method provided by an embodiment of the present application.
  • the vehicle control method provided by an embodiment of the present application may include the following steps:
  • Step S100 Obtain a first user instruction.
  • the first user instruction is used to instruct to turn on the automatic parking function
  • the automatic parking function refers to the automatic parking operation performed by the automatic parking system without the driver performing a braking operation and activating the electronic parking brake. Function, which can avoid unnecessary sliding of the vehicle, and ensure the smooth start of the vehicle when the driver intends to actuate the vehicle to make the vehicle run.
  • the automatic parking system may include: brake master cylinders, brake wheel cylinders, brake lines, superchargers, actuators (disc brakes, drum brakes), etc. related to the brake system, as well as sensors (such as:
  • the IMU side acceleration sensor which calculates the slope through the acceleration, or the slope sensor), may also include a controller (domain controller, ECU, MCU, etc.).
  • the controller can calculate the parking force required for the parking operation according to the data provided by the sensor, and control the braking system to output the corresponding braking force.
  • the automatic parking function is disabled, so that the vehicle can start smoothly.
  • the user instruction may include at least one of the following: a voice instruction, a user's operation instruction on the touch screen, a user's gesture instruction, and the like.
  • the user's first user instruction may be stored, and when the user repeatedly sends the first user instruction, a prompt message is sent, and the prompt message is used to remind the user that the first user instruction has been sent.
  • the prompt information may be, for example, one or more of the following: voice information, central control screen text information, central control screen image information, and the like.
  • Step S200 According to the first user instruction, control the automatic parking system to switch to the wake-up state.
  • the automatic parking system in the case of not obtaining the first user instruction, can be in a dormant state, and the controller of the automatic parking system is in a state of low power consumption, which cannot perform calculations and operations related to automatic parking, and only controls The wake-up circuit of the device or wake-up chip out of running state.
  • Step S300 Obtain the status information of the vehicle.
  • the state information may include one or more of the following: brake pedal travel information, brake pedal pressure information, brake system pressure information, vehicle speed information, accelerator pedal travel information, accelerator pedal force information, etc. .
  • the status information may also include one or more of the following: information about whether the automatic parking system has a fault, information about opening and closing the vehicle door, and information about wearing a seat belt.
  • Step S400 switch the state of the automatic parking system according to the state information of the vehicle.
  • the state of the automatic parking system may include: at least one of the following: sleep state, wake-up state, enabled state, and activated state.
  • the controller of the automatic parking system In the sleep state, the controller of the automatic parking system is in a low power consumption state, and it cannot perform calculations and operations related to automatic parking. Only the wake-up circuit or wake-up chip of the controller is in the running state.
  • the controller of the automatic parking system is powered on under the control of the wake-up circuit or the wake-up chip, but the state information that meets the first condition has not been obtained;
  • the controller of the automatic parking system In the enabling state, the controller of the automatic parking system is in the power-on state, and obtains the status information satisfying the first condition, but has not obtained the instruction from the user for instructing and confirming the execution of the automatic parking operation;
  • the controller of the automatic parking system In the activated state, the controller of the automatic parking system is in the power-on state, and obtains an instruction for instructing to confirm the execution of the automatic parking operation, and starts to perform calculations and operations related to the automatic parking.
  • step S1 since the user's first user instruction can be stored, when the user repeatedly sends the first user instruction, the prompt information sent can also remind the user of the current state of the automatic parking system, for example, when the user repeatedly sends After the first user instruction, but before obtaining the user's instruction for instructing to confirm the execution of the automatic parking operation, the user is reminded that the automatic parking system is in an enabled state.
  • step S400 may specifically include: when the state information of the vehicle satisfies the first condition, acquiring the user's intention; switching the state of the automatic parking system according to the user's intention.
  • the first condition may include: at least one of the brake pedal stroke greater than the first threshold, the brake pedal force greater than the second threshold, the brake system pressure greater than the third threshold, and the vehicle speed is 0 , and at least one of the accelerator pedal stroke being 0 and the accelerator pedal force being 0.
  • the first condition further includes at least one of the following: the automatic parking system has no failure, the vehicle door is closed, and the user's seat belt is fastened.
  • audio and video information can be used to identify whether to wear a seat belt.
  • the user's image information can be obtained through a camera, and the image information can be identified by means of image recognition to eliminate the influence of false seat belt buckles.
  • the user intention may include: switching the state of the automatic parking system to one of: a sleep state, an awake state, an enabled state, and an activated state.
  • the user can switch the state of the automatic parking system by issuing a voice command, or switch the state of the automatic parking system through gestures or operating the central control screen.
  • obtaining the user's intention may specifically include: sending first prompt information, the first prompt information is used to prompt the user to confirm the execution of the automatic parking operation; obtaining a second user instruction from the user in response to the first prompt information;
  • the intention to switch the state of the automatic parking system specifically includes: when the second user instruction is used to indicate and confirm the execution of the automatic parking operation, controlling the automatic parking system to switch to an activated state.
  • the first prompt information may include at least one of the following: voice prompts (for example, “Please confirm whether to enable automatic parking", “Do you want to enable automatic parking?" or “Start parking, please confirm” etc.), voice prompts, light prompts, central control panel display screen prompts, vehicle or vehicle seat vibration prompts, etc., this application does not limit this;
  • the second user instructions may include: voice instructions (for example: “OK” , “OK”, “Confirm”, “Yes”, “Please perform automatic parking”, “Please turn on automatic parking” and “Please turn on automatic parking”, etc.), operation instructions to the central control screen, gesture instructions etc., the present application does not limit this.
  • the automatic parking system when the second user instruction is used to instruct to turn off the automatic parking function, the automatic parking system is controlled to switch to the sleep state.
  • the second user instruction may include at least one of the following: a voice instruction, a user's operation instruction on the touch screen, a user's gesture instruction, and the like.
  • the method when the state information of the vehicle does not meet the first condition, the method further includes: sending second prompt information, the second prompt information is used to inform the user of the state information of at least one vehicle that does not meet the first condition.
  • the second prompt information can be at least one of the following: voice information (for example, when the wheel speed is not 0, the second prompt information can be: “the vehicle has not stopped, please stop the vehicle”; , the second prompt information can be: "Please release the accelerator”; when the seat belt is not fastened, the second prompt information can be: "Please fasten the seat belt”), the prompt information of the central control screen (for example: the central control screen Display text or screen on the screen for prompt).
  • voice information for example, when the wheel speed is not 0, the second prompt information can be: “the vehicle has not stopped, please stop the vehicle”; , the second prompt information can be: “Please release the accelerator”; when the seat belt is not fastened, the second prompt information can be: "Please fasten the seat belt”
  • the prompt information of the central control screen for example: the central control screen Display text or screen on the screen for prompt.
  • the electronic parking system when the state information of the vehicle satisfies the second condition, the electronic parking system is turned on; wherein, the second condition includes at least one of the following: the user's seat belt is in an unbuckled state, at least one door is in an open state, The working time of the automatic parking system exceeds the fourth threshold, and the user leaves the vehicle.
  • the electronic parking system may include: a control unit, sensors (for example, a longitudinal acceleration sensor, an accelerator pedal travel sensor, a clutch displacement sensor, etc.), and a wheel braking system (for example, including a motor, a brake caliper, a brake box, etc.).
  • the control unit can calculate the slope of the plane on which the vehicle is located according to the data obtained by the longitudinal acceleration sensor, thereby calculating the sliding force of the vehicle on the slope due to gravity, and sending an execution signal to the motor of the wheel braking system to control the motor to control the rear wheel. Appropriate braking force is applied to balance the sliding force, allowing the vehicle to stop on the slope.
  • the control unit can calculate the braking force required to keep the vehicle on the slope through the data obtained by the displacement sensor on the clutch pedal and the accelerator pedal sensor.
  • the control unit communicates with the engine through the high-speed vehicle bus
  • the computer communicates to obtain the magnitude of the engine traction, and reduces the braking force according to the increase of the engine traction.
  • the control unit controls the motor to release the brake, so that the vehicle can start smoothly.
  • the automatic parking system works for more than a certain period of time, such as 10 minutes, the electronic parking system takes over, and the hydraulic brake is replaced by a mechanical brake to ensure safe parking for a long time.
  • it also includes: according to the third user instruction, or when the state information of the vehicle satisfies the third condition, controlling the automatic parking system to switch to the dormant state; wherein the third user instruction is used to instruct to turn off the automatic parking Car function; the third condition includes at least one of the following: the accelerator pedal stroke is not 0, the accelerator pedal force is not 0, the gear is park, and the electronic parking system is turned on.
  • the automatic parking system when the automatic parking system is powered off and then powered on again, it can also send a third prompt message to the user according to the state of the automatic parking system stored when the power is off, prompting the user to send the first user instruction to Wake up the automatic parking system. For example, when the vehicle unexpectedly loses power during the automatic parking operation, when the vehicle is restarted, a third prompt message may be displayed to the user to prompt the user to wake up the automatic parking system.
  • Fig. 3 shows a flow chart of a specific implementation of the vehicle control method provided by the embodiment of the present application.
  • the self-vehicle control method provided by the embodiment of the present application may include the following steps:
  • Step S1 Obtain the user's voice parking instruction.
  • the user's voice parking instruction can be collected through the vehicle microphone or microphone array.
  • Microphones are used to convert acoustic signals into electrical signals, e.g. voice parking commands into electrical signals.
  • voice parking instruction may be, for example: please turn on the automatic parking function, please turn on the automatic parking, turn on the automatic parking, turn on the automatic parking and so on.
  • Step S2 Determine whether the user's voice parking instruction is true.
  • the natural language processing model may be a natural language processing model based on deep learning, and this embodiment does not impose specific limitations on the natural language processing model.
  • step S3 wake up the automatic parking system.
  • the automatic parking system when the automatic parking operation is not performed, the automatic parking system may be in a dormant state, and when the automatic parking system is in a dormant state, the processing circuit or chip with only low power consumption of the automatic parking control circuit board (for example, SBC chip or SOC chip) is in the working state, and other functional chips (such as MCU) power down and stop running.
  • the processing circuit or chip with only low power consumption of the automatic parking control circuit board for example, SBC chip or SOC chip
  • other functional chips such as MCU
  • Step S2.1 Send out a parking instruction prompt message.
  • the parking instruction prompt information is used to prompt the user that the voice parking instruction is true.
  • the information may be: “Try, please enable the automatic parking function” or “Try, please automatically park”.
  • Step S2.2 Obtain the voice parking instruction again within the first time.
  • step S2.3 is performed: determining whether the voice parking command is true.
  • the automatic parking system maintains a dormant state.
  • step S2.3 the method of determining whether the voice parking instruction is true is the same as that in step S2, and will not be repeated here.
  • step S3 wake up the automatic parking system.
  • Step S4 Obtain an enabling condition signal.
  • the enabling condition signal is used to determine the safety condition required for performing the automatic parking operation.
  • the enabling condition signal may include: a door opening and closing signal, a safety belt wearing signal, and an automatic parking system status signal.
  • Step S5 Determine whether the enabling condition signal satisfies a first preset condition.
  • the first preset condition may include: the vehicle door is in a closed state, the seat belt is fastened, and the automatic parking system has no failure.
  • step S5.1-step S5.3 When the enabling condition does not meet the first preset condition, execute step S5.1-step S5.3.
  • Step S5.1 Send out enabling condition prompt information.
  • the enabling condition prompt information is used to prompt the user of the first preset condition not met.
  • the enabling condition prompt information can be: "Please close the car door” or "The car door is not closed”; when the seat belt is not fastened, the enabling condition prompt information can be: "Seat belt is not fastened ” or “Please fasten your seat belt.”
  • Step S5.2 Obtain the enabling condition signal again.
  • the enabling condition signal corresponding to the unsatisfied first preset condition may be acquired, for example, only the vehicle door signal may be acquired when the vehicle door is not closed. It is also possible to obtain all enable condition signals.
  • step S5.3 it is determined whether the enabling condition signal satisfies a first preset condition.
  • the automatic parking system is controlled to enter a dormant state.
  • step S6 is executed: acquiring the braking condition signal.
  • the braking condition signal may include: a brake pedal signal, a brake system pressure signal, a vehicle speed signal and an accelerator pedal signal.
  • the brake pedal signal can be obtained by a brake pedal travel sensor or a brake pedal force sensor; the brake pressure signal can be obtained by a brake pressure sensor; the vehicle speed signal can be obtained by a wheel speed sensor; the accelerator pedal The signal can be obtained by the accelerator pedal position sensor.
  • Step S7 Determine whether the braking condition signal satisfies a second preset condition.
  • the second preset condition may include: at least one of: the brake pedal travel is greater than the first threshold, the brake pedal force is greater than the second threshold, the brake system pressure is greater than the third threshold, the vehicle speed is 0, and the accelerator pedal At least one of the stroke being 0 and the accelerator pedal force being 0.
  • steps S7.1-S7.3 are executed.
  • Step S7.1 sending out a braking condition prompt message.
  • the braking condition prompt information is used to prompt the user of the second preset condition not met.
  • the braking condition prompt information may be: "The brake pedal is not depressed”, “Insufficient hydraulic brake pressure”, "Please stop the vehicle” or "Please release the accelerator”.
  • Step S7.2 Obtain the braking condition signal again.
  • the braking condition signal corresponding to the unsatisfied second preset condition may be acquired, for example, only the brake pedal signal may be acquired when the brake pedal is not depressed. It is also possible to acquire all brake condition signals.
  • step S7.3 it is determined whether the braking condition signal satisfies a second preset condition.
  • the automatic parking system is controlled to enter a dormant state.
  • the braking condition signal and the enabling condition signal are also referred to as vehicle state information in this application, and the first preset condition and the second preset condition are also referred to as first condition respectively in this application. and the second condition.
  • step S8 is performed: sending out a first prompt message, the first prompt message is used to prompt the user to confirm the execution of the automatic parking operation;
  • the first prompt information may include: "Please confirm the automatic braking and parking", "Do you want to perform the automatic parking operation?" or "The automatic parking is ready, please confirm” and so on.
  • Step S9 Obtain a voice confirmation instruction.
  • the voice confirmation instructions can include: “OK”, “OK”, “Confirm”, “Please execute”, “Please turn on”, “Please turn on”, “Okay, please automatically park”, “OK, please Auto Park”, “Confirm, Auto Park” etc.
  • Step S10 Determine whether the user's voice confirmation instruction is true.
  • the method for determining whether the voice confirmation instruction is true is the same as that in step S2, and will not be repeated here.
  • the voice confirmation instruction may be, for example: "OK”, “OK”, “Confirm”, "Please execute”, “Please turn on”, “Please turn on” and so on.
  • step S11 perform an automatic parking operation.
  • the automatic parking system is controlled to enter a dormant state.
  • step S12 is further included: obtaining a voice exit command, obtaining an enabling condition signal or obtaining a braking condition signal.
  • Step S13 Determine whether the voice exit command is true, whether the enabling condition signal satisfies the first preset condition or whether the braking condition signal satisfies the second preset condition.
  • step S14 control the automatic parking system to exit the automatic parking operation and enter the dormant state .
  • the automatic parking system is controlled to enter a dormant state.
  • the enabling condition signal does not meet the first preset condition or the braking condition signal does not meet the second preset condition, that is: when at least one of the following signals is obtained: the door opening signal, the seat belt unfastening signal , the signal of insufficient power feed of the automatic parking system (for example, the voltage of the automatic parking system may be lower than the preset voltage)
  • the stroke of the brake pedal is less than the first stroke
  • the hydraulic brake pressure is less than the first pressure
  • the vehicle speed is greater than 0
  • the acceleration If the pedal stroke is greater than 0, the automatic parking system is controlled to enter a dormant state.
  • the automatic The parking system exits the automatic parking operation but maintains the wake-up state, and is used to send a parking reminder message to the user when the enabling condition signal meets the first preset condition and the braking condition signal meets the second preset condition next time, prompting the user whether to It is necessary to start the automatic parking function, and perform the automatic parking operation again after the user confirms.
  • FIG. 4 shows a block diagram of a control device for an automatic parking system provided by an embodiment of the present application, including: a transceiver unit 1000 and a control unit 2000 .
  • the transceiver unit 1000 is used to obtain a first user instruction, and the first user instruction is used to instruct to turn on the automatic parking function; the control unit 2000 is used to control the automatic parking system to switch to the wake-up state according to the first user instruction; the transceiver unit 1000 It is also used to obtain the status information of the vehicle; the control unit 2000 is also used to switch the status of the automatic parking system according to the status information of the vehicle.
  • control unit 2000 is specifically configured to: obtain the user's intention when the state information of the vehicle satisfies the first condition; and switch the state of the automatic parking system according to the user's intention.
  • control unit 2000 is specifically configured to: send first prompt information, the first prompt information is used to prompt the user to confirm the execution of the automatic parking operation; obtain a second user instruction from the user in response to the first prompt information; the control unit 2000 is specifically used for: when the second user instruction is used to indicate to confirm the execution of the automatic parking operation, control the automatic parking system to switch to an activated state.
  • control unit 2000 is further configured to control the automatic parking system to switch to a dormant state when the second user instruction is for instructing to turn off the automatic parking function.
  • the transceiver unit 1000 is further configured to send second prompt information when the state information of the vehicle does not meet the first condition, and the second prompt information is used to inform the user of the state information of at least one vehicle that does not meet the first condition .
  • the first condition includes at least one of: brake pedal travel greater than a first threshold, brake pedal force greater than a second threshold, brake system pressure greater than a third threshold, vehicle speed 0, and acceleration At least one of the pedal stroke being 0 and the accelerator pedal force being 0.
  • the first condition further includes at least one of the following: the automatic parking system has no failure, the vehicle door is closed, and the user's seat belt is fastened.
  • control unit 2000 is further configured to enable the electronic parking system when the state information of the vehicle satisfies a second condition; wherein the second condition includes at least one of the following: A vehicle door is in an open state, the working time of the automatic parking system exceeds the fourth threshold, and the user leaves the vehicle.
  • control unit 2000 is further configured to control the automatic parking system to switch to the dormant state according to the third user instruction, or when the state information of the vehicle satisfies the third condition; wherein the third user instruction is used to indicate Turn off the automatic parking function; the third condition includes at least one of the following: the accelerator pedal stroke is not 0, the accelerator pedal force is not 0, the gear is in the parking gear, and the electronic parking system is turned on.
  • the user instruction is at least one of the following: a user's voice instruction, a user's operation instruction on the touch screen, and a user's gesture instruction.
  • the above-mentioned modules that is, the transceiver unit 1000 and the control unit 2000 are configured to execute relevant steps of the above-mentioned method.
  • the transceiver unit 1000 is used to execute the related content of step S100, step S300, step S1, step S2.1, etc.
  • the control unit 2000 is used to execute the related content of step S200, step S400, etc.
  • control device of the automatic parking system is presented in the form of a unit.
  • the "unit” here may refer to an application-specific integrated circuit (ASIC), a processor and memory executing one or more software or firmware programs, an integrated logic circuit, and/or other devices that can provide the above functions .
  • ASIC application-specific integrated circuit
  • the above transceiver unit 1000 and control unit 2000 may be implemented by the processor 1510 of the computing device shown in FIG. 5 .
  • FIG. 5 is a schematic structural diagram of a computing device 1500 provided by an embodiment of the present application.
  • the computing device 1500 includes: a processor 1510 and a memory 1520 .
  • the processor 1510 may be connected to the memory 1520 .
  • the memory 1520 can be used to store the program codes and data. Therefore, the memory 1520 may be a storage unit inside the processor 1510, or an external storage unit independent of the processor 1510, or may include a storage unit inside the processor 1510 and an external storage unit independent of the processor 1510. part.
  • computing device 1500 may further include a bus.
  • the memory 1520 and the communication interface may be connected to the processor 1510 through a bus.
  • the bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus or the like.
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on.
  • the processor 1510 may be a central processing unit (central processing unit, CPU).
  • the processor can also be other general-purpose processors, digital signal processors (digital signal processors, DSPs), application specific integrated circuits (application specific integrated circuits, ASICs), off-the-shelf programmable gate arrays (field programmable gate arrays, FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, and the like.
  • the processor 1510 uses one or more integrated circuits for executing related programs, so as to implement the technical solutions provided by the embodiments of the present application.
  • the memory 1520 may include read-only memory and random-access memory, and provides instructions and data to the processor 1510 .
  • a portion of processor 1510 may also include non-volatile random access memory.
  • processor 1510 may also store device type information.
  • the processor 1510 executes computer-implemented instructions in the memory 1520 to perform the operation steps of the above method.
  • the computing device 1500 may correspond to a corresponding body executing the methods according to the various embodiments of the present application, and the above-mentioned and other operations and/or functions of the modules in the computing device 1500 are for realizing the present invention For the sake of brevity, the corresponding processes of the methods in the embodiments are not repeated here.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc and other media that can store program codes. .
  • the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored.
  • a computer program When the program is executed by a processor, it is used to execute a vehicle control method, and the method includes the solutions described in the above-mentioned embodiments. at least one.
  • the computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction 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, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through the Internet using an Internet service provider). connect).
  • LAN local area network
  • WAN wide area network
  • connect such as AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.

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Abstract

一种车辆的控制方法以及控制装置。控制方法包括：获取第一用户指令，第一用户指令用于指示开启自动驻车功能；根据第一用户指令，控制自动驻车***切换为唤醒状态；获取车辆的状态信息；根据车辆的状态信息切换自动驻车***的状态。实现了代替使用物理开关的方式唤醒自动驻车***，减少中控台布局设计的难度，避免自动驻车***的误触发。

Description

一种车辆的控制方法、装置和车辆 技术领域
本申请涉及汽车领域，具体涉及一种车辆的控制方法、装置和车辆。
背景技术
随着车辆的普及，越来越多的用户选择驾驶车辆出行，这导致道路上的车辆越来越多，堵车情况频繁发生。在道路拥挤的交通环境下，车辆会频繁起停，驾驶员需要不停的控制加速踏板和制动踏板，不仅会增加驾驶员的疲劳感，有时还会因为操作不当发生交通事故。
为了避免上述情况发生，自动驻车技术应运而生，驾驶员可以通过踩踏制动踏板来启动自动驻车功能，或者，驾驶员可以通过操作自动驻车启动按钮来启动自动驻车功能，从而减少驾驶员执行的驻车操作。但是，通过踩踏制动踏板的触发方式会误触发或无法成功触发自动驻车；而自动驻车启动按钮的设置会增加中控台布局设计的难度。
因此，如何准确启动自动驻车***，减少中控台布局设计的难度，成为业内亟需解决的问题。
发明内容
鉴于以上问题，本申请实施例提供了一种车辆的控制方法、控制装置以及车辆，其能够根据用户的指令切换自动驻车***的状态，取消自动驻车功能的启动按钮的布置，减少中控台布局设计的难度，同时保证自动驻车***状态切换的可靠性，避免自动驻车功能的误触发。
本申请实施例的第一方面，提供了一种车辆的控制方法，包括：获取第一用户指令，第一用户指令用于指示开启自动驻车功能；根据第一用户指令，控制自动驻车***切换为唤醒状态；获取车辆的状态信息；根据车辆的状态信息切换自动驻车***的状态。
通过上述设置，实现了自动驻车***的状态的唤醒，在唤醒自动驻车***后，根据车辆的状态信息切换自动驻车***的状态，避免对自动驻车***的误触发，保证自动驻车操作的可靠性。
在一种可能的实现方式中，根据车辆的状态信息切换自动驻车***的状态，包括：当车辆的状态信息满足第一条件时，获取用户意图；根据用户意图切换自动驻车***的状态。
通过上述设置，实现了对用户使用自动驻车功能的意图的二次确认，进一步避免对自动驻车***状态的错误切换；提升自动驻车***功能的可靠性。
在一种可能的实现方式中，获取用户意图，具体包括：发送第一提示信息，第一提示信息用于提示用户确认执行自动驻车操作；获取用户响应于第一提示信息的第二 用户指令；根据用户意图切换自动驻车***的状态，具体包括：当第二用户指令用于指示确认执行自动驻车操作时，控制自动驻车***切换为激活状态。
当第二用户指令用于指示关闭自动驻车功能时，控制自动驻车***切换为休眠状态。
通过上述设置，用户能够随时根据自身需要关闭自动驻车功能，提升用户体验；进入休眠状态的自动驻车***能够在下次用户需要自动驻车时快速进入激活状态，进而及时执行自动驻车操作。
在一种可能的实现方式中，当车辆的状态信息不满足第一条件时，方法还包括：发送第二提示信息，第二提示信息用于告知用户不满足第一条件的至少一个车辆的状态信息。
通过上述设置，提醒了用户执行自动驻车操作未满足的条件，提升用户体验，保证自动驻车操作的可靠性。
在一种可能的实现方式中，第一条件包括以下至少一种：制动踏板行程大于第一阈值、制动踏板力大于第二阈值、制动***压力大于第三阈值、车辆速度为0、以及加速踏板行程为0、加速踏板力为0。
通过上述设置，使自动驻车操作满足自动驻车所需的条件，提升自动驻车功能的可靠性。
在一种可能的实现方式中，第一条件还包括以下至少一种：自动驻车***无故障、车门处于关闭状态、用户的安全带已系好。
其中，可以通过音视频信息来识别是否佩戴安全带，例如，可以通过摄像头获取用户的图像信息，利用图像识别等方式对图像信息进行识别，排除虚假安全带扣的影响。
通过上述设置，使自动驻车操作满足安全需求，提升用户安全。
在一种可能的实现方式中，当车辆的状态信息满足第二条件时，开启电子驻车***；其中，第二条件包括以下至少一种：用户的安全带处于解开状态、至少一个车门处于打开状态、自动驻车***工作时间超过第四阈值、用户离开车辆。
在一种可能的实现方式中，方法还包括：根据第三用户指令，或者，当车辆的状态信息满足第三条件时，控制自动驻车***切换为休眠状态；
其中，第三用户指令用于指示关闭自动驻车功能；第三条件包括以下至少一种：加速踏板行程不为0、加速踏板力不为0、挡位为驻车挡、电子驻车***开启。
通过上述设置，自动驻车***能够根据用户指令来切换状态，提升用户的体验；通过第三条件来切换状态能够保证驾驶安全。
用户指令为以下至少一种：用户的语音指令、用户对触控屏的操作指令、用户的手势指令。
通过上述设置，代替使用物理开关的方式启动或退出自动驻车功能，减少中控台布局设计的难度。
本申请实施例的第二方面，一种车辆控制装置，包括：收发单元，用于获取第一用户指令，第一用户指令用于指示开启自动驻车功能；控制单元，用于根据第一用户 指令，控制自动驻车***切换为唤醒状态；收发单元还用于获取车辆的状态信息；
控制单元还用于根据车辆的状态信息切换自动驻车***的状态。
在一种可能的实现方式中，控制单元具体用于：当车辆的状态信息满足第一条件时，获取用户意图；根据用户意图切换自动驻车***的状态。
在一种可能的实现方式中，控制单元具体用于：发送第一提示信息，第一提示信息用于提示用户确认执行自动驻车操作；获取用户响应于第一提示信息的第二用户指令；控制单元具体用于：当第二用户指令用于指示确认执行自动驻车操作时，控制自动驻车***切换为激活状态。
在一种可能的实现方式中，控制单元还用于当第二用户指令用于指示关闭自动驻车功能时，控制自动驻车***切换为休眠状态。
在一种可能的实现方式中，收发单元还用于当车辆的状态信息不满足第一条件时，发送第二提示信息，第二提示信息用于告知用户不满足第一条件的至少一个车辆的状态信息。
在一种可能的实现方式中，第一条件包括以下至少一种：制动踏板行程大于第一阈值、制动踏板力大于第二阈值、制动***压力大于第三阈值、车辆速度为0、以及加速踏板行程为0、加速踏板力为0。
在一种可能的实现方式中，第一条件还包括以下至少一种：自动驻车***无故障、车门处于关闭状态、用户的安全带已系好。
在一种可能的实现方式中，控制单元还用于当车辆的状态信息满足第二条件时，开启电子驻车***；其中，第二条件包括以下至少一种：用户的安全带处于解开状态、至少一个车门处于打开状态、自动驻车***工作时间超过第四阈值、用户离开车辆。
在一种可能的实现方式中，控制单元还用于根据第三用户指令，或者，当车辆的状态信息满足第三条件时，控制自动驻车***切换为休眠状态；其中，第三用户指令用于指示关闭自动驻车功能；第三条件包括以下至少一种：加速踏板行程不为0、加速踏板力不为0、挡位为驻车挡、电子驻车***开启。
在一种可能的实现方式中，用户指令为以下至少一种：用户的语音指令、用户对触控屏的操作指令、用户的手势指令。
本申请实施例第二方面及其可能的实现方式提供的控制装置所带来的技术效果与本申请实施例第一方面及其可能的实现方式提供的控制方法所带来的技术效果相同，为了简洁起见，在此不再赘述。
本申请实施例的第三方面，提供了一种电子设备，包括存储器和处理器，存储器中存储有可执行代码，处理器执行可执行代码，实现本申请实施例第一方面及其可能的实现方式所提供的控制方法。
本申请实施例的第四方面，提供了一种计算机可读存储介质，其上存储有程序指令，程序指令当被计算机执行时，使得计算机执行本申请实施例第一方面及其可能的实现方式所提供的控制方法。
本申请实施例的第五方面，提供了一种计算机程序产品，当计算机程序产品在计算设备上运行时，使得计算设备执行本申请实施例第一方面及其可能的实现方式所提 供的控制方法。
本申请实施例的第六方面，提供了一种车辆，包括本申请实施例第二方面及其可能的实现方式提供的装置。
本申请的这些和其它方面在以下(多个)实施例的描述中会更加简明易懂。
附图说明
以下参照附图来进一步说明本发明的各个特征和各个特征之间的联系。附图均为示例性的，一些特征并不以实际比例示出，并且一些附图中可能省略了本申请所涉及领域的惯常的且对于本申请非必要的特征，或是额外示出了对于本申请非必要的特征，附图所示的各个特征的组合并不用以限制本申请。另外，在本说明书全文中，相同的附图标记所指代的内容也是相同的。具体的附图说明如下：
图1是本申请实施例提供的车辆的控制方法的应用场景示意图；
图2是本申请实施例提供的车辆的控制方法的流程图；
图3是本申请实施例提供的车辆的控制方法的一种具体实现方式的流程图；
图4是本申请实施例提供的车辆的控制装置的模块示意图；
图5是本申请实施例提供的计算设备的模块示意图。
具体实施方式
说明书和权利要求书中的词语“第一、第二、第三等”或模块A、模块B、模块C等类似用语，仅用于区别类似的对象，不代表针对对象的特定排序，可以理解地，在允许的情况下可以互换特定的顺序或先后次序，以使这里描述的本申请实施例能够以除了在这里图示或描述的以外的顺序实施。
在以下的描述中，所涉及的表示步骤的标号，如S110、S120……等，并不表示一定会按此步骤执行，在允许的情况下可以互换前后步骤的顺序，或同时执行。
说明书和权利要求书中使用的术语“包括”不应解释为限制于其后列出的内容；它不排除其它的元件或步骤。因此，其应当诠释为指定所提到的所述特征、整体、步骤或部件的存在，但并不排除存在或添加一个或更多其它特征、整体、步骤或部件及其组群。因此，表述“包括装置A和B的设备”不应局限为仅由部件A和B组成的设备。
本说明书中提到的“一个实施例”或“实施例”意味着与该实施例结合描述的特定特征、结构或特性包括在本发明的至少一个实施例中。因此，在本说明书各处出现的用语“在一个实施例中”或“在实施例中”并不一定都指同一实施例，但可以指同一实施例。此外，在一个或多个实施例中，能够以任何适当的方式组合各特定特征、结构或特性，如从本公开对本领域的普通技术人员显而易见的那样。
自动驻车(Automatic Vehicle Hold，AVH)：在自动驻车功能被启动时，通过安装在车辆上的传感器来确定车辆的倾斜程度和车轮的扭矩，进而计算出驻车所需的驻车力。当用户踩踏油门时，通过传感器提供的信息计算驱动车辆行驶的驱动力，当驱动力大于驻车力时，自动驻车功能退出，从而使车辆能够平稳起步。启用自动驻车功能后，在车辆静止状态下不需要长时间的踩刹车，自动驻车功能可以防止车辆静止状 态下在各种路面上发生溜车，保持车辆处于安全的静止状态。
电子稳定控制***(Electronic Stability Control System，ESC)，也被称为车身电子稳定程序(Electronic Stability Program，ESP)、车身稳定控制装置(Vehicle Stability Control，VSC)、车身稳定辅助装置(Vehicle Stability Assist，VSA)或动态稳定控制装置DSC(Dynamic Stability Control)等。其是一种可以控制驱动轮，也可以控制从动轮的车辆防滑控制***。其通常包括：控制单元、传感器(例如：监测方向盘的转向角度的转向传感器、监测各个车轮的速度转动的车轮传感器、监测车体绕垂直轴线转动的状态的侧滑传感器、监测汽车转弯时的离心力的横向加速度传感器、监测加速踏板踩踏程度的加速踏板传感器、监测制动踏板传感器踩踏程度的制动踏板传感器)以及执行器(例如：车轮制动***)，控制单元可以根据传感器获得的信息确定车辆的运动轨迹与预设轨迹的偏差，若偏差过大，则控制车轮刹车***对车轮进行制动，以减少车辆的运动轨迹与预设轨迹的偏差。
集成制动***(Integrated Brake System，IBS)：其可以包括传感器、助力电机、控制单元以及液压单元，控制单元根据传感器获取的信息，计算制动助力的大小并向助力电机发送执行信号，助力电机通过齿轮齿条的结构连接了推杆和制动液压泵，并向制动液压泵提供额外的扭矩，从而实现助力的效果，其可以实现车辆的ABS/ESC/AVH等制动功能。
电子驻车制动(Electric Parking Brake，EPB)：其可以包括控制单元、传感器以及车轮制动***。控制单元可以根据纵向加速度传感器获得的数据来计算车辆所处平面的坡度，从而算出车辆在斜坡上由于重力而产生的下滑力，并向电机发送执行信号，控制电机对后轮施加制动力来平衡下滑力，使车辆能够停在斜坡上。当车辆在斜坡上向上起步时，控制单元可以通过离合器踏板上的位移传感器以及加速踏板的油门传感器获得的数据来计算使车辆保持在斜坡上所需的制动力，同时，控制单元通过高速车辆总线与发动机电脑的通讯来获取发动机牵引力的大小，根据发动机牵引力的增加来减少制动力，当牵引力足够克服下滑力时，控制单元控制电机解除制动，从而实现车辆顺畅起步。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。如有不一致，以本说明书中所说明的含义或者根据本说明书中记载的内容得出的含义为准。另外，本文中所使用的术语只是为了描述本申请实施例的目的，不是旨在限制本申请。
如图1所示，本申请实施例提供的车辆的控制方法和控制装置可以应用在道路交通拥挤，需要频繁启停车辆的场景下，尤其是在存在坡度的拥挤道路上更为适用。在这些场景下，通过本申请实施例提供的车辆的控制方法，使驾驶员无需频繁控制加速踏板和制动踏板，简化了驾驶员操作。
下面，参照图2对本申请实施例提供的车辆的控制方法进行说明。
本申请实施例中的车辆的控制方法可以由终端执行，例如诸如车辆这样的终端，也可以是由应用在车辆内ESC、IBS、EPB等的电子装置来执行，例如：电子控制单元(Electronic Control Unit，ECU)、***芯片和通用芯片等。ECU可以获取麦克风或传感 器(例如：制动踏板行程传感器或制动踏板力传感器、制动压力传感器轮速传感器加速踏板位置传感器)采集的数据并对其进行处理，输出相应的控制信号到车轮制动***，进而控制执行自动驻车操作。
图2示出了本申请实施例提供的车辆的控制方法的流程图，如图2所示，本申请实施例提供的车辆的控制方法可以包括以下步骤：
步骤S100：获取第一用户指令。
其中，第一用户指令用于指示开启自动驻车功能，自动驻车功能是指无需驾驶员执行制动操作以及启动电子驻车制动的情况下，由自动驻车***执行自动驻车操作的功能，其能够避免车辆不必要的滑行，且在驾驶员意图致动车辆使车辆行驶时，保证车辆平稳起步。自动驻车***可以包括：制动***相关的制动主缸、制动轮缸、制动管路、增压器、执行器(盘式制动器、鼓式制动器)等，还包括传感器(例如：IMU侧加速度传感器、其通过加速度计算坡度、或者坡度传感器)，还可以包括控制器(域控制器、ECU、MCU等)。控制器可以根据传感器提供的数据计算执行驻车操作所需的驻车力，控制制动***输出相应的制动力，当用户踩踏油门时，通过传感器提供的数据计算驱动车辆行驶的驱动力，当驱动力大于驻车力时，自动驻车功能退出，从而使车辆能够平稳起步。
在一些实施例中，用户指令可以包括以下中的至少一种：语音指令、用户对触控屏的操作指令、用户的手势指令等。
其中，用户的第一用户指令可以被存储，当用户重复发送第一用户指令时，发送提示信息，提示信息用于提示用户其第一用户指令已经被发送。提示信息例如可以为以下中的一个或多个：语音信息、中控屏幕文字信息、中控屏幕画面信息等。
步骤S200:根据第一用户指令，控制自动驻车***切换为唤醒状态。
其中，在未获取第一用户指令的情况下，自动驻车***可以处于休眠状态，自动驻车***的控制器出于低功耗状态，其无法执行自动驻车的相关计算和操作，仅控制器的唤醒电路或唤醒芯片出于运行状态。
步骤S300:获取车辆的状态信息。
在一些实施例中，状态信息可以包括以下中的一个或多个：制动踏板行程信息、制动踏板压力信息、制动***压力信息、车辆速度信息、加速踏板行程信息、加速踏板力信息等。
在一些实施例中，状态信息还可以包括以下中的一个或多个：自动驻车***有无故障信息、车门开闭信息、安全带佩戴信息。
步骤S400:根据车辆的状态信息切换自动驻车***的状态。
其中，自动驻车***的状态可以包括：以下至少一种：休眠状态、唤醒状态、使能状态、激活状态。
在休眠状态下，自动驻车***的控制器出于低功耗状态，其无法执行自动驻车的相关计算和操作，仅控制器的唤醒电路或唤醒芯片出于运行状态。
在唤醒状态下，自动驻车***的控制器自动驻车***的控制器在唤醒电路或唤醒芯片的控制下上电，但还未获取到满足第一条件的状态信息；
在使能状态下，自动驻车***的控制器处于上电状态，并获取到满足第一条件的状态信息，但尚未获取到用户的用于指示确认执行自动驻车操作的指令；
在激活状态下，自动驻车***的控制器处于上电状态，并获取到用于指示确认执行自动驻车操的指令，开始执行自动驻车的相关计算和操作。
其中，在步骤S1中，由于用户的第一用户指令可以被存储，当用户重复发送第一用户指令时，发送的提示信息还可以提示用户自动驻车***当前的状态，例如，当用户重复发送第一用户指令后，但尚未获取到用户的用于指示确认执行自动驻车操作的指令前，提醒用户自动驻车***处于使能状态。
在一些实施例中，步骤S400具体可以包括：当车辆的状态信息满足第一条件时，获取用户意图；根据用户意图切换自动驻车***的状态。
其中，在一些实施例中，第一条件可以包括：制动踏板行程大于第一阈值、制动踏板力大于第二阈值、制动***压力大于第三阈值中的至少一种、车辆速度为0、以及加速踏板行程为0、加速踏板力为0中的至少一种。
在一些实施例中，第一条件还包括以下至少一种：自动驻车***无故障、车门处于关闭状态、用户的安全带已系好。
其中，可以通过音视频信息来识别是否佩戴安全带，例如，可以通过摄像头获取用户的图像信息，利用图像识别等方式对图像信息进行识别，排除虚假安全带扣的影响。
在一些实施例中，用户意图可以包括：将自动驻车***的状态切换为以下中的一个：休眠状态、唤醒状态、使能状态以及激活状态。例如，用户可以通过发出语音指令来切换自动驻车***的状态，也可以通过手势、操作中控屏来切自动驻车***的状态。
在一些实施例中，获取用户意图具体可以包括：发送第一提示信息，第一提示信息用于提示用户确认执行自动驻车操作；获取用户响应于第一提示信息的第二用户指令；根据用户意图切换自动驻车***的状态，具体包括：当第二用户指令用于指示确认执行自动驻车操作时，控制自动驻车***切换为激活状态。
其中，第一提示信息可以包括以下中的至少一个：语音提示(例如“请确认是否开启自动驻车”、“您是要开启自动驻车吗？”或“将开启启动驻车，请确认”等)、声音提示、灯光提示、中控屏显示画面提示、车辆或车辆座椅等震动提示等，本申请对此不做限制；第二用户指令可以包括：语音指令(例如：“好的”、“OK”、“确认”、“是的”、“请执行自动驻车”、“请开启自动驻车”和“请打开自动驻车”等)、对中控屏的操作指令、手势指令等，本申请对此不做限制。
在一些实施例中，当第二用户指令用于指示关闭自动驻车功能时，控制自动驻车***切换为休眠状态。
其中，第二用户指令可以包括以下中的至少一种：语音指令、用户对触控屏的操作指令、用户的手势指令等。
在一些实施例中，当车辆的状态信息不满足第一条件时，方法还包括：发送第二提示信息，第二提示信息用于告知用户不满足第一条件的至少一个车辆的状态信息。
其中，第二提示信息可以是以下中的至少一个：语音信息(例如，当车轮速度不为0时，第二提示信息可以为：“车辆未停止，请停止车辆”；当油门未松开时，第二提示信息可以为：“请松开油门”；当安全带未系上时，第二提示信息可以为：“请系好安全带”)、中控屏提示信息(例如：中控屏上显示文字或画面，用于提示)。
在一些实施例中，当车辆的状态信息满足第二条件时，开启电子驻车***；其中，第二条件包括以下至少一种：用户的安全带处于解开状态、至少一个车门处于打开状态、自动驻车***工作时间超过第四阈值、用户离开车辆。
其中，电子驻车***可以包括：控制单元、传感器(例如，纵向加速度传感器加速踏板行程传感器、离合器位移传感器等)以及车轮制动***(例如，包括电机、刹车钳、制动盒等)。控制单元可以根据纵向加速度传感器获得的数据来计算车辆所处平面的坡度，从而算出车辆在斜坡上由于重力而产生的下滑力，并向车轮制动***的电机发送执行信号，控制电机对后轮施加相应的制动力来平衡下滑力，使车辆能够停在斜坡上。当车辆在斜坡上向上起步时，控制单元可以通过离合器踏板上的位移传感器以及加速踏板传感器获得的数据来计算使车辆保持在斜坡上所需的制动力，同时，控制单元通过高速车辆总线与发动机电脑的通讯来获取发动机牵引力的大小，根据发动机牵引力的增加来减少制动力，当牵引力足够克服下滑力时，控制单元控制电机解除制动，从而实现车辆顺畅起步。
当自动驻车***工作超过一定时间后，例如10分钟，电子驻车***接管，由机械制动代替液压制动，确保长时间安全停车。
在一些实施例中，还包括：根据第三用户指令，或者，当车辆的状态信息满足第三条件时，控制自动驻车***切换为休眠状态；其中，第三用户指令用于指示关闭自动驻车功能；第三条件包括以下至少一种：加速踏板行程不为0、加速踏板力不为0、挡位为驻车挡、电子驻车***开启。
在一些实施例中，当自动驻车***下电后再次上电时，还可以根据下电时存储的自动驻车***的状态来向用户发出第三提示信息，提示用户发出第一用户指令来唤醒自动驻车***。例如，当车辆执行自动驻车操作期间，意外掉电时，再次启动车辆时，可以向用户出第三提示信息，提示用户唤醒自动驻车***。
图3示出了本申请实施例提供的车辆的控制方法的一具体实现方式的流程图，如图3所示，本申请实施例提供的自车辆的控制方法可以包括以下步骤：
步骤S1：获取用户的语音驻车指令。
其中，用户的语音驻车指令可以通过车载麦克风或麦克风阵列来采集。麦克风用于将声音信号转换为电信号，例如：将语音驻车指令转为电信号。当发送语音信息时，用户可以通过人嘴发声，将声音信号输入到麦克风。除了采集声音信号，还可以实现降噪功能。语音驻车指令例如可以为：请开启自动驻车功能、请自动驻车、打开自动驻车以及开启自动驻车等。
步骤S2：确定用户的语音驻车指令是否为真。
在一些实施例中，可以通过语音识别的方式、或通过自然语言处理模型确定用户的语音驻车指令是否为真。其中，自然语言处理模型可以为基于深度学习的自然语言 处理模型，本实施例不对该自然语言处理模型进行特定限制。
当语音驻车指令为真时，执行步骤S3：唤醒自动驻车***。
其中，在未执行自动驻车操作时，自动驻车***可以处于休眠状态，在自动驻车***处于休眠状态时，自动驻车控制电路板的仅较低功耗的处理电路或芯片(例如，SBC芯片或SOC芯片)处于工作状态，其他的功能芯片(例如MCU)掉电停止运行，当语音驻车指令为真时，唤醒自动驻车***，自动驻车控制电路板的电源芯片开始对***内部其他功能芯片进行供电，此时自动驻车***处于唤醒状态。
当语音驻车指令为假时，执行步骤S2.1-S2.3。
步骤S2.1：发出驻车指令提示信息。
其中，驻车指令提示信息用于提示用户为真的语音驻车指令。例如，息可以为：“试试，请开启自动驻车功能”或“试试，请自动驻车”。
步骤S2.2：在第一时间内再次获取语音驻车指令。
当在第一时间内获取到语音驻车指令时，执行步骤S2.3：确定语音驻车指令是否为真。当在第一时间内未获取到语音指令时，自动驻车***维持休眠状态。
步骤S2.3中，确定语音驻车指令是否为真的方法与步骤S2中的相同，在此不再赘述。
当语音指令为真时，执行步骤S3：唤醒自动驻车***。
当语音指令为假时，自动驻车***维持休眠状态。
步骤S4：获取使能条件信号。
其中，使能条件信号用于确定执行自动驻车操作所需的安全条件，在一些实施例中，使能条件信号可以包括：车门开闭信号、安全带佩戴信号以及自动驻车***状态信号。
步骤S5：确定使能条件信号是否满足第一预设条件。
其中，第一预设条件可以包括：车门处于关闭状态、安全带已系好以及自动驻车***无故障。
当使能条件未满足第一预设条件时，执行步骤S5.1-步骤S5.3。
步骤S5.1：发出使能条件提示信息。
其中，使能条件提示信息用于提示用户未满足的第一预设条件。例如，当车门未关闭时，使能条件提示信息可以为：“请关闭车门”或“车门未关闭”；当安全带未系好时，使能条件提示信息可以为：“安全带未系紧”或“请系紧安全带”。
步骤S5.2：再次获取使能条件信号。
其中，可以获取未满足的第一预设条件对应的使能条件信号，例如当车门未关闭时，可以仅获取车门信号。也可以获取全部使能条件信号。
步骤S5.3中，确定使能条件信号是否满足第一预设条件。
当使能条件信号未满足第一预设条件时，控制自动驻车***进入休眠状态。
当使能条件信号满足第一预设条件时，执行步骤S6：获取制动条件信号。
其中，制动条件信号可以包括：制动踏板信号、制动***压力信号、车辆速度信号以及加速踏板信号。
在一些实施例中，制动踏板信号可以通过制动踏板行程传感器或制动踏板力传感器等获得；制动压力信号可以通过制动压力传感器获得；车辆速度信号可以通过轮速传感器获得；加速踏板信号可以通过加速踏板位置传感器获得。
步骤S7：确定制动条件信号是否满足第二预设条件。
其中，第二预设条件可以包括：制动踏板行程大于第一阈值、制动踏板力大于第二阈值、制动***压力大于第三阈值中的至少一种、车辆速度为0、以及加速踏板行程为0、加速踏板力为0中的至少一种。
当确定制动条件信号未满足第二预设条件时，执行步骤S7.1-S7.3。
步骤S7.1：发出制动条件提示信息。
其中，制动条件提示信息用于提示用户未满足的第二预设条件。例如，制动条件提示信息可以为：“制动踏板未踩下”、“液压制动压力不足”、“请停止车辆”或“请松开油门”。
步骤S7.2：再次获取制动条件信号。
其中，可以获取未满足的第二预设条件对应的制动条件信号，例如当制动踏板未踩下时，可以仅获取制动踏板信号。也可以获取全部制动条件信号。
步骤S7.3中，确定制动条件信号是否满足第二预设条件。
当制动条件信号未满足第二预设条件时，控制自动驻车***进入休眠状态。
需要说明的是，制动条件信号和使能条件信号在本申请中也被称为车辆的状态信息，第一预设条件和第二预设条件在本申请中也被分别称为第一条件和第二条件。
当制动条件信号满足第二预设条件时，执行步骤S8：发出第一提示信息，第一提示信息用于提示用户确认执行自动驻车操作；
其中，第一提示信息可以包括：“请确认自动制动驻车”、“要执行自动驻车操作吗？”或“自动驻车已就绪，请确认”等。
步骤S9：获取语音确认指令。
其中，语音确认指令可以包括：“好的”、“OK”、“确认”、“请执行”、“请开启”、“请打开”、“好的，请自动驻车”、“OK，请自动驻车”、“确认，自动驻车”等。
步骤S10：确定用户的语音确认指令是否为真。
在一些实施例中，确定语音确认指令是否为真的方法与步骤S2中的相同，在此不再赘述。
当语音确认指令例如可以为：“好的”、“OK”、“确认”、“请执行”、“请开启”、“请打开”等。
当用户的语音确认指令为真时，执行步骤S11：执行自动驻车操作。
当用户的语音确认指令为假时，控制自动驻车***进入休眠状态。
在一些实施例中，在执行自动驻车操作期间，还包括步骤S12：获取语音退出指令、获取使能条件信号或获取制动条件信号。
步骤S13：确定语音退出指令是否为真、使能条件信号是否满足第一预设条件或制动条件信号是否满足第二预设条件。
当语音退出指令为真、使能条件信号不满足第一预设条件或制动条件信号不满足第二预设条件时，执行步骤S14：控制自动驻车***退出自动驻车操作并进入休眠状态。
例如，当用户发出：“请退出自动驻车操作”时，控制自动驻车***进入休眠状态。再例如，使能条件信号未满足第一预设条件或制动条件信号未满足第二预设条件时，即：当获取到以下信号中的至少一个时：车门打开信号、安全带解开信号、自动驻车***馈电不足信号(例如可以是自动驻车***的电压低于预设电压)、制动踏板行程小于第一行程、液压制动压力小于第一压力、车辆速度大于0以及加速踏板行程大于0，控制自动驻车***进入休眠状态。
在一些实施例中，在执行自动驻车操作期间，当语音退出指令为真、使能条件信号不满足第一预设条件或制动条件信号不满足第二预设条件时，还可以控制自动驻车***退出自动驻车操作但维持唤醒状态，用于在下一次使能条件信号满足第一预设条件且制动条件信号满足第二预设条件时向用户发送驻车提示信息，提示用户是否需要启动自动驻车功能，待用户确认后，再次执行自动驻车操作。
图4示出了本申请实施例提供的自动驻车***的控制装置的模块示意图，包括：收发单元1000和控制单元2000。
收发单元1000，用于获取第一用户指令，第一用户指令用于指示开启自动驻车功能；控制单元2000，用于根据第一用户指令，控制自动驻车***切换为唤醒状态；收发单元1000还用于获取车辆的状态信息；控制单元2000还用于根据车辆的状态信息切换自动驻车***的状态。
在一些实施例中，控制单元2000具体用于：当车辆的状态信息满足第一条件时，获取用户意图；根据用户意图切换自动驻车***的状态。
在一些实施例中，控制单元2000具体用于：发送第一提示信息，第一提示信息用于提示用户确认执行自动驻车操作；获取用户响应于第一提示信息的第二用户指令；控制单元2000具体用于：当第二用户指令用于指示确认执行自动驻车操作时，控制自动驻车***切换为激活状态。
在一些实施例中，控制单元2000还用于当第二用户指令用于指示关闭自动驻车功能时，控制自动驻车***切换为休眠状态。
在一些实施例中，收发单元1000还用于当车辆的状态信息不满足第一条件时，发送第二提示信息，第二提示信息用于告知用户不满足第一条件的至少一个车辆的状态信息。
在一些实施例中，第一条件包括：制动踏板行程大于第一阈值、制动踏板力大于第二阈值、制动***压力大于第三阈值中的至少一种、车辆速度为0、以及加速踏板行程为0、加速踏板力为0中的至少一种。
在一些实施例中，第一条件还包括以下至少一种：自动驻车***无故障、车门处于关闭状态、用户的安全带已系好。
在一些实施例中，控制单元2000还用于当车辆的状态信息满足第二条件时，开启电子驻车***；其中，第二条件包括以下至少一种：用户的安全带处于解开状态、 至少一个车门处于打开状态、自动驻车***工作时间超过第四阈值、用户离开车辆。
在一些实施例中，控制单元2000还用于根据第三用户指令，或者，当车辆的状态信息满足第三条件时，控制自动驻车***切换为休眠状态；其中，第三用户指令用于指示关闭自动驻车功能；第三条件包括以下至少一种：加速踏板行程不为0、加速踏板力不为0、挡位为驻车挡、电子驻车***开启。
在一些实施例中，用户指令为以下至少一种：用户的语音指令、用户对触控屏的操作指令、用户的手势指令。
上述各模块，即收发单元1000和控制单元2000用于执行上述方法的相关步骤。比如收发单元1000用于执行步骤S100、步骤S300、步骤S1、步骤S2.1等的相关内容；控制单元2000用于执行步骤S200、步骤S400等的相关内容。
在本实施例中，自动驻车***的控制装置是以单元的形式来呈现。这里的“单元”可以指特定应用集成电路(application-specific integrated circuit，ASIC)，执行一个或多个软件或固件程序的处理器和存储器，集成逻辑电路，和/或其他可以提供上述功能的器件。此外，以上收发单元1000和控制单元2000可以通过图5所示的计算设备的处理器1510来实现。
图5是本申请实施例提供的一种计算设备1500的结构性示意性图。该计算设备1500包括：处理器1510、存储器1520。
其中，该处理器1510可以与存储器1520连接。该存储器1520可以用于存储该程序代码和数据。因此，该存储器1520可以是处理器1510内部的存储单元，也可以是与处理器1510独立的外部存储单元，还可以是包括处理器1510内部的存储单元和与处理器1510独立的外部存储单元的部件。
可选的，计算设备1500还可以包括总线。其中，存储器1520、通信接口可以通过总线与处理器1510连接。总线可以是外设部件互连标准(Peripheral Component Interconnect，PCI)总线或扩展工业标准结构(Extended Industry Standard Architecture，EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。应理解，在本申请实施例中，该处理器1510可以采用中央处理单元(central processing unit，CPU)。该处理器还可以是其它通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate Array，FPGA)或者其它可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。或者该处理器1510采用一个或多个集成电路，用于执行相关程序，以实现本申请实施例所提供的技术方案。
该存储器1520可以包括只读存储器和随机存取存储器，并向处理器1510提供指令和数据。处理器1510的一部分还可以包括非易失性随机存取存储器。例如，处理器1510还可以存储设备类型的信息。
在计算设备1500运行时，处理器1510执行存储器1520中的计算机执行指令执行上述方法的操作步骤。
应理解，根据本申请实施例的计算设备1500可以对应于执行根据本申请各实施 例的方法中的相应主体，并且计算设备1500中的各个模块的上述和其它操作和/或功能分别为了实现本实施例各方法的相应流程，为了简洁，在此不再赘述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的***、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时用于执行车辆的控制方法，该方法包括上述各个实施例所描述的方案中的至少之一。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是，但不限于，电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携 式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行***、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括、但不限于无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
注意，上述仅为本申请的较佳实施例及所运用的技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本申请进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明的构思的情况下，还可以包括更多其他等效实施例，均属于本发明的保护范畴。

Claims (24)

  1. 一种车辆控制方法，其特征在于，包括：
    获取第一用户指令，所述第一用户指令用于指示开启自动驻车功能；
    根据所述第一用户指令，控制所述自动驻车***切换为唤醒状态；
    获取所述车辆的状态信息；
    根据所述车辆的状态信息切换所述自动驻车***的状态。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述车辆的状态信息切换所述自动驻车***的状态，包括：
    当所述车辆的状态信息满足第一条件时，获取用户意图；
    根据所述用户意图切换所述自动驻车***的状态。
  3. 根据权利要求2所述的方法，其特征在于，所述获取用户意图，具体包括：发送第一提示信息，所述第一提示信息用于提示用户确认执行自动驻车操作；获取用户响应于所述第一提示信息的第二用户指令；
    所述根据所述用户意图切换所述自动驻车***的状态，具体包括：当所述第二用户指令用于指示确认执行所述自动驻车操作时，控制所述自动驻车***切换为激活状态。
  4. 根据权利要求3所述的方法，其特征在于，当所述第二用户指令用于指示关闭自动驻车功能时，控制所述自动驻车***切换为休眠状态。
  5. 根据权利要求2-4中任一项所述的方法，其特征在于，当所述车辆的状态信息不满足第一条件时，所述方法还包括：
    发送第二提示信息，所述第二提示信息用于告知用户不满足所述第一条件的至少一个所述车辆的状态信息。
  6. 根据权利要求2-5中任一项所述的方法，其特征在于，所述第一条件包括：以下至少一种：制动踏板行程大于第一阈值、制动踏板力大于第二阈值、制动***压力大于第三阈值、车辆速度为0、加速踏板行程为0、加速踏板力为0。
  7. 根据权利要求2-6中任一项所述的方法，其特征在于，所述第一条件还包括以下至少一种：自动驻车***无故障、车门处于关闭状态、所述用户的安全带已系好。
  8. 根据权利要求1-7中任一项所述的方法，其特征在于，当所述车辆的状态信息满足第二条件时，开启电子驻车***；
    其中，所述第二条件包括以下至少一种：所述用户的安全带处于解开状态、至少一个车门处于打开状态、所述自动驻车***工作时间超过第四阈值、所述用户离开车 辆。
  9. 根据权利要求1-8中任一项所述的方法，其特征在于，所述方法还包括：根据第三用户指令，或者，当所述车辆的状态信息满足第三条件时，控制所述自动驻车***切换为休眠状态；
    其中，所述第三用户指令用于指示关闭所述自动驻车功能；所述第三条件包括以下至少一种：加速踏板行程不为0、加速踏板力不为0、挡位为驻车挡、电子驻车***开启。
  10. 根据权利要求1-9中任一项所述的方法，其特征在于，所述用户指令为以下至少一种：所述用户的语音指令、所述用户对触控屏的操作指令、所述用户的手势指令。
  11. 一种车辆控制装置，其特征在于，包括：
    收发单元，用于获取第一用户指令，所述第一用户指令用于指示开启自动驻车功能；
    控制单元，用于根据所述第一用户指令，控制所述自动驻车***切换为唤醒状态；
    所述收发单元还用于获取所述车辆的状态信息；
    所述控制单元还用于根据所述车辆的状态信息切换所述自动驻车***的状态。
  12. 根据权利要求11所述的装置，其特征在于，所述控制单元具体用于：
    当所述车辆的状态信息满足第一条件时，获取用户意图；
    根据所述用户意图切换所述自动驻车***的状态。
  13. 根据权利要求12所述的装置，其特征在于，所述控制单元具体用于：发送第一提示信息，所述第一提示信息用于提示用户确认执行自动驻车操作；获取用户响应于所述第一提示信息的第二用户指令；
    所述控制单元具体用于：当所述第二用户指令用于指示确认执行所述自动驻车操作时，控制所述自动驻车***切换为激活状态。
  14. 根据权利要求13所述的装置，其特征在于，所述控制单元还用于当所述第二用户指令用于指示关闭自动驻车功能时，控制所述自动驻车***切换为休眠状态。
  15. 根据权利要求12-14中任一项所述的装置，其特征在于，所述收发单元还用于当所述车辆的状态信息不满足第一条件时，
    发送第二提示信息，所述第二提示信息用于告知用户不满足所述第一条件的至少一个所述车辆的状态信息。
  16. 根据权利要求12-15中任一项所述的装置，其特征在于，所述第一条件包括以下至少一种：制动踏板行程大于第一阈值、制动踏板力大于第二阈值、制动***压力大于第三阈值、车辆速度为0、以及加速踏板行程为0、加速踏板力为0。
  17. 根据权利要求12-16中任一项所述的装置，其特征在于，所述第一条件还包括以下至少一种：自动驻车***无故障、车门处于关闭状态、所述用户的安全带已系好。
  18. 根据权利要求11-17中任一项所述的装置，其特征在于，所述控制单元还用于当所述车辆的状态信息满足第二条件时，开启电子驻车***；
    其中，所述第二条件包括以下至少一种：所述用户的安全带处于解开状态、至少一个车门处于打开状态、所述自动驻车***工作时间超过第四阈值、所述用户离开车辆。
  19. 根据权利要求11-18中任一项所述的装置，其特征在于，所述控制单元还用于根据第三用户指令，或者，当所述车辆的状态信息满足第三条件时，控制所述自动驻车***切换为休眠状态；
    其中，所述第三用户指令用于指示关闭所述自动驻车功能；所述第三条件包括以下至少一种：加速踏板行程不为0、加速踏板力不为0、挡位为驻车挡、电子驻车***开启。
  20. 根据权利要求11-19中任一项所述的装置，其特征在于，所述用户指令为以下至少一种：所述用户的语音指令、所述用户对触控屏的操作指令、所述用户的手势指令。
  21. 一种电子设备，其特征在于，包括存储器和处理器，所述存储器中存储有可执行代码，所述处理器执行所述可执行代码，实现权利要求1-10中任一项所述的车辆控制方法。
  22. 一种计算机可读存储介质，其上存储有程序指令，其特征在于，所述程序指令当被计算机执行时，使得所述计算机执行权利要求1-10中任一项所述的车辆控制方法。
  23. 一种计算机程序产品，其特征在于，当所述计算机程序产品在计算设备上运行时，使得所述计算设备执行权利要求1-10中任一项所述的车辆控制方法。
  24. 一种车辆，其特征在于，包括权利要求11-20中任一项所述的车辆控制装置。
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