Granted Patent B2

US 12,545,303 · App. 18/372,364 · Granted Feb 10, 2026

Inventors: Qiang Wan (Shenzhen, CN); Lu Wang (Shenzhen, CN); Zhicheng Tan (Shenzhen, CN)

Assignee: BYD Company Limited

B61L17/02B61C17/00

Abstract

Claims (63)

1 . A method for controlling vehicle parking, comprising:

obtaining, by a processor, a current vehicle speed and a current vehicle control level of a vehicle;

obtaining, by the processor, a target vehicle speed of the vehicle, and obtaining a target vehicle control level of the vehicle according to the current vehicle control level;

obtaining, by the processor, a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level, and the target vehicle control level, the obtaining the first vehicle control level comprising:

in response to that the current vehicle speed is greater than the target vehicle speed, selecting the current vehicle control level as the first vehicle control level; and

controlling, by the processor, the vehicle to run according to the first vehicle control level.

2 . The method according to claim 1 , wherein the obtaining, by the processor, a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level, and the target vehicle control level comprises:

determining whether the current vehicle speed is greater than the target vehicle speed; and

in response to that the current vehicle speed is not greater than the target vehicle speed, obtaining the first vehicle control level according to the current vehicle control level and the target vehicle control level, the first vehicle control level being not greater than the target vehicle control level and the current vehicle control level.

3 . The method according to claim 2 , wherein the obtaining the first vehicle control level according to the current vehicle control level and the target vehicle control level comprises:

determining whether the current vehicle control level is greater than the target vehicle control level; and

in response to that the current vehicle control level is greater than the target vehicle control level, selecting a vehicle control level that is not greater than the target vehicle control level as the first vehicle control level; or in response to that the current vehicle control level is not greater than the target vehicle control level, selecting the current vehicle control level as the first vehicle control level.

4 . The method according to claim 1 , wherein a vehicle control level is indicative of and positively correlated with a deceleration of the vehicle.

5 . The method according to claim 1 , wherein the obtaining, by the processor, a target vehicle speed of the vehicle comprises: obtaining the target vehicle speed of the vehicle according to formula 1, wherein

formula 1 is: V=(a+g×sin α)×t,

wherein V represents the target vehicle speed, a is a deceleration based on a target deceleration of the vehicle or an actual deceleration of the vehicle, g is a gravity acceleration, α represents a current slope of a road section in which the vehicle is located, t is a time based on the target deceleration and the actual deceleration, and the actual deceleration is based on the current vehicle control level.

6 . The method according to claim 1 , wherein the current vehicle control level is positively correlated with the target vehicle control level.

7 . The method according to claim 1 , wherein before the obtaining, by the processor, a current vehicle speed and a current vehicle control level of a vehicle, the method further comprises:

detecting whether the current vehicle speed of the vehicle is greater than zero;

in response to that the current vehicle speed of the vehicle is greater than zero, detecting whether a driving mode of the vehicle is an automatic driving mode;

in response to that the driving mode of the vehicle is the automatic driving mode, detecting whether the vehicle is in a parking phase; and

in response to that the vehicle is in the parking phase, obtaining the current vehicle speed and the current vehicle control level of the vehicle.

8 . The method according to claim 1 , further comprising:

detecting, by the processor, whether the current vehicle speed is zero; and

in response to that the current vehicle speed is zero, applying, by the processor, parking brake to configure a braking force of the vehicle as a target braking force.

9 . An apparatus for controlling vehicle parking, comprising a memory and a processor, the memory being configured to store a computer program, and the processor being configured to execute the computer program to perform operations comprising:

obtaining a current vehicle speed and a current vehicle control level of a vehicle;

obtaining a target vehicle speed of the vehicle, and obtaining a target vehicle control level of the vehicle according to the current vehicle control level;

obtaining a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level, and the target vehicle control level, the obtaining the first vehicle control level comprising:

in response to that the current vehicle speed is greater than the target vehicle speed, selecting the current vehicle control level as the first vehicle control level; and

controlling the vehicle to run according to the first vehicle control level.

10 . The apparatus according to claim 9 , wherein the obtaining a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level, and the target vehicle control level comprises:

determining whether the current vehicle speed is greater than the target vehicle speed; and

in response to that the current vehicle speed is not greater than the target vehicle speed, obtaining the first vehicle control level according to the current vehicle control level and the target vehicle control level, the first vehicle control level being not greater than the target vehicle control level and the current vehicle control level.

11 . The apparatus according to claim 10 , wherein the obtaining the first vehicle control level according to the current vehicle control level and the target vehicle control level comprises:

determining whether the current vehicle control level is greater than the target vehicle control level; and

in response to that the current vehicle control level is greater than the target vehicle control level, selecting a vehicle control level that is not greater than the target vehicle control level as the first vehicle control level; or in response to that the current vehicle control level is not greater than the target vehicle control level, selecting the current vehicle control level as the first vehicle control level.

12 . The apparatus according to claim 9 , wherein a vehicle control level is indicative of and positively correlated with a deceleration of the vehicle.

13 . The apparatus according to claim 9 , wherein the obtaining a target vehicle speed of the vehicle comprises: obtaining the target vehicle speed of the vehicle according to formula 1, wherein

formula 1 is: V=(a+g×sin α)×t,

wherein V represents the target vehicle speed, a is a deceleration based on a target deceleration of the vehicle or an actual deceleration of the vehicle, g is a gravity acceleration, a represents a current slope of a road section in which the vehicle is located, t is a time based on the target deceleration and the actual deceleration, and the actual deceleration is based on the current vehicle control level.

14 . The apparatus according to claim 9 , wherein the current vehicle control level is positively correlated with the target vehicle control level.

15 . The apparatus according to claim 9 , wherein before the obtaining a current vehicle speed and a current vehicle control level of a vehicle, the operations further comprise:

detecting whether the current vehicle speed of the vehicle is greater than zero;

in response to that the current vehicle speed of the vehicle is greater than zero, detecting whether a driving mode of the vehicle is an automatic driving mode;

in response to that the driving mode of the vehicle is the automatic driving mode, detecting whether the vehicle is in a parking phase; and

in response to that the vehicle is in the parking phase, obtaining the current vehicle speed and the current vehicle control level of the vehicle.

16 . The apparatus according to claim 9 , the operations further comprise:

detecting whether the current vehicle speed is zero; and

in response to that the current vehicle speed is zero, applying parking brake to configure a braking force of the vehicle as a target braking force.

17 . A non-transitory computer readable storage medium, the non-transitory computer readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is configured to execute the computer program to perform operations comprising:

obtaining a current vehicle speed and a current vehicle control level of a vehicle;

obtaining a target vehicle speed of the vehicle, and obtaining a target vehicle control level of the vehicle according to the current vehicle control level;

obtaining a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level, and the target vehicle control level, the obtaining the first vehicle control level comprising:

in response to that the current vehicle speed is greater than the target vehicle speed, selecting the current vehicle control level as the first vehicle control level; and

controlling the vehicle to run according to the first vehicle control level.

18 . The medium according to claim 17 , wherein the obtaining a first vehicle control level according to the current vehicle speed, the target vehicle speed, the current vehicle control level, and the target vehicle control level comprises:

determining whether the current vehicle speed is greater than the target vehicle speed; and

in response to that the current vehicle speed is not greater than the target vehicle speed, obtaining the first vehicle control level according to the current vehicle control level and the target vehicle control level, the first vehicle control level being not greater than the target vehicle control level and the current vehicle control level.

19 . The medium according to claim 18 , wherein the obtaining the first vehicle control level according to the current vehicle control level and the target vehicle control level comprises:

determining whether the current vehicle control level is greater than the target vehicle control level; and

in response to that the current vehicle control level is greater than the target vehicle control level, selecting a vehicle control level that is not greater than the target vehicle control level as the first vehicle control level; or in response to that the current vehicle control level is not greater than the target vehicle control level, selecting the current vehicle control level as the first vehicle control level.

20 . The medium according to claim 19 , wherein a vehicle control level is indicative of and positively correlated with a deceleration of the vehicle.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (101)