CN107161142A - Automatic parking control method and automatic parking control system - Google Patents
Automatic parking control method and automatic parking control system Download PDFInfo
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- CN107161142A CN107161142A CN201710263064.4A CN201710263064A CN107161142A CN 107161142 A CN107161142 A CN 107161142A CN 201710263064 A CN201710263064 A CN 201710263064A CN 107161142 A CN107161142 A CN 107161142A
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- parking control
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000005516 engineering process Methods 0.000 description 8
- 230000006378 damage Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
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Classifications
-
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides a kind of automatic parking control method and automatic parking control system, and the automatic parking control method includes step：The automatic parking request signal of user is received, starting the automatic parking function of vehicle makes vehicle be controlled into automatic parking；Whether the brake system of detection vehicle fails in real time in automatic parking control process；If detecting the brake system failure of vehicle, current driving direction and the current vehicle speed of vehicle are judged；When vehicle current vehicle speed be more than it is set in advance allow the speed threshold value for being linked into park position when, control vehicle is linked into the gear in opposite direction with current driving, vehicle deceleration is promoted with the reactive torque provided using clutch, when the speed of vehicle is down within the speed threshold value, then vehicle is controlled to be linked into park position.The present invention without driver's intervention, can make vehicle gradually reduce speed, vehicle is stopped traveling automatically, reduce risk in the case of brake system failure during automatic parking.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of automatic parking control method and automatic parking control system
System.
Background technology
Traffic safety is always the hot issue of automobile industry concern, as intelligent driving technology constantly improves, increasingly
Many active safety technologies are applied on automobile, such as automated parking system, autobrake system etc., these new technologies it is extensive
Using not only increasing ride safety of automobile, and improve the driving sense of automobile.
Automatic parking technology vehicle is carried at present is liked that the automated driving system scheme of in the market is such as by consumers in general deeply
Shown in Fig. 1：
Driver's request activation parking system；Driver points out to operate according to instrument, utilizes Modern Sensor Technology, vehicle
Intelligent Recognition goes out available parking position；Vehicle central processor calculates the movement locus that vehicle enters berth；Vehicle control
Unit processed travels angle, speed by constantly adjusting vehicle, makes track traveling of the vehicle along setting；Treat that vehicle safety enters to stop
Behind car berth, park position is linked into；Automatic parking has been completed, and exits automated parking system.
And autobrake system utilizes the obstacle information in front of Modern Sensor Technology probe vehicle, constantly detection and barrier
Hinder the distance between thing, once less than safety shut-down distance, autobrake system is intervened immediately, and danger is recognized in driver
Before, brake system is activated automatically, it is to avoid bring injury to driver.This technology is largely reduced due to driver
The loss of the person and property that carelessness or potential risk are brought to driver.
The content of the invention
The present invention technical problem to be solved is that there is provided a kind of automatic parking control method and automatic parking control system
System, without driver's intervention, can make vehicle gradually reduce car in the case of brake system failure during automatic parking
Speed, makes vehicle stop traveling, reduces risk automatically.
The present invention, which solves its technical problem, to be realized using following technical scheme：
The present invention provides a kind of automatic parking control method, comprises the following steps：
The automatic parking request signal of user is received, starting the automatic parking function of vehicle makes vehicle enter automatic parking control
System；
Whether the brake system of detection vehicle fails in real time in automatic parking control process；
If detecting the brake system failure of vehicle, current driving direction and the current vehicle speed of vehicle are judged；
When vehicle current vehicle speed be more than it is set in advance allow the speed threshold value for being linked into park position when, control vehicle be linked into
The gear in opposite direction with current driving, vehicle deceleration is promoted with the reactive torque provided using clutch, when the speed of vehicle
When being down within the speed threshold value, then vehicle is controlled to be linked into park position.
Further, control vehicle is linked into the gear in opposite direction with current driving, specifically includes：If current driving side
To for direction of advance, then vehicle is controlled to be linked into reverse gear；If current driving direction is direction of retreat, control vehicle is linked into advance
Shelves.
Further, when the brake system for detecting vehicle fails, if the current vehicle speed of vehicle is located at the speed
Within threshold value, then vehicle is controlled directly to be linked into park position.
Further, the span of the speed threshold value is less than or equal to 5km/h.
Further, the speed threshold value is 4km/h.
The present invention also provides a kind of automatic parking control system, including：
Receiving module, the automatic parking request signal for receiving user, starting the automatic parking function of vehicle makes vehicle
Into automatic parking control；
Detection module, for whether the brake system of detection vehicle to fail in real time in automatic parking control process；
Judge module, during for being failed in the brake system for detecting vehicle, judging the current driving direction of vehicle and working as
Preceding speed；
Control module, is more than the speed threshold value set in advance for allowing to be linked into park position for the current vehicle speed when vehicle
When, control vehicle is linked into the gear in opposite direction with current driving, promotes vehicle to subtract with the reactive torque provided using clutch
Speed, when the speed of vehicle is down within the speed threshold value, then controls vehicle to be linked into park position.
Further, the receiving module and automatic parking button connects, to receive user by triggering the automatic pool
Car button and the automatic parking request signal sent.
Further, whether the detection module is connected with brake system, to detect the brake system in automatic parking
Brake failure occurs in control process.
Further, the judge module is connected with velocity sensor, is detected with receiving by the velocity sensor
The vehicle heading and speed arrived.
Further, the control module is connected with automatic poking gear mechanism, and the control module is by the automatic poking
Gear mechanism sends control signal, drives vehicle to be linked into required gear by the automatic poking gear mechanism.
The technique effect that the present invention is reached using above-mentioned technical proposal：
Automatic parking control method and automatic parking control system provided in an embodiment of the present invention, during automatic parking
In the case of there is brake failure, without driver's intervention, vehicle can be made to gradually reduce speed, both reduce and occurred traffic accident
Risk, can make vehicle safety stop again, without increasing extra executing agency and control system, reduce cost, improve vehicle
The robustness of each system, can be avoided because faulty operation causes damage to vehicle and personnel caused by driver experience's deficiency,
Reduce the property loss of driver.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects, features and advantages of the present invention can
Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail.
Brief description of the drawings
Fig. 1 is the control flow chart of automatic parking control method in the prior art.
Fig. 2 is the control flow chart of automatic parking control method in the embodiment of the present invention.
Fig. 3 is that vehicle is that speed, gear and the clutch moved forward when occurring brake failure is turned round in the embodiment of the present invention
The schematic diagram of square change.
Fig. 4 is that speed, gear and clutch when for traveling backward brake failure occurs for vehicle in the embodiment of the present invention are turned round
The schematic diagram of square change.
Fig. 5 is the structural representation of automatic parking control system in the embodiment of the present invention.
Embodiment
In order that technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Drawings and Examples are closed, the present invention will be described in further detail.
It please join Fig. 2, the present embodiment provides a kind of automatic parking control method, comprised the following steps：
When receiving the automatic parking request signal of user, start the automatic parking function of vehicle, into automatic parking control
System；
During automatic parking, whether the brake system of detection vehicle fails in real time；
If brake system is normal, the available parking position that vehicle goes out according to Intelligent Recognition, calculates vehicle and enter pool
The movement locus of position, constantly adjustment vehicle heading and speed, make track traveling of the vehicle along setting, treat that vehicle safety enters
Enter after parking position, be linked into park position, complete after automatic parking, exit automated parking system；
If detecting the brake system failure of vehicle, current driving direction and the current vehicle speed of vehicle are judged；
Please join Fig. 2 and Fig. 3 simultaneously, when the brake system for detecting vehicle fails, if the current driving direction of vehicle is
Advance, and current vehicle speed is more than speed threshold value Vpark (the speed threshold value Vpark set in advance for allowing to be linked into park position
Value can be illustrated 0 between 5km/h in the present embodiment by taking 4km/h as an example, but be not limited thereto), then control
Vehicle is linked into reverse gear, and vehicle deceleration is promoted with the reactive torque provided using clutch, allows to hang until speed is less than or equal to
Enter the speed threshold value 4km/h of park position；When speed, which is less than or equal to, allows the speed threshold value 4km/h for being linked into park position, control
Vehicle is linked into park position；
When the brake system for detecting vehicle fails, if the current driving direction of vehicle is advances, and current vehicle speed
Less than or equal to the speed threshold value 4km/h for allowing to be linked into park position, then directly vehicle is controlled to be linked into park position；
Please join Fig. 2 and Fig. 4 simultaneously, when the brake system for detecting vehicle fails, if the current driving direction of vehicle is
Retreat, and current vehicle speed is more than the speed threshold value 4km/h set in advance for allowing to be linked into park position, then before control vehicle is linked into
Enter shelves, vehicle deceleration is promoted with the reactive torque provided using clutch, allow to be linked into park position until speed is less than or equal to
Speed threshold value 4km/h；When speed, which is less than or equal to, allows the speed threshold value 4km/h for being linked into park position, then vehicle is controlled to hang
Enter park position；
When the brake system for detecting vehicle fails, if the current driving direction of vehicle is retreats, and current vehicle speed
Less than or equal to the speed threshold value 4km/h for allowing to be linked into park position, then directly vehicle is controlled to be linked into park position.
Please join Fig. 5, the present invention also provides a kind of automatic parking control system 20, including receiving module 21, detection module 22,
Judge module 23, control module 24.
Receiving module 21 is connected with automatic parking button 25, is sent out for receiving user by triggering automatic parking button 25
The automatic parking request signal gone out, makes vehicle launch automatic parking function and enters automatic parking control；
Detection module 22 is connected with brake system 26, for detecting whether brake system 26 controlled in automatic parking in real time
Brake failure occurs in journey；
Judge module 23 is connected with velocity sensor 27, and obtained vehicle row is detected by velocity sensor 27 for receiving
Sail direction and speed；
Control module 24 is connected with automatic poking gear mechanism 28, for sending control signal to automatic poking gear mechanism 28, by certainly
The dynamic driving of fork shift mechanism 28 vehicle is linked into required gear automatically.
Specifically, if brake system 26 fails during automatic parking, being set in advance when the current vehicle speed of vehicle is more than
It is fixed when allowing the speed threshold value Vpark for being linked into park position, then control automatic poking gear mechanism 28 to hang vehicle by control module 24
Enter the gear in opposite direction with current driving, vehicle deceleration is promoted with the reactive torque provided using clutch, when the car of vehicle
Prompt drop to it is default allow to be linked within the speed threshold value Vpark of park position when, then automatic fork shift machine controlled by control module 24
Structure 28 makes vehicle be linked into park position.
Specifically, when user triggers automatic parking button 25, automatic parking request signal, receiving module are sent to vehicle
21 when receiving the automatic parking request signal of user, and automated parking system is activated, hence into automatic parking control；
During automatic parking, detection module 22 detects whether the brake system 26 of vehicle fails in real time；
If the detection brake system 26 of detection module 22 is normal, the available parking position that vehicle goes out according to Intelligent Recognition,
The movement locus that vehicle enters berth is calculated, constantly vehicle heading and speed is adjusted, makes track of the vehicle along setting
Traveling, after vehicle safety enters parking position, is linked into park position, completes after automatic parking, exit automated parking system；
If detection module 22 detects that the brake system 26 of vehicle fails, judge module 23 is judged by velocity sensor 27
The current driving direction of vehicle and current vehicle speed；
When detection module 22 detects that the brake system 26 of vehicle fails, if judge module 23 judges the current of vehicle
Travel direction is advances, and current vehicle speed is more than speed threshold value Vpark (this implementation set in advance for allowing to be linked into park position
Example is illustrated by taking 4km/h as an example, but not limited to this), then control automatic poking gear mechanism 28 to be linked into vehicle by control module 24
Reverse gear, vehicle deceleration is promoted with the reactive torque provided using clutch, allows to be linked into park position until speed is less than or equal to
Speed threshold value 4km/h；When speed, which is less than or equal to, allows the speed threshold value 4km/h for being linked into park position, then by control module
24 control automatic poking gear mechanisms 28 make vehicle be linked into park position；
When detection module 22 detects that the brake system 26 of vehicle fails, if judge module 23 judges the current of vehicle
Travel direction is advances, and current vehicle speed is less than or equal to the speed threshold value 4km/h set in advance for allowing to be linked into park position,
Then automatic poking gear mechanism 28 is controlled vehicle is directly linked into park position by control module 24；
When detection module 22 detects that the brake system 26 of vehicle fails, if judge module 23 judges the current of vehicle
Travel direction is retreats, and current vehicle speed is more than the speed threshold value 4km/h set in advance for allowing to be linked into park position, then by controlling
The control automatic poking of molding block 24 gear mechanism 28 makes vehicle be linked into drive shift, and vehicle is promoted with the reactive torque provided using clutch
Slow down, until speed is less than or equal to the speed threshold value 4km/h for allowing to be linked into park position；Allow to be linked into when speed is less than or equal to
During the speed threshold value 4km/h of park position, then automatic poking gear mechanism 28 is controlled vehicle is linked into park position by control module 24；
When detection module 22 detects that the brake system 26 of vehicle fails, if judge module 23 judges the current of vehicle
Travel direction is retreats, and current vehicle speed is less than or equal to the speed threshold value 4km/h set in advance for allowing to be linked into park position,
Then automatic poking gear mechanism 28 is controlled vehicle is directly linked into park position by control module 24.
Automatic parking control method and automatic parking control system provided in an embodiment of the present invention, during automatic parking
In the case of there is brake failure, without driver's intervention, vehicle can be made to gradually reduce speed, both reduce and occurred traffic accident
Risk, can make vehicle safety stop again, without increasing extra executing agency and control system, reduce cost, improve vehicle
The robustness of each system, can be avoided because faulty operation causes damage to vehicle and personnel caused by driver experience's deficiency,
Reduce the property loss of driver.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of automatic parking control method, it is characterised in that comprise the following steps：
The automatic parking request signal of user is received, starting the automatic parking function of vehicle makes vehicle be controlled into automatic parking；
Whether the brake system of detection vehicle fails in real time in automatic parking control process；
If detecting the brake system failure of vehicle, current driving direction and the current vehicle speed of vehicle are judged；
When vehicle current vehicle speed be more than it is set in advance allow the speed threshold value for being linked into park position when, control vehicle be linked into work as
Preceding traveling gear in opposite direction, promotes vehicle deceleration, when the speed of vehicle is down to the reactive torque provided using clutch
When within the speed threshold value, then vehicle is controlled to be linked into park position.
2. automatic parking control method as claimed in claim 1, it is characterised in that control vehicle is linked into and current driving direction
Opposite gear, is specifically included：If current driving direction is direction of advance, control vehicle is linked into reverse gear；If current line
Direction is sailed for direction of retreat, then controls vehicle to be linked into drive shift.
3. automatic parking control method as claimed in claim 1, it is characterised in that failed in the brake system for detecting vehicle
When, if the current vehicle speed of vehicle is located within the speed threshold value, control vehicle is directly linked into park position.
4. automatic parking control method as claimed in claim 1, it is characterised in that the span of the speed threshold value is small
In or equal to 5km/h.
5. automatic parking control method as claimed in claim 4, it is characterised in that the speed threshold value is 4km/h.
6. a kind of automatic parking control system, it is characterised in that including：
Receiving module, the automatic parking request signal for receiving user, starting the automatic parking function of vehicle enters vehicle
Automatic parking is controlled；
Detection module, for whether the brake system of detection vehicle to fail in real time in automatic parking control process；
Judge module, during for being failed in the brake system for detecting vehicle, judges current driving direction and the current vehicle of vehicle
Speed；
Control module, for when vehicle current vehicle speed be more than it is set in advance allow the speed threshold value for being linked into park position when, control
Vehicle processed is linked into the gear in opposite direction with current driving, and vehicle deceleration is promoted with the reactive torque provided using clutch, when
When the speed of vehicle is down within the speed threshold value, then vehicle is controlled to be linked into park position.
7. automatic parking control system as claimed in claim 6, it is characterised in that the receiving module and automatic parking button
Connection, the automatic parking request signal that triggers the automatic parking button and send is passed through to receive user.
8. automatic parking control system as claimed in claim 6, it is characterised in that the detection module connects with brake system
Connect, to detect whether the brake system occurs brake failure in automatic parking control process.
9. automatic parking control system as claimed in claim 6, it is characterised in that the judge module connects with velocity sensor
Connect, obtained vehicle heading and speed are detected by the velocity sensor to receive.
10. automatic parking control system as claimed in claim 6, it is characterised in that the control module and automatic fork shift machine
Structure is connected, and the control module is driven by sending control signal to the automatic poking gear mechanism by the automatic poking gear mechanism
Vehicle is linked into required gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263064.4A CN107161142A (en) | 2017-04-20 | 2017-04-20 | Automatic parking control method and automatic parking control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263064.4A CN107161142A (en) | 2017-04-20 | 2017-04-20 | Automatic parking control method and automatic parking control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107161142A true CN107161142A (en) | 2017-09-15 |
Family
ID=59813660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710263064.4A Pending CN107161142A (en) | 2017-04-20 | 2017-04-20 | Automatic parking control method and automatic parking control system |
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| Country | Link |
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| CN (1) | CN107161142A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891780A (en) * | 2017-10-26 | 2018-04-10 | 广州汽车集团零部件有限公司 | Electric automobile automated parking system based on speed moment of torsion control |
| CN110356414A (en) * | 2019-08-08 | 2019-10-22 | 浙江吉利汽车研究院有限公司 | A kind of crash handling method and system based on full-automatic parking system |
| CN110562246A (en) * | 2019-08-26 | 2019-12-13 | 中国第一汽车股份有限公司 | parking control method and device, vehicle and storage medium |
| CN110834611A (en) * | 2019-10-24 | 2020-02-25 | 中国第一汽车股份有限公司 | P-gear parking method, system, vehicle and storage medium |
| CN112406896A (en) * | 2020-11-24 | 2021-02-26 | 东风汽车集团有限公司 | Pure electric vehicle passenger-replacing parking function failure protection method and system |
| CN112896150A (en) * | 2021-02-07 | 2021-06-04 | 中国第一汽车股份有限公司 | Emergency parking method, device, storage medium and system in parking state |
| US20210179064A1 (en) * | 2019-12-16 | 2021-06-17 | Hyundai Motor Company | Hybrid Electric Vehicle and Method for Controlling Speed Limit for the Same |
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| WO2008046703A1 (en) * | 2006-10-17 | 2008-04-24 | Robert Bosch Gmbh | Failsafe parking aid system |
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| CN104093615A (en) * | 2012-02-14 | 2014-10-08 | 罗伯特·博世有限公司 | Method for automatically driving, in particular parking, a motor vehicle and a driver assistance device |
| CN104512394A (en) * | 2013-09-27 | 2015-04-15 | 北汽福田汽车股份有限公司 | Auxiliary braking control method and system during parking of automobile |
| CN105517866A (en) * | 2013-09-13 | 2016-04-20 | 罗伯特·博世有限公司 | Driver assistance system with increased reliability and availability |
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| WO2008046703A1 (en) * | 2006-10-17 | 2008-04-24 | Robert Bosch Gmbh | Failsafe parking aid system |
| CN102407848A (en) * | 2010-09-21 | 2012-04-11 | 高强 | Controller system with automatic parking and intelligent driving functions |
| CN104093615A (en) * | 2012-02-14 | 2014-10-08 | 罗伯特·博世有限公司 | Method for automatically driving, in particular parking, a motor vehicle and a driver assistance device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891780A (en) * | 2017-10-26 | 2018-04-10 | 广州汽车集团零部件有限公司 | Electric automobile automated parking system based on speed moment of torsion control |
| CN110356414A (en) * | 2019-08-08 | 2019-10-22 | 浙江吉利汽车研究院有限公司 | A kind of crash handling method and system based on full-automatic parking system |
| CN110562246A (en) * | 2019-08-26 | 2019-12-13 | 中国第一汽车股份有限公司 | parking control method and device, vehicle and storage medium |
| CN110834611A (en) * | 2019-10-24 | 2020-02-25 | 中国第一汽车股份有限公司 | P-gear parking method, system, vehicle and storage medium |
| CN110834611B (en) * | 2019-10-24 | 2021-03-19 | 中国第一汽车股份有限公司 | P-gear parking method, system, vehicle and storage medium |
| US20210179064A1 (en) * | 2019-12-16 | 2021-06-17 | Hyundai Motor Company | Hybrid Electric Vehicle and Method for Controlling Speed Limit for the Same |
| US11926310B2 (en) * | 2019-12-16 | 2024-03-12 | Hyundai Motor Company | Hybrid electric vehicle and method for controlling speed limit for the same |
| CN112406896A (en) * | 2020-11-24 | 2021-02-26 | 东风汽车集团有限公司 | Pure electric vehicle passenger-replacing parking function failure protection method and system |
| CN112896150A (en) * | 2021-02-07 | 2021-06-04 | 中国第一汽车股份有限公司 | Emergency parking method, device, storage medium and system in parking state |
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Application publication date: 20170915 |