CN106627530A - Automatic control method and system for assistant parking - Google Patents
Automatic control method and system for assistant parking Download PDFInfo
- Publication number
- CN106627530A CN106627530A CN201611240351.5A CN201611240351A CN106627530A CN 106627530 A CN106627530 A CN 106627530A CN 201611240351 A CN201611240351 A CN 201611240351A CN 106627530 A CN106627530 A CN 106627530A
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- Prior art keywords
- parking
- brake
- parking assist
- vehicle
- control unit
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Classifications
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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
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an automatic control method for assistant parking. The method comprises the steps that the position of a brake pedal and the vehicle speed are detected in real time; if the brake pedal is pressed down and the vehicle speed indicates that a vehicle is in a non-deceleration state, assistant parking operation is conducted, wherein the assistant parking operation is conducted for braking tires and parking the vehicle; if the brake pedal is not pressed down and the vehicle speed indicates that the vehicle is decelerated to zero, the gear position of a gear lever is checked; when the gear lever is shifted to the neutral gear or the parking gear, the state of a hand brake is checked; and if the hand brake is not started and the brake pedal is uplifted, the assistant parking operation is conducted. Through the automatic control method, automatic assistant parking can be conducted on the vehicle when a driver forgets or fails to start the hand brake; and when a brake system fails, the functions of assistant braking and parking are achieved, and accordingly certain potential safety hazards are effectively eliminated. The invention further discloses an automatic control system for assistant parking.
Description
Technical field
The present invention relates to vehicle parking control field, more particularly to a kind of parking assist autocontrol method and system.
Background technology
So-called parking, refers to that vehicle is resident in situ.Parking control system must reliably ensure that automobile stops in situ
In and under any circumstance will not be from line slip, certainly under some special operation conditions, vehicle in the process of moving, also can be by staying
Car system control vehicle auxiliary braking stops up to vehicle, such as when the operating modes such as brake system failure occur.
Presently the most universal parking system is using parking brake technology, i.e., to start parking control system by artificial；Generally
Parking brake is divided into mechanical handling formula parking brake (some mechanical control type parking brake, using pedal type switch, but also referred to as parking brake) and electricity
Minor parking brake, its parking control principle is roughly the same, is all to be compressed brake shoe and brake rim or by clamp by drag-line
By tire locking；Certainly, except aforesaid way, according to specific needs, the parking brake of vehicle also can be using air-break type parking control system
System, and pneumatic-hydraulic mixing parking system etc.；
But no matter above-mentioned which kind of parking system, being dependent on driver's active behavior carries out parking operation, and this will have one
Fixed potential safety hazard, for example：Because artificial origin forgets or operates not in time, parking is caused to be failed；And, in the braking of vehicle
During system down, it is difficult to be rapidly switched to parking system, secondary emergency braking.
The content of the invention
The purpose of the present invention is to propose to a kind of parking assist autocontrol method and system, to when driver's forgetting or not
When starting parking brake in time, being capable of parking assist automatically；And when brake system non-functional, there is provided auxiliary braking and the work(of parking
Energy；So as to effectively eliminate certain potential safety hazard.
The technical solution used in the present invention is as follows：
The present invention provides a kind of parking assist autocontrol method, including：Real-time detection brake pedal position and speed；Such as
Fruit brake pedal is in pressed status and speed indicates that vehicle is in non-deceleration regime, then perform parking assist operation；It is described auxiliary
Help parking operation to refer to be braked tire and by vehicle parks；If brake pedal is in pressed status and speed is indicated
Vehicle deceleration is simultaneously reduced as 0, then detect the gear of gear shift lever；When gear is in neutral or parking shift, parking brake state is detected；Such as
Fruit parking brake is not actuated and brake pedal is in lifting status, then perform the parking assist operation.
Preferably, the execution parking assist operation includes：The deflation valve of parking assist executing agency is opened, by putting
The executing agency after gas is braked locking to tire.
Preferably, methods described also includes：The operating condition of real-time detection motor；When motor died is detected, detection
The gear of gear shift lever；If gear is in non-neutral and non-parking shift, the parking assist operation is performed.
Preferably, methods described also includes：Real-time detection grade signal；Grade signal is carried out with the gradient threshold value of setting
Relatively；When the grade signal is more than or equal to the gradient threshold value and speed is never changed into 0 for 0, performs the auxiliary and stay
Car is operated.
Preferably, methods described also includes：After the parking assist operation is performed, gas pedal state is detected；If
Gas pedal is detected in pressed status, then releases the brake operating to tire.
The present invention also provides a kind of parking assist automatic control system, including：Parking assist control unit and the auxiliary
Brake pedal position sensor, gear position sensor, parking brake function monitoring unit and the auxiliary that parking control unit connects is stayed
Car performance element；And carry out the vehicle-speed monitoring unit of data interaction with the parking assist control unit；The brake pedal
Position sensor, Real-time Collection brake pedal position signal, and the pedal position signal is sent to the parking assist control
Unit processed；The vehicle-speed monitoring unit, the present speed of Real-time Collection vehicle, and vehicle speed data is sent to the parking assist
Control unit；The gear position sensor, monitors the shift signal of gear shift lever, and the shift signal is sent to described auxiliary
Help parking control unit；The parking brake function monitoring unit, monitors parking brake status signal, and the parking brake status signal is sent
To the parking assist control unit；The parking brake status signal is used to indicate whether parking brake function is artificially started；It is described auxiliary
Parking control unit is helped, determines that vehicle does not slow down in pressed status and according to the vehicle speed data brake pedal is detected
Afterwards, trigger the parking assist performance element and perform parking operation；Or, it is in pressed status and car brake pedal is detected
After speed is reduced as 0, the shift signal is detected；After it is determined that gear shift lever is in neutral or parking shift, the parking brake state is detected
Signal；And it is determined that parking brake is not activated and brake pedal is after the lifting status, trigger the parking assist performance element and hold
Row parking operation；The execution parking operation, refers to perform and the tire of vehicle is braked and by the operation of vehicle parks.
Preferably, the parking assist performance element is vapour-pressure type parking assist performance element, including：Valve group, air chamber,
Stored energy mechanism and brake parking mechanism in air chamber；It is described to trigger the parking assist performance element execution parking behaviour
Make, including：The parking assist control unit triggers the deflation valve opening in the valve group, makes the air chamber deflate；Put
The stored energy mechanism exerts a force to the brake parking mechanism after gas；After the brake parking mechanism stress, the tire of vehicle is entered
Row locking, and make vehicle parks in situ.
Preferably, the system also includes：With the motor controller that the parking assist control unit carries out data interaction；
The motor controller, the operating condition signal of Real-time Collection motor, and the operating condition signal is sent to the auxiliary
Parking control unit；The parking assist control unit determines that motor is in and puts out in the operating condition signal that basis is detected
After fiery state, the shift signal is detected；And after it is determined that gear shift lever is in non-neutral and non-parking shift, triggers the auxiliary and stay
Car performance element performs parking operation.
Preferably, the system also includes：Levelness sensor；The levelness sensor Real-time Collection grade signal,
And the grade signal is sent to the parking assist control unit；The parking assist control unit, is additionally operable to detect
To the grade signal with setting gradient threshold value be compared, and the grade signal be more than or equal to the gradient
After threshold value and speed never reduce to 0 for 0, trigger the parking assist performance element and perform parking operation.
Preferably, the system also includes：The accelerator pedal position sensor being connected with the parking assist control unit；
The parking assist control unit, is additionally operable to after the parking assist performance element execution parking operation is triggered, by throttle
Pedal position sensor detects accelerator pedal position；After gas pedal is in pressed status, triggers the parking assist and perform
Unit releases parking operation.
Compared to prior art, its advantage is the present invention：Pedal position and speed to detecting of the invention, to car
Transport condition judged, if driver have brake purpose, i.e. brake pedal to be operated but speed indicate vehicle not
Slow down, then start parking assist operation；And after a stop of the vehicle, according to shift signal, parking brake state and brake pedal position
Determine that driver has intention parking but forget to start parking brake or start parking brake not in time, then start parking assist operation；So as to have
Effect ground avoids existing parking system and only relies on and artificially parking system (parking brake) operated on one's own initiative, be easily caused forget with
Operation problem not in time, and vehicle can also be braked and parked in time in brake system non-functional, eliminate one
Fixed potential safety hazard, it is believed that the present invention is that a kind of effective auxiliary to existing parking mode is supplemented.
Description of the drawings
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with accompanying drawing
Step description, wherein：
The flow chart of the embodiment of the parking assist autocontrol method that Fig. 1 is provided for the present invention；
The block diagram of the embodiment of the parking assist automatic control system that Fig. 2 is provided for the present invention；
The control sketch of one specific embodiment of the parking assist automatic control system that Fig. 3 is provided for the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
The present invention provides a kind of embodiment of parking assist autocontrol method, as shown in figure 1, including：Real-time detection is stopped
Car pedal position and speed；If brake pedal is in pressed status and speed indicates that vehicle is in non-deceleration regime, perform
Parking assist is operated；If brake pedal indicates vehicle deceleration and is reduced as 0 in pressed status and speed, gear is detected
The gear of bar；When gear is in neutral or parking shift, parking brake state is detected；If parking brake is not actuated and brake pedal is in lift
The state of rising, then perform the parking assist operation；Wherein, parking assist operation refers to and tire is braked and stops on vehicle
Stay.
The embodiment can realize that in the brake system failure of vehicle (i.e. brake pedal is in pushing and vehicle does not subtract
The state of speed), directly perform the tire to vehicle and be braked and make vehicle parks；Can also realize when vehicle orderly shutdown
When, according to gear, parking brake state and brake pedal position, automatic decision goes out the current parking intentionally of driver but does not start in time
Parking brake and when brakes is released (brake pedal is lifted), performs parking assist.The embodiment is independent of driver's
Active behavior, (typically, brakes refers to the foot brake mechanism of vehicle, and parking system can to avoid existing parking system
System refers to the handbrake mechanism of vehicle) because driver forgets or does not start in time, vehicle passively mobile generation security incident is caused, be
One kind of parking operation is effectively aided in supplementing.
Need that the present embodiment is made to illustrate, the method not only can perform parking assist to the driving wheel of vehicle
Operation, equally can also be applied on all wheels；Additionally, the speed for wherein referring to refers to the travel speed or tire of vehicle
Speed, it is also possible to refer to the acceleration of vehicle；The pressed status of the brake pedal, refer under normal circumstances, brake pedal
In the depressed position when, can effectively start the arrestment mechanism of vehicle, because due to the stroke of brake pedal in reality
The brake pedal that setting respectively has deviation, Some vehicles can not play braking effect when slightly pushing, and such case is not at this
Institute's how of bright described pressed status, in the same manner, the lifting status of described brake pedal is referred under normal circumstances, brake
When pedal is in the cocked position, arrestment mechanism is completely in release conditions, and tire is no longer by the braking action of arrestment mechanism；Again
Have, non-deceleration regime refers to that vehicle speed after brake pedal is pushed does not reduce the shape that trend still maintains on the contrary former speed or raising speed
State, and the speed contrast after deceleration regime refers to the speed before pushing according to brake pedal and pushes, after brake pedal is pushed
Speed has the significant state for reducing or reducing trend；Further, with regard to the gear after parking, for the vehicle of automatic catch includes sky
Gear and parking shift, and for manual gear vehicle, there was only neutral without parking shift, the gear after parking is detected, it is because
Typically after vehicle stops, if driver judge vehicle can stop a period of time, can by gear be placed into neutral or
Parking shift, otherwise, for the pause of very short time, can prevent vehicle from moving more than driver by brakes；Additionally, parking brake shape
State is indicated for handbrake mechanism and whether there is artificially to be started, it is, of course, also possible to be to detect whether handbrake mechanism plays the work of parking
With judging whether parking brake function is effectively started.
With regard to execution parking assist operation mentioned above, the present invention provides a preferred parking side by pneumatic mode
Formula, i.e. parking assist operation concrete steps are referred to：Open the deflation valve of parking assist executing agency, the execution after deflation
Mechanism is braked locking to tire again, referred to herein as parking assist executing agency, refer to for perform to vehicle tyre lock
The general designation of equipment only, typically, the executing agency mostly is electric-controlled mechanical part, such as by hydraulic system or baric systerm band
Dynamic brake disc or brake rim etc., for this preferred version, as vapour-pressure type mechanism；Further, being stayed using auxiliary is performed after deflation
The mode of car, is in order at the consideration to security, because the similar failure such as generation gas leakage is relatively conventional in frame for movement, deflates
Even if mode can ensure gas leakage, lose gas state, vehicle can keep or tend to brake parked state, such as according to inflation
Parking, then have larger potential safety hazard；In addition, selecting pneumatic park mode to be because compared to other modes, pneumatic mode
Response speed faster, active force is higher, so that the effect of parking assist becomes apparent from, safe；There is also the need to above-mentioned
Parking assist of the vehicle in brake system failure is described further：Due in brake system failure, often vehicle
It is kept in motion, parking assist operation now should be in the way of interrupted crawl, such as in this preferred version, by auxiliary
Helping the valve of control device carries out interrupted opening and closing operations, executing agency is made during inflation/deflation in the way of crawl pair
Tire is braked, and after vehicle stops completely, then completely by tire locking, so as to enable the vehicle to smoothly from motion shape
State braking is to parked state.
In practical operation, it also occur that some emergency cases make driver have little time to start parking system, such as motor
It is flame-out, such as motor died caused by driver's operational error, and vehicle in the process of moving due to electric-control system, oil circuit or
Stop working caused by person's motor failure of itself etc., motor mentioned here includes the conventional engine of vehicle or motor, because
This also includes needing the operating condition of real-time detection motor in a preferred version of the present embodiment, when detecting motor died
Afterwards, the position of gear shift lever is detected, if now gear shift lever is in non-neutral and non-parking shift, you can to judge to be now in anon-normal
Often switch-off, then perform above-mentioned parking assist operation.
In conjunction with realistic situation, vehicle can also cause passive movement because of geogen in use, that is, slip
Car phenomenon, thus the present invention also proposes a kind of preferred version to this situation, to play the purpose of pre- anti-slip generation, i.e., above-mentioned
Also include real-time detection grade signal in embodiment, and grade signal is compared with the gradient threshold value of setting, if the gradient
When signal is never changed into 0 more than or equal to gradient threshold value and speed for 0, then performs the parking assist and operate；It is referred to herein
Gradient threshold value be according to default different numerical value such as load-carrying, the vehicles of vehicle, also, for the consideration of speed be because
It is the transport condition that vehicle is judged at vehicle at ramp, only has one from the process for moving to stopping, ability in vehicle
Parking assist can be performed, to ensure that parking assist operation does not affect other situations of vehicle on ramp, this preferred side
Case not only acts as the effect for preventing car slipping, and driver deactivation parking brake or brake hard when car slipping is found also can be saved simultaneously
Reaction time.Avoid causing traffic accident etc. because reaction is too late.
Comprehensive embodiment described previously and preferred version, for vehicle recovers the situation that uses after parking assist is performed,
The present invention has also made further consideration, therefore the above embodiment of the present invention is additionally included in after execution parking assist operation, also
Detect the state of gas pedal；If detect gas pedal in pressed status when, release the brake operating to tire；
Supplementary notes are needed exist for, gas pedal is operated, generally it can be thought that driver has the purpose for moving vehicle, because
This, it is only necessary to is by the position of gas pedal, you can perform and release the locking effect to tire, wherein, with regard to gas pedal
The concrete condition of pressed status, here is omitted with brake pedal mentioned above in the same manner.
Correspondingly, the present invention is directed to said method, additionally provides a kind of embodiment of parking assist automatic control system, such as
Shown in Fig. 2, including：Parking assist control unit and brake pedal position sensor, the gear of the connection of parking assist control unit
Position sensor, parking brake function monitoring unit and parking assist performance element；And carry out data with parking assist control unit
Interactive vehicle-speed monitoring unit；
Brake pedal position sensor is used for Real-time Collection brake pedal position signal, and pedal position signal transmission is stated
Parking assist control unit；Vehicle-speed monitoring unit, the present speed of Real-time Collection vehicle, and vehicle speed data is sent to auxiliary stay
Car control unit；Gear position sensor, monitors the shift signal of gear shift lever, and shift signal is sent to parking assist control
Unit；Parking brake function monitoring unit, monitors parking brake status signal, and parking brake status signal is sent to parking assist control
Unit；The parking brake status signal is used to indicate whether parking brake function is artificially started；Parking assist control unit is being detected
In pressed status and after determining that vehicle does not slow down according to vehicle speed data, triggering parking assist performance element is performed stays brake pedal
Car is operated；And, detecting after brake pedal is reduced as 0 in pressed status and speed, detect shift signal；It is determined that row
Pin detects parking brake status signal after neutral or parking shift；And it is determined that parking brake is not activated and brake pedal is in lift
After the state of rising, triggering parking assist performance element performs parking operation；The execution parking operation, refers to the wheel performed to vehicle
Tire is braked and by the operation of vehicle parks.
Need to be described further the embodiment of said system, parking assist control unit can use conventional
Entire car controller VCU；Brake pedal position sensor B can be connected by analog quantity port with parking assist control unit, row
Gear position sensor L and parking brake function monitoring cell S can be connected by digital quantity port with parking assist control unit, its
What middle parking brake function monitoring unit was monitored in the present embodiment is the open/close states of parking brake pull bar or switch, thus can use contact
Limit switch or non-contact photoelectric sensor etc. are realized；And vehicle-speed monitoring unit, wheel speed sensors, motor control can be selected
Device ECU or instrument assembly, and by way of data/address bus, such as CAN, LIN or FlexRay etc., with parking assist
Control unit carries out data interaction, and certainly, acceleration transducer can also be used as vehicle-speed monitoring unit；The present invention is not to above-mentioned portion
Part type selecting, connected mode etc. are defined.
Can be by independently of vehicle braking system in actual applications for parking assist performance element mentioned above
The control device composition of system (service brake), it is also possible to share a control device with existing brakes, but from safety
Property consider, be preferably independent of the parking assist performance element of motor vehicle braking system, this parking assist performance element can be liquid
Pressure, vapour-pressure type or gas-liquid mixed mechanism, it passes through parking assist control unit and triggers corresponding gas circuit or oil circuit valve
Open and close to perform parking or release parking, it is, of course, also possible to what is considered is using the drag-line similar with parking system (parking brake)
Or caliper brake mechanism, parking assist control unit can be by motor rotation band running wire or clamp action with locking wheel；Cause
Have the advantages that quick response, brake force are big for vapour-pressure type parking, so in the present embodiment with the execution of vapour-pressure type parking assist
Unit is preferred version, and it is mainly by air accumulator T, valve group V, air chamber Q, the stored energy mechanism in air chamber and braking parking
Mechanism constitutes；In actual applications, the locking that two air chambers are respectively used to front wheels and rear wheels can be set, and because spring is being sent out
Elastic potential energy can be discharged during raw elastic deformation, thus above-mentioned stored energy mechanism can store the energy of parking assist from spring,
The charging valve and deflation valve of air chamber are additionally provided with additional valves group, and the spring is arranged in air chamber；Stay with regard to braking
Mechanism of car, can be made up of parking distance rod, brake and brake strip.
The operation principle of the vapour-pressure type parking assist performance element is summarized as follows：
When parking assist performance element of the present invention does not work, charging valve open, air accumulator to chamber inflated,
Air pressure in air chamber backs down on spring so that the brake parking mechanism does not apply brake force to wheel；And triggering mentioned above
Parking assist performance element performs parking operation, specifically in this preferred version, refers to parking assist control unit output level
Triggering deflation valve opening, makes air chamber deflate；Here can supplement a bit, be optimal control, can be by relay R and deflation
Magnetic valve realizes that above-mentioned air bleeding step, i.e. parking assist control unit output high level trigger relay coil obtain electric, relay
Power supply U powers for pressure-releasing electromagnetic valve after normally opened contact adhesive opens it；Continue again above, the spring in air chamber after deflation is released
The energy of storage is put, the distance rod for promoting brake parking mechanism stretches out, be connected on the brake of distance rod front end and tire
Brake strip is fitted, so that the tire of vehicle is subject to locking after frictional resistance to live, and then vehicle can park in situ.
For the consideration of the operational stability to above-mentioned vapour-pressure type parking assist automatic control system, can be with gas receiver
One baroceptor C of upper setting, and the baroceptor and the electrical connection of parking assist control unit.Because when vehicle operation
During, occurring when brake fade and too low air accumulator air pressure (such as blowby gas path or air failure etc.), the system cannot
Previously mentioned interrupted crawl (i.e. control valve group realizes that continuous inflation is deflated to air chamber) is realized, therefore, if now aiding in
It is too low that parking control unit detects air pressure by baroceptor, then can only make air chamber discharge partial gas pressure, i.e., by aiding in
The deflation time or aperture of parking control unit control deflation valve so that the active force of spring is not exclusively played (even if spring
Stroke is incomplete), by sacrificing braking time, to ensure that braking is steady.And as speed is reduced to a certain default calibration value
Deflate completely again afterwards.In addition, for security consideration, this preferred version should focus on independence, for using pneumatic brake
The vehicle of system or parking system, needs to be the independently installed air compressor of this parking assist automatic control system as only
Vertical source of the gas；Or also a source of the gas can be shared with this type vehicle, but gas receiver needs each independently；Using hydraulic braking or
In the vehicle of parking, when implementing the system, a small-sized source of the gas can be on the engine installed for the gas receiver supply in the system.
As described above, it also occur that a kind of situation for allowing driver to be taken by surprise, i.e. horse in vehicle operation
Mostly such case caused because driver's operational error or vehicle break down in itself up to flame-out suddenly, when generation motor
Suddenly after flame-out, driver is also possible to because flurried etc., has little time to start parking system, and then showing for vehicle slip car slipping occurs
As, therefore, it is to solve problems, further comprises in the enforcement of the system and pass through data/address bus with parking assist control unit
Connected motor controller；It is as previously mentioned, it can also be on electric vehicle that motor controller can be engine controller
Motor controller, and motor controller both can as aforementioned vehicle-speed monitoring unit be used for gather vehicle speed data, herein,
Motor controller can be also used for the operating condition signal of Real-time Collection motor, and the operating condition signal is sent to described auxiliary
Parking control unit is helped, it should be noted that the operating condition signal is indicated for whether motor stops working；Auxiliary is stayed
Car control unit is determining that motor after flameout state, detects the position shape of gear according to the operating condition signal for detecting
State, and after it is determined that gear shift lever is in non-neutral and non-parking shift, triggering parking assist performance element performs parking operation；This
In, the purpose that gear is detected after stopping working is to judge flame-out after the flame-out and non-normal stop, but the flameout state for happening suddenly.
For another kind in reality recurrent situation, the present invention also further consider, i.e., when vehicle row
When sailing to ramp, driving experience may be short of because of driver or cause to slip because negligence fails to start parking brake in time
Car.Therefore the present embodiment also provides a preferred version, can effectively prevent the generation of the situation, i.e., also include in the present system
Levelness sensor P, levelness sensor can Real-time Collection grade signal, and the grade signal is sent to parking assist control
Unit processed；Parking assist control unit is compared the grade signal for detecting with default gradient threshold value, in grade signal
More than or equal to gradient threshold value and after speed never reduces to 0 for 0, triggering parking assist performance element performs parking operation.This
In need to make to remark additionally, detection vehicle speed data be for avoid parking assist function non-essential situation work so as to
Interfere with and normally use vehicle, i.e., only in vehicle operation (in upward slope or descending way), when the situation that temporary parking occurs,
Parking assist operation is carried out to vehicle, without the need for driver parking brake is started, you can prevent vehicle from car slipping phenomenon occurring.
Further, as shown in figure 3, can be stayed with auxiliary with adding in the embodiment and preferred version of above-mentioned the system
The accelerator pedal position sensor D that car control unit is connected by analog quantity port, its effect and brake pedal position above
Put sensor similar, do not repeat herein；After triggering parking assist performance element performs parking operation, if parking assist control
Unit processed detects gas pedal and is pressed down by accelerator pedal position sensor, that is, mean to be parked by the system in vehicle
Afterwards, driver has the purpose for continuing on vehicle, thus triggering parking assist performance element releases the locking to tire and brakes,
Can be rotated further.
Construction, feature and the action effect of the present invention, above institute is described in detail according to the embodiment shown in schema above
Only presently preferred embodiments of the present invention is stated, but the present invention is not to limit practical range shown in drawing, it is every according to structure of the invention
Want made change, or be revised as the Equivalent embodiments of equivalent variations, still without departing from specification and diagram covered it is spiritual when,
All should be within the scope of the present invention.
Claims (10)
1. a kind of parking assist autocontrol method, it is characterised in that include：
Real-time detection brake pedal position and speed；
If brake pedal is in pressed status and speed indicates that vehicle is in non-deceleration regime, parking assist operation is performed；
Parking assist operation is referred to and tire is braked and by vehicle parks；
If brake pedal is in pressed status and speed indicates vehicle deceleration and is reduced as 0, the gear of detection gear shift lever；
When gear is in neutral or parking shift, parking brake state is detected；
If parking brake is not actuated and brake pedal is in lifting status, the parking assist operation is performed.
2. method according to claim 1, it is characterised in that the execution parking assist operation includes：Open auxiliary to stay
The deflation valve of car executing agency, the executing agency after deflation is braked locking to tire.
3. method according to claim 2, it is characterised in that methods described also includes：
The operating condition of real-time detection motor；
When motor died is detected, the gear of gear shift lever is detected；
If gear is in non-neutral and non-parking shift, the parking assist operation is performed.
4. method according to claim 2, it is characterised in that methods described also includes：
Real-time detection grade signal；
Grade signal is compared with the gradient threshold value of setting；
When the grade signal is more than or equal to the gradient threshold value and speed is never changed into 0 for 0, performs the auxiliary and stay
Car is operated.
5. the method according to any one of Claims 1 to 4, it is characterised in that methods described also includes：
After the parking assist operation is performed, gas pedal state is detected；
If detecting gas pedal in pressed status, the brake operating to tire is released.
6. a kind of parking assist automatic control system, it is characterised in that include：
Parking assist control unit and brake pedal position sensor, the gear position of parking assist control unit connection
Sensor, parking brake function monitoring unit and parking assist performance element；And carry out data with the parking assist control unit
Interactive vehicle-speed monitoring unit；
The brake pedal position sensor, Real-time Collection brake pedal position signal, and the pedal position signal is sent
To the parking assist control unit；
The vehicle-speed monitoring unit, the present speed of Real-time Collection vehicle, and vehicle speed data is sent to the parking assist control
Unit processed；
The gear position sensor, monitor gear shift lever shift signal, and by the shift signal send to it is described auxiliary stay
Car control unit；
The parking brake function monitoring unit, monitors parking brake status signal, and the parking brake status signal is sent to the auxiliary
Parking control unit；The parking brake status signal is used to indicate whether parking brake function is artificially started；
The parking assist control unit, car is determined brake pedal is detected in pressed status and according to the vehicle speed data
After not slowing down, trigger the parking assist performance element and perform parking operation；Or, brake pedal is being detected in pushing
After state and speed are reduced as 0, the shift signal is detected；After it is determined that gear shift lever is in neutral or parking shift, detection is described
Parking brake status signal；And it is determined that parking brake is not activated and brake pedal is after the lifting status, trigger the parking assist and hold
Row unit performs parking operation；
The execution parking operation, refers to perform and the tire of vehicle is braked and by the operation of vehicle parks.
7. system according to claim 6, it is characterised in that the parking assist performance element is vapour-pressure type parking assist
Performance element, including：Valve group, air chamber, the stored energy mechanism in air chamber and brake parking mechanism；
It is described to trigger the parking assist performance element execution parking operation, including：The parking assist control unit triggers institute
The deflation valve opening in valve group is stated, makes the air chamber deflate；The stored energy mechanism is to the brake parking mechanism after deflation
Force；After the brake parking mechanism stress, locking is carried out to the tire of vehicle, and make vehicle parks in situ.
8. system according to claim 7, it is characterised in that the system also includes：
With the motor controller that the parking assist control unit carries out data interaction；
The motor controller, the operating condition signal of Real-time Collection motor, and the operating condition signal is sent to described
Parking assist control unit；
The parking assist control unit motor being determined according to the operating condition signal that detects after flameout state,
Detect the shift signal；And after it is determined that gear shift lever is in non-neutral and non-parking shift, triggers the parking assist and perform list
Unit performs parking operation.
9. system according to claim 7, it is characterised in that the system also includes：
Levelness sensor；
The levelness sensor Real-time Collection grade signal, and the grade signal is sent into single to parking assist control
Unit；
The parking assist control unit, the grade signal for being additionally operable to detect is compared with the gradient threshold value of setting
Compared with, and after the grade signal is more than or equal to the gradient threshold value and speed never reduces to 0 for 0, trigger the auxiliary
Parking performance element performs parking operation.
10. the system according to any one of claim 6～9, it is characterised in that the system also includes：With the auxiliary
The accelerator pedal position sensor of parking control unit connection；
The parking assist control unit, is additionally operable to after the parking assist performance element execution parking operation is triggered, and passes through
Accelerator pedal position sensor detects accelerator pedal position；After gas pedal is in pressed status, the parking assist is triggered
Performance element releases parking operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611240351.5A CN106627530A (en) | 2016-12-28 | 2016-12-28 | Automatic control method and system for assistant parking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611240351.5A CN106627530A (en) | 2016-12-28 | 2016-12-28 | Automatic control method and system for assistant parking |
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| Publication Number | Publication Date |
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| CN106627530A true CN106627530A (en) | 2017-05-10 |
Family
ID=58836351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611240351.5A Pending CN106627530A (en) | 2016-12-28 | 2016-12-28 | Automatic control method and system for assistant parking |
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| CN (1) | CN106627530A (en) |
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| CN109597341A (en) * | 2018-12-27 | 2019-04-09 | 江苏徐工工程机械研究院有限公司 | A kind of engineering machinery miscellaneous function safe starting control device and method |
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| CN109597341A (en) * | 2018-12-27 | 2019-04-09 | 江苏徐工工程机械研究院有限公司 | A kind of engineering machinery miscellaneous function safe starting control device and method |
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| CN115339564A (en) * | 2021-05-12 | 2022-11-15 | 光阳工业股份有限公司 | Motorcycle with electronic parking brake control function |
| CN114872671A (en) * | 2022-06-20 | 2022-08-09 | 北京京深深向科技有限公司 | Vehicle temporary stop brake control system, vehicle and control method thereof |
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