CN106347350A - Automatic parking method and system thereof - Google Patents

Automatic parking method and system thereof Download PDF

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Publication number
CN106347350A
CN106347350A CN201611018584.0A CN201611018584A CN106347350A CN 106347350 A CN106347350 A CN 106347350A CN 201611018584 A CN201611018584 A CN 201611018584A CN 106347350 A CN106347350 A CN 106347350A
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CN
China
Prior art keywords
parking system
parking
speed
gear
comparison result
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Granted
Application number
CN201611018584.0A
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Chinese (zh)
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CN106347350B (en
Inventor
张道谱
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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Priority to CN201611018584.0A priority Critical patent/CN106347350B/en
Publication of CN106347350A publication Critical patent/CN106347350A/en
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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
    • 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
    • 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
    • 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
    • B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/182—Conjoint control of vehicle sub-units of different type or different function including control of braking systems including control 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
    • B60W2520/10—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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/188—Parking lock mechanisms

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Transmission Device (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses an automatic parking method and system thereof. The method comprises the following steps: detecting a vehicle speed and acquiring the vehicle running speed; detecting a braking movement, applying the braking movement to generate a braking order; comparing the vehicle running speed with the preset speed to generate a comparison result indicating whether the parking operation shall be initiated; wherein based on the braking order and the comparison result, controlling the working condition of a gear shifting bar, a first parking system and a second parking system, and based on the vehicle running speed and the braking order, controlling the working condition of the gear shifting bar, the first parking system and the second parking system. Compared with the prior art of the automatic parking method and system provided by the present invention can effectively reduce the noise, vibration and harshness, improve the driving comfort. The determination of parking operation availability based on the speed can effectively protect the transmission parts of the gear box and enhance the parking efficiency.

Description

Automatic parking method and system
Technical Field
The invention relates to the field of vehicle control, in particular to an automatic parking method and system.
Background
The existing gear shifting control mechanism of a finished automobile matched with an automatic gearbox is in a mode of a gear shifting handle and a parking wire, wherein the gear shifting handle is used for sending P, R, N, D and S gear signals (P gear and parking gear which are mainly used for long-time parking), R gear and reverse gear (which can also be used as reverse gear) which are mainly used for stopping the automobile, N gear and neutral gear which are mainly red lights for short-time parking, D gear and running gear which are used for driving more, and S gear and engine high-speed running gear which is mainly used for mountainous roads, ramps and overtaking) and is directly connected with a parking mechanism of the gearbox through the parking wire. If the whole vehicle directly uses the parking mechanism on the ramp, the gearbox parking mechanism and the transmission part need to bear the torque generated by the gravity of the whole vehicle. And when the whole vehicle exits from the P gear, the gear shifting handle needs a large force to overcome the torque borne by the parking wire drawing mechanism and the parking mechanism, and the driving comfort is reduced.
Disclosure of Invention
The invention aims to provide an automatic parking method and system, which solve the problems in the prior art, reduce Noise, Vibration and Harshness (NVH), judge whether parking operation can be performed according to speed, effectively protect transmission parts of a gearbox, and in some embodiments, give an early warning on potential faults or wrong operation of a whole vehicle.
The automatic parking method provided by the invention comprises the following steps: detecting the speed of the vehicle to obtain the driving speed; detecting a braking action, and generating a braking instruction through the braking action; generating a comparison result of whether the parking operation can be entered or not according to the comparison of the running speed and a preset speed; and controlling the working states of the gear shifter, the first parking system and the second parking system according to the braking instruction and the comparison result, and controlling the working states of the gear shifter, the first parking system and the second parking system according to the driving speed and the braking instruction.
The method as described above, wherein the controlling the operating states of the gear shifter, the first parking system and the second parking system according to the braking command and the comparison result specifically includes: under the condition that the parking operation cannot be entered in the comparison result, controlling the gear shifter to be locked, the first parking system to be in a stop working state and the second parking system to be in a stop working state; when the comparison result is that the parking operation can be entered and a braking instruction is received, controlling the gear shifter to release the locking, wherein the first parking system is in a stop working state, and the second parking system is in a stop working state; and under the condition that the parking operation can be entered and the brake command is not received as a comparison result, controlling the gear shifter to be locked, wherein the first parking system is in a stop working state, and the second parking system is in a stop working state.
The method as described above, wherein after the comparison result indicates that the parking operation can be entered and a brake command is received, the method further comprises: and if the gear shifter is shifted from the forward gear to the reverse gear or from the reverse gear to the forward gear, the gear shifting is cancelled and an alarm is given.
The method as described above, wherein the controlling the operating states of the gear shifter, the first parking system and the second parking system according to the driving speed and the braking command specifically includes: and when the traveling speed is equal to 0km/h and no braking instruction is received, controlling the gear shifter to be locked, wherein the first parking system is in a work stopping state, and the second parking system can be in any one of the work stopping state and the work state optionally.
The method as described above, wherein the controlling the operating states of the gear shifter, the first parking system and the second parking system according to the driving speed and the braking command specifically includes: when the traveling speed is equal to 0km/h and a braking instruction is received, controlling the gear shifter to remove the deadlocking, and when the gear shifter is shifted into a parking gear, controlling the second parking system to firstly enter a working state and then controlling the first parking system to secondly enter the working state; when the gear shifter shifts into a forward gear or a reverse gear, the second parking system is controlled to be in any one of a stop working state and a working state selectively, and the first parking system is in the stop working state.
The method as described above, wherein the generating a comparison result of whether the parking operation can be entered according to the comparison of the driving speed and the predetermined speed specifically includes: when the running speed is greater than or equal to a preset speed, the comparison result is that the parking operation can not be entered; when the traveling speed is greater than 0km/h and less than a predetermined speed, the comparison result is that the parking operation can be entered.
The method as described above, wherein the predetermined speed is 10 km/h.
The automatic parking system provided by the invention comprises: the speed detector is used for acquiring the driving speed; the brake detector is used for detecting whether a brake action is performed or not and generating a brake instruction; a shifter for shifting the vehicle; a first parking system for blocking or unblocking a transmission speed transmission; a second parking system for blocking and unblocking rotation of the wheel; the gearbox is provided with a control unit, the control unit comprises a processor and a controller, the processor is used for comparing the running speed with a preset speed and generating a comparison result, and the controller is used for controlling the working states of the gear shifter, the first parking system and the second parking system according to the comparison result, the brake command and the running speed.
The system as described above, further comprising: an accelerator opening sensor for detecting an accelerator opening; and the controller controls the working state of the first parking system through the actuating mechanism.
Compared with the prior art using the parking drawing wire, the automatic parking method and the system provided by the invention can effectively reduce noise, vibration and sound vibration roughness, improve driving comfort, judge whether the parking operation can be performed according to the speed, effectively protect transmission parts of the gearbox, improve parking efficiency, and in some embodiments, can early warn potential faults or wrong operation of the whole vehicle, thereby avoiding bad results of misoperation.
Drawings
FIG. 1 is a block diagram of a control process according to a braking command and a comparison result in an embodiment of an automatic parking method according to the present invention;
FIG. 2 is a block diagram of a driving speed and braking command control flow according to an embodiment of the automatic parking method of the present invention;
fig. 3 is a schematic structural diagram of an automatic parking system according to an embodiment of the present invention.
Description of reference numerals: 1-a brake detector; 2-accelerator opening sensor; 3-a speed detector; 4-a gearbox; 5-a gear shifter; 6-a second parking system; 7-actuator
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention discloses an automatic parking method which comprises the steps of detecting a vehicle speed to obtain a vehicle speed, comparing the vehicle speed with a preset speed, and generating a comparison result of whether a parking operation can be started or not according to the comparison result. And further detecting braking action, generating a braking instruction through the braking action, generating the braking instruction if the braking action exists, and not generating the braking instruction if the braking action does not exist.
And finally, controlling the working states of the gear shifter, the first parking system and the second parking system according to the braking instruction and the comparison result, and controlling the working states of the gear shifter, the first parking system and the second parking system according to the driving speed and the braking instruction.
Alternatively, the predetermined speed is 10 km/h. Of course, this is only a preferred embodiment and is not intended to limit the present application. As described in detail below.
The first parking system has an operating state and a deactivated state, wherein the operating state is a state in which the transmission of the speed of the transmission is prevented, and the deactivated state is a state in which the transmission of the speed of the transmission is released. The second parking system has an operating state in which the wheel rotation is prevented and a deactivated state in which the wheel rotation is released.
The method of performing control based on the braking command and the comparison result will be described with reference to fig. 1.
A comparison result of whether the vehicle operation can be entered into can be generated according to the braking instruction and the comparison result, and the following result is A: this car operation can be entered, and as a result B: the two cases of entering the parking operation are not explained.
A may enter a parking operation: the running speed is less than the preset speed and is not 0 km/h.
Referring to fig. 1, in a case where a parking operation is possible and a braking command is received, the gear shifter is controlled to be unlocked, the first parking system is in a deactivated state, and the second parking system is in a deactivated state.
The unlocking of the gear shifter means that a gear shifting operation can be performed by the gear shifter, which is generally performed by a driver, and requires the driver to perform a gear shifting operation or command. Of course, there is also a corresponding gear shift lock-up, i.e. an indication that no gear shift operation can be performed.
Further, the first parking system being in the deactivated state means that the first parking system is unable to perform the parking operation, and similarly, the second parking system being in the deactivated state means that the second parking system is unable to perform the parking operation.
With continued reference to fig. 1, corresponding to the above-described operation of entering into parking and receiving a brake command, there is also a case where entering into parking is possible but no brake command is received, such as low-speed driving and parking is not required, at which time the control gear shifter is locked (i.e., gear shifting is not possible), and the first and second parking systems are in a deactivated state (i.e., no parking action is performed).
In detail, when the driving speed is greater than 0km/h and less than a predetermined speed, it is determined that the parking operation can be entered; at this time, different operations are performed in accordance with whether or not a braking instruction is received. Generally, the braking instruction can be directly or indirectly sent by the driver, for example, the driver steps on the brake, and the sensor senses that the driver performs the braking operation, so as to generate the braking instruction. It is easy to understand that automatic parking is initiated when the driver needs to park.
The gear shifter is controlled to be unlocked after the brake instruction is received, namely gear shifting can be carried out, the first parking system and the second parking system are in the working stop state, it is easy to understand that parking is required after the brake instruction is received, and gear shifting can be carried out to the P gear, namely the parking gear. Although the braking command is given, the vehicle is still in the process of decelerating and is not stopped, so that the parking operation is not suitable, and the first parking system and the second parking system are in a stop working state.
And if the brake command is not received, the gear shifter is controlled to be locked, and the first parking system and the second parking system are in a stop working state. It is easy to understand that the vehicle needs to run normally and does not need to be parked.
It should be noted that the gear shifter is locked in the present text, which generally means that no gear shifting can be performed between the forward gear, the reverse gear and the parking gear, and the forward gear, the engine high speed gear and the neutral gear are not under the limitation of the gear shifter locking mentioned herein. For example, it is mentioned below that in the case of a locked gear shifter, the forward gear cannot be shifted like the reverse gear, but the forward gear is not necessarily limited to shifting to the engine high speed gear.
Hereinafter, for convenience of explanation, when both the first parking system and the second parking system are in the deactivated state, it may be simply referred to as parking system deactivated), or the like.
B may not enter parking operation: the running speed is greater than or equal to a preset speed.
Alternatively, when the traveling speed is equal to or higher than a predetermined speed, a comparison result that the parking operation cannot be entered is generated. In this case, referring to fig. 1, the gear shifter is locked and the parking system is stopped. It is easily understood that above the predetermined speed, it is understood that the vehicle is running at a high speed, in which case there is a danger if the vehicle is automatically parked.
The operating state and the stop state of the first parking system and the second parking system have been described above, and it can be simply understood that the first parking system achieves the purpose of parking by controlling the transmission. The second parking system, the principle may be similar to the concept of "handbrake". The second parking system may be a mechanically constructed "locked" wheel or an electronically controlled brake that prevents rotation of the wheel. The second parking system may be driver controlled, such as a conventional "handbrake", although this is an alternative embodiment of the second parking system.
The control method according to the driving speed and the braking command is explained below with reference to fig. 2.
The case where the traveling speed is equal to or higher than the predetermined speed and the traveling speed is less than the predetermined speed and is greater than 0km/h has been described in this specification, and also the case where the traveling speed is 0km/h will be described below.
When the running speed is equal to 0km/h, the vehicle is in a stop state, if a braking instruction is not received, the gear shifter is controlled to be locked, the first parking system is in a stop working state, and the second parking system is in any one of the stop working state and the working state optionally.
Generally, when an automatic transmission automobile is in a parking state, a brake needs to be stepped to shift gears, so that adverse effects that the vehicle is suddenly started and the like due to direct gear shifting are avoided, namely the reason why the gear shifter is locked after the brake instruction is received is avoided, and adverse effects caused by misoperation can be avoided (the condition that the gear shifting cannot be directly performed in the parking state can be understood).
When the driving speed is equal to 0km/h and a brake instruction is received, the gear shifter is unlocked, gear shifting can be carried out, and at the moment, the gear shifting can be divided into two conditions according to gear shifting, wherein the first condition is that a forward gear or a reverse gear is changed into a parking gear; in the second mode, the park gear is shifted into forward or reverse.
In the first case, the second parking system is first put into operation, and the first parking system is then put into operation.
In the second case, the first parking system is in a stopped state, and the second parking system is optionally in either an active state or a deactivated state. It will be appreciated that this may be the case when the vehicle needs to be started, and the driver may decide which state the second parking system is in, as long as the vehicle enters the deactivated state before starting, and the driver may choose to switch to the forward gear or the reverse gear again, and when the vehicle is actually started, for example, after the driver may engage the forward gear, the driver may wait for a period of time before switching the second parking system to the fourth state. At the moment, the first parking system stops working and is ready to be started at any time, and the second parking system is controlled by the final decision of starting of a driver like a hand brake.
The second case described above also applies to the operating method for starting the vehicle.
It will be appreciated that the second park system may be changed by the driver generally when selecting between an active state and a deactivated state. Other situations cannot be controlled by the driver, such as when the vehicle is traveling at high speed (more than 10km/h, the second parking system is not able to be put into operation, even if the driver operates it, because at high speed, it is dangerous to use the second parking system to stop the wheels from rotating, unlike using the brakes, which is more like the reason that the "handbrake" cannot be used during high speed travel).
In order to cooperate with the automatic parking method, the invention also discloses an automatic parking system, which comprises a speed detector 3 for acquiring the running speed, and a speed detector 3 for detecting the running speed; the brake detector 1 is used for detecting whether a brake action is performed or not and generating a brake instruction; a shifter 5 for shifting the vehicle; a first parking system (not shown in fig. 3) for blocking or unblocking a transmission speed transfer; a second parking system 6 for blocking and unblocking rotation of the wheel; and the gearbox 4 is provided with a control unit, the control unit comprises a processor and a controller, the processor is used for comparing the running speed with a preset speed and generating a comparison result, and the controller is used for controlling the working states of the gear shifter, the first parking system and the second parking system according to the comparison result, the brake instruction and the running speed.
Preferably, an accelerator opening sensor 2 is further included for detecting an accelerator opening; and the actuating mechanism 7 is connected with a controller and the first parking system, and the controller controls the working state of the first parking system through the actuating mechanism. Preferably, the shifter is an electronic shifter.
Finally, considering that the parking control system has more judgment conditions, the following briefly explains each case, and the predetermined speed is taken as an example of 10 km/h:
1. if the running speed is more than or equal to 10km/h, (no matter whether a brake command exists) the controller of the gearbox locks the gear shifter and does not allow the gear shifting operation. At the same time, the parking system stops working. When the parking system is provided with the two parking systems, the first parking system is in a stop working state, and the second parking system is in a stop working state.
2. If the vehicle speed sensor detects that the vehicle speed of the whole vehicle is 0 km/h-10 km/h, if no brake instruction exists, the gear shifter is locked, and the parking system stops working.
If a braking command is given, the gear shifter is unlocked, and the gear shifting operation can be carried out. (however, an error-reporting instruction is sent when the forward gear is changed into the reverse gear or the reverse gear is changed into the forward gear, and the gear shifting is cancelled.) the parking system stops working;
3. if the driving speed is 0km/h, if no brake command is given, the gear shifter is locked, the second parking system can be manually operated (one of the working state and the stopping state can be selected, specifically the one according to the current road condition, the next operation of the driver and the regulation execution of traffic laws), and the first parking system stops working. If a braking instruction exists, the gear shifter is unlocked, if the gear shifter is shifted to a reverse gear, the second parking system enters the working state firstly, the first parking system enters the working state again, if the gear shifter is shifted to other gears, the first parking system is in the stopping state, and the second parking system can be in any one of the working state or the stopping working state optionally
The construction, features and functions of the present invention are described in detail in the embodiments illustrated in the drawings, which are only preferred embodiments of the present invention, but the present invention is not limited by the drawings, and all equivalent embodiments modified or changed according to the idea of the present invention should fall within the protection scope of the present invention without departing from the spirit of the present invention covered by the description and the drawings.

Claims (10)

1. An automatic parking method, characterized by comprising:
detecting the speed of the vehicle to obtain the driving speed;
detecting a braking action, and generating a braking instruction through the braking action;
generating a comparison result of whether the parking operation can be entered or not according to the comparison of the running speed and a preset speed; wherein,
and controlling the working states of the gear shifter, the first parking system and the second parking system according to the braking instruction and the comparison result, and controlling the working states of the gear shifter, the first parking system and the second parking system according to the driving speed and the braking instruction.
2. The method of claim 1, wherein controlling the operating states of the shifter, the first parking system, and the second parking system based on the braking command and the comparison result comprises:
under the condition that the parking operation cannot be entered in the comparison result, controlling the gear shifter to be locked, the first parking system to be in a stop working state and the second parking system to be in a stop working state;
when the comparison result is that the parking operation can be entered and a braking instruction is received, controlling the gear shifter to release the locking, wherein the first parking system is in a stop working state, and the second parking system is in a stop working state;
and under the condition that the parking operation can be entered and the brake command is not received as a comparison result, controlling the gear shifter to be locked, wherein the first parking system is in a stop working state, and the second parking system is in a stop working state.
3. The method of claim 2, wherein after the comparing results in a situation where a parking operation is possible and a braking command is received, the method further comprises:
and if the gear shifter is shifted from the forward gear to the reverse gear or from the reverse gear to the forward gear, the gear shifting is cancelled and an alarm is given.
4. The method according to claim 1, wherein the controlling the operating state of the gear shifter, the first parking system and the second parking system according to the driving speed and the braking command comprises:
and when the traveling speed is equal to 0km/h and no braking instruction is received, controlling the gear shifter to be locked, wherein the first parking system is in a work stopping state, and the second parking system can be in any one of the work stopping state and the work state optionally.
5. The method according to claim 1, wherein the controlling the operating state of the gear shifter, the first parking system and the second parking system according to the driving speed and the braking command comprises:
when the running speed is equal to 0km/h and a braking instruction is received, the gear shifter is controlled to release the locking, and,
when the gear shifter is shifted into a parking gear, the second parking system is controlled to enter a working state firstly, and the first parking system enters the working state again;
when the gear shifter shifts into a forward gear or a reverse gear, the second parking system is controlled to be in any one of a stop working state and a working state selectively, and the first parking system is in the stop working state.
6. The method according to claim 1, wherein generating a comparison result of whether a parking operation can be entered based on the driving speed compared with a predetermined speed specifically comprises:
when the running speed is greater than or equal to a preset speed, the comparison result is that the parking operation can not be entered;
when the traveling speed is greater than 0km/h and less than a predetermined speed, the comparison result is that the parking operation can be entered.
7. The method according to any one of claims 1 to 6,
the predetermined speed is 10 km/h.
8. An automatic parking system, comprising:
the speed detector is used for acquiring the driving speed;
the brake detector is used for detecting whether a brake action is performed or not and generating a brake instruction;
a shifter for shifting the vehicle;
a first parking system for blocking or unblocking a transmission speed transmission;
a second parking system for blocking and unblocking rotation of the wheel;
the gearbox is provided with a control unit, the control unit comprises a processor and a controller, the processor is used for comparing the running speed with a preset speed and generating a comparison result, and the controller is used for controlling the working states of the gear shifter, the first parking system and the second parking system according to the comparison result, the brake command and the running speed.
9. The automatic parking system of claim 8, further comprising:
an accelerator opening sensor for detecting an accelerator opening;
and the controller controls the working state of the first parking system through the actuating mechanism.
10. The automatic parking system according to claim 8 or 9,
the gear shifter is an electronic gear shifter.
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN109835316A (en) * 2017-11-27 2019-06-04 上海汽车集团股份有限公司 A kind of processing method, device and the entire car controller of automatic parking disabler
CN112224187A (en) * 2020-09-28 2021-01-15 北京汽车股份有限公司 Control method and control system for automatic parking function of vehicle and vehicle
CN113071484A (en) * 2021-05-07 2021-07-06 恒大新能源汽车投资控股集团有限公司 Gear control method and device and electronic equipment

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