CN109334641A - Parking braking method, device and the storage medium of intelligent automobile - Google Patents
Parking braking method, device and the storage medium of intelligent automobile Download PDFInfo
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- CN109334641A CN109334641A CN201811469575.2A CN201811469575A CN109334641A CN 109334641 A CN109334641 A CN 109334641A CN 201811469575 A CN201811469575 A CN 201811469575A CN 109334641 A CN109334641 A CN 109334641A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004590 computer program Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 6
- 101150047683 ESC1 gene Proteins 0.000 description 3
- 101100222815 Hordeum vulgare EPB2 gene Proteins 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000001788 irregular Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
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
-
- 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
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- Engineering & Computer Science (AREA)
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- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of parking braking method of intelligent automobile, device and storage mediums, belong to intelligent automobile technical field.This method comprises: determining the current parking situation of intelligent automobile when detecting that intelligent automobile currently needs to carry out parking；Based on the current parking situation of intelligent automobile, the corresponding mode of braking of the current parking situation of intelligent automobile is determined from multiple modes of braking of intelligent automobile；Based on the mode of braking, controls the intelligent automobile and braked.The present invention passes through the parking situation for determining that intelligent automobile is current, corresponding mode of braking is selected from a variety of modes of braking, and braked according to corresponding mode of braking.Due to may include a variety of modes of braking in intelligent automobile, corresponding mode of braking is selected according to parking situation to not only realize, when ensure that a kind of mode of braking breaks down wherein simultaneously, there is also other modes of braking to brake to intelligent automobile in intelligent automobile, improves intelligent automobile braking safety and drive safety.
Description
Technical field
The present invention relates to intelligent automobile technical field, in particular to a kind of parking braking method of intelligent automobile, device and
Storage medium.
Background technique
With the development of technology, automobile is as the extensive vehicles, be people's vehicles used in everyday it
One, and with vehicle intellectualized development, the security performance of intelligent automobile also slowly receives more and more attention.In intelligent vapour
Vehicle is in the process of moving, it will usually occur it is various need the case where braking, need intelligent automobile to realize effective braking at this time.
Currently, the parking braking mode of intelligent automobile only includes electronic brake mode, and eliminate the P shelves of gearbox
Mechanical locking arrangement.Parking braking function is actually that (Electrical Park Brake, electronics are stayed by EPB in intelligent automobile
Vehicle braking system) execute, once EPB breaks down, intelligent automobile will be unable to realize parking function, and may cause traffic thing
Therefore jeopardize the safety of driver and passenger.
Summary of the invention
The embodiment of the invention provides a kind of parking braking method of intelligent automobile, device and storage mediums, for solving
The problem that intelligent automobile braking safety is poor in the related technology, intelligent automobile drive safety is low.The technical solution is as follows:
In a first aspect, providing a kind of parking braking method of intelligent automobile, which comprises
When detecting that intelligent automobile currently needs to carry out parking, the current parking situation of the intelligent automobile is determined；
Based on the current parking situation of the intelligent automobile, from multiple modes of braking of the intelligent automobile described in determination
The corresponding mode of braking of the current parking situation of intelligent automobile；
Based on the mode of braking, controls the intelligent automobile and braked.
Optionally, the current parking situation of the determination intelligent automobile, comprising:
Detect the intelligent automobile current environment；
When the intelligent automobile be in the environment of traffic lights crossing in the environment of ramp or traffic congestion environment in when, really
The current parking situation of the fixed intelligent automobile is interim parking situation；
When the intelligent automobile is not in the traffic lights crossing or the ramp environment or the traffic congestion environment
When, determine parking situation when the current parking situation of the intelligent automobile is long.
Optionally, the parking situation current based on the intelligent automobile, determines the current braking of the intelligent automobile
Mode, comprising:
When the intelligent automobile is in interim parking situation, determine that the mode of braking of the intelligent automobile is to pass through electronics
The mode that stabilitrak ESC is braked；
When the intelligent automobile be in it is long when parking situation when, determine the intelligent automobile mode of braking be pass through electronics
The mode that parking braking system EPB and the ESC are braked.
Optionally, the current parking situation of intelligent automobile is determined in multiple modes of braking from the intelligent automobile
After corresponding mode of braking, further includes:
Obtain the operation information of the braking system of the intelligent automobile；
When in the intelligent automobile ESC break down when, determine the intelligent automobile mode of braking be by EPB into
The mode of row braking；
When in the intelligent automobile EPB break down when, determine the intelligent automobile mode of braking be by ESC into
The mode of row braking.
Second aspect, provides a kind of holding brake device of intelligent automobile, and described device includes:
First determining module, for determining the intelligent automobile when detecting that intelligent automobile currently needs to carry out parking
Current parking situation；
Second determining module, for the parking situation current based on the intelligent automobile, from the multiple of the intelligent automobile
The corresponding mode of braking of the current parking situation of intelligent automobile is determined in mode of braking；
Control module controls the intelligent automobile and is braked for being based on the mode of braking.
Optionally, first determining module includes:
Detection sub-module, for detecting the intelligent automobile current environment；
First determines submodule, for being in the environment of traffic lights crossing or ramp environment when the intelligent automobile
In or traffic congestion environment in when, determine the current parking situation of the intelligent automobile be interim parking situation；
Second determines submodule, for being not in the traffic lights crossing or the ramp when the intelligent automobile
When in environment or the traffic congestion environment, parking situation when the current parking situation of the intelligent automobile is long is determined.
Optionally, second determining module is used for:
When the intelligent automobile is in interim parking situation, determine that the mode of braking of the intelligent automobile is to pass through electronics
The mode that stabilitrak ESC is braked；
When the intelligent automobile be in it is long when parking situation when, determine the intelligent automobile mode of braking be pass through electronics
The mode that parking braking system EPB and the ESC are braked.
Optionally, described device further include:
Obtain module, the operation information of the braking system for obtaining the intelligent automobile；
Third determining module, for determining the system of the intelligent automobile when the ESC in the intelligent automobile breaks down
Flowing mode is in such a way that EPB is braked；
4th determining module, for determining the system of the intelligent automobile when the EPB in the intelligent automobile breaks down
Flowing mode is in such a way that ESC is braked.
The third aspect provides a kind of computer readable storage medium, is stored with computer program in the storage medium,
The computer program realizes any method in above-mentioned first aspect when being executed by processor.
Technical solution bring beneficial effect provided in an embodiment of the present invention includes at least:
It in embodiments of the present invention, can be by determining the current parking situation of intelligent automobile, from a variety of of intelligent automobile
The corresponding mode of braking of current parking situation is selected in mode of braking, and is braked according to corresponding mode of braking.Due to intelligence
It can may include a variety of modes of braking in automobile, corresponding mode of braking is selected according to parking situation to not only realize, is guaranteed simultaneously
When a kind of mode of braking breaks down wherein, there is also other modes of braking to intelligent automobile system in intelligent automobile
It is dynamic, improve intelligent automobile braking safety and drive safety.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of structural schematic diagram of the braking system of intelligent automobile provided in an embodiment of the present invention；
Fig. 2 is a kind of parking braking method flow chart of intelligent automobile provided in an embodiment of the present invention；
Fig. 3 is a kind of parking braking method flow chart of intelligent automobile provided in an embodiment of the present invention；
Fig. 4 is a kind of holding brake device structural schematic diagram of intelligent automobile provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of first determining module provided in an embodiment of the present invention；
Fig. 6 is the holding brake device structural schematic diagram of another intelligent automobile provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of intelligent automobile provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Before carrying out detailed explanation to the embodiment of the present invention, the first application to being related in the embodiment of the present invention
Scene and system architecture are explained respectively.
Firstly, to the present embodiments relate to application scenarios be introduced.
As vehicle intellectualized development works as intelligent automobile to guarantee safety of the intelligent automobile under different road conditions
When needing to brake, parking braking can be carried out by the electronic brake mode for including, still, stopped in intelligent automobile at present
Gear braking function is actually to be executed by EPB, once EPB breaks down, intelligent automobile will be unable to realize parking function, and can
Traffic accident can be caused, jeopardize the safety of driver and passenger.
Based on such scene, the embodiment of the invention provides a kind of braking effect and braking safeties of can be improved
The parking braking method of intelligent automobile.
Next, to the present embodiments relate to system architecture be introduced.
Fig. 1 is a kind of structural schematic diagram of the braking system of intelligent automobile provided in an embodiment of the present invention, should referring to Fig. 1
System includes ESC (elctronic stability control, electronic stability controlling system) 1, EPB (Electrical
Park Brake, electronic brake system) the 2, first power-supply system 3 and second source system 4.ESC1 can be with the first power supply
System 3 connects, and EPB2 can be connect with second source system 4, and ESC1 and EPB2 are independent of one another, but can pass through CAN network
Mutually communication.Wherein, for realizing the braking of intelligent automobile when intelligent automobile is in interim parking situation, EPB2 is used for ESC1
When intelligent automobile is in long when parking situation, the braking of intelligent automobile is realized simultaneously with ESC.
It should be noted that the first power-supply system and second source system are respectively two sets of batteries or DCDC (direct current change
Direct current) combination of two between converter or battery and DC-DC converter.
It, next will be in conjunction with attached drawing to this in the application scenarios to the embodiment of the present invention and after system architecture is introduced
The parking braking method for the intelligent automobile that inventive embodiments provide describes in detail.
Fig. 2 is a kind of parking braking method flow chart of intelligent automobile provided in an embodiment of the present invention, referring to fig. 2, the party
Method is applied in intelligent automobile, includes the following steps.
Step 201: when detecting that intelligent automobile currently needs to carry out parking, determining the current parking feelings of the intelligent automobile
Condition.
Step 202: based on the current parking situation of the intelligent automobile, being determined from multiple modes of braking of the intelligent automobile
This states the corresponding mode of braking of the current parking situation of intelligent automobile.
Step 203: being based on the mode of braking, control the intelligent automobile and braked.
It in embodiments of the present invention, can be by determining the current parking situation of intelligent automobile, from a variety of of intelligent automobile
The corresponding mode of braking of current parking situation is selected in mode of braking, and is braked according to corresponding mode of braking.Due to intelligence
It can may include a variety of modes of braking in automobile, corresponding mode of braking is selected according to parking situation to not only realize, is guaranteed simultaneously
When a kind of mode of braking breaks down wherein, there is also other modes of braking to intelligent automobile system in intelligent automobile
It is dynamic, improve intelligent automobile braking safety and drive safety.
Optionally it is determined that the parking situation that the intelligent automobile is current, comprising:
Detect the intelligent automobile current environment；
When the intelligent automobile be in the environment of traffic lights crossing in the environment of ramp or traffic congestion environment in when, determine
The current parking situation of the intelligent automobile is interim parking situation；
When the intelligent automobile is not in the traffic lights crossing or the ramp environment or the traffic congestion environment, determine
Parking situation when the current parking situation of the intelligent automobile is long.
Optionally, the parking situation current based on the intelligent automobile determines the current mode of braking of the intelligent automobile, packet
It includes:
When the intelligent automobile is in interim parking situation, determine that the mode of braking of the intelligent automobile is to pass through electronic stability
The mode that property control system ESC is braked；
When the intelligent automobile be in it is long when parking situation when, determine the intelligent automobile mode of braking be pass through electronic parking
The mode that braking system EPB and the ESC are braked.
Optionally it is determined that before the current mode of braking of the intelligent automobile, further includes:
Obtain the operation information of the braking system of the intelligent automobile；
When in the intelligent automobile ESC break down when, determine the intelligent automobile mode of braking be by EPB into
The mode of row braking；
When the EPB in the intelligent automobile breaks down, determine that the mode of braking of the intelligent automobile is to be made by ESC
Dynamic mode.
All the above alternatives, can form alternative embodiment of the invention according to any combination, and the present invention is real
It applies example and this is no longer repeated one by one.
Fig. 3 is a kind of parking braking method flow chart of intelligent automobile provided in an embodiment of the present invention, referring to Fig. 3, the party
Method includes the following steps.
Step 301: when detecting that intelligent automobile currently needs to carry out parking, determining the current parking feelings of intelligent automobile
Condition.
Since driver is during driving intelligent automobile, it is possible that diversified road conditions, for example, traffic congestion,
Traffic lights crossing, upward slope crossing etc..According to different road conditions, intelligent automobile there may come a time when temporarily to stop, sometimes
Time may be that the arrival of driver destination is stopped for a long time.The parking of different situations needs intelligent automobile selection different
Mode of braking, therefore, in order to accurately select mode of braking, intelligent automobile can detect currently need to carry out parking when,
Determine the current parking situation of intelligent automobile.
Wherein, intelligent automobile determines that the operation of current parking situation can be with are as follows: detection intelligent automobile current environment；
When intelligent automobile be in the environment of traffic lights crossing in the environment of ramp or traffic congestion environment in when, determine that intelligent automobile is worked as
Preceding parking situation is interim parking situation；When intelligent automobile is not in traffic lights crossing or ramp environment or traffic congestion ring
When in border, parking situation when the current parking situation of intelligent automobile is long is determined.
It should be noted that determining that current environment is traffic when intelligent automobile gets traffic signals modulating signal
In signal lamp intersection environment；Since when intelligent automobile is in the environment of ramp, ramp usually has certain tilt angle, from
And be located at ramp on intelligent automobile body also can run-off the straight, therefore, when intelligent automobile detects the vehicle body of intelligent automobile
When tilt angle is greater than or equal to angle threshold, determine that intelligent automobile is currently in the environment of ramp；Due at intelligent automobile
When in the environment that blocks up, distance of the intelligent automobile apart from other forward vehicles of current driving side is smaller, and other vehicles are almost
It does not move, therefore, there are other vehicles before intelligent automobile detects current driving direction, and between other vehicles
When distance is gradually decrease to distance threshold, determine that intelligent automobile is currently in traffic congestion environment.
It should also be noted that, the angle threshold can be arranged in advance, for example, the angle threshold can be 10 degree, 20
Degree, 30 degree etc..The distance threshold can be equally arranged in advance, for example, the distance threshold can be 5 meters, 3 meters, 2 meters etc..
In addition, intelligent automobile can be when receiving parking instruction, determination currently needs parking, or is detecting traffic
Signal lamp is designated as stopping when driving, determining and currently needing parking.
Step 302: intelligent automobile determines intelligence based on current parking situation from multiple modes of braking of intelligent automobile
The corresponding mode of braking of the current parking situation of automobile.
Due to above-mentioned steps it is found that different parking situations needs to select different modes of braking, intelligent automobile needs
To determine that the current parking situation of intelligent automobile is corresponding from multiple modes of braking of intelligent automobile according to current parking situation
Mode of braking.
Wherein, intelligent automobile determines intelligence vapour based on current parking situation from multiple modes of braking of intelligent automobile
The operation of the corresponding mode of braking of the current parking situation of vehicle may include: to determine when intelligent automobile is in interim parking situation
The mode of braking of intelligent automobile is in such a way that ESC is braked；When intelligent automobile be in it is long when parking situation when, determine intelligence
The mode of braking of energy automobile is in such a way that EPB and ESC are braked.
It should be noted that intelligent automobile passes through ESC and EPB simultaneously to carry out when intelligent automobile needs long-time parking
Braking, ensure that intelligent automobile parking safety.
In addition, intelligent automobile when needing to carry out parking, can not also detect the current parking situation of intelligent automobile, but
By driver, actively selection carries out long-time parking or interim parking.When intelligent automobile detects that driver selects interim parking
When, determine that the mode of braking of intelligent automobile is in such a way that ESC is braked.When intelligent automobile detects that driver selects length
When time parking, determine that the mode of braking of intelligent automobile is in such a way that EPB and ESC are braked.
It should be noted that driver, which can be issued by voice messaging to intelligent automobile, carries out long-time parking or interim
The instruction of parking can also be selected by long-time parking button in intelligent automobile or interim parking button.
Further, since the EPB in sometimes intelligent automobile is it is possible that failure, intelligent automobile can not pass through at this time
EPB is braked, at this time it is possible that because of traffic accident caused by can not braking, therefore, in order to guarantee intelligent automobile
Driving safety, intelligent automobile determine the corresponding system of the current parking situation of intelligent automobile from multiple modes of braking of intelligent automobile
After flowing mode, the operation information of the braking system of intelligent automobile can also be obtained；When the ESC in intelligent automobile breaks down
When, determine that the mode of braking of intelligent automobile is in such a way that EPB is braked；When the EPB in intelligent automobile breaks down,
The mode of braking for determining intelligent automobile is in such a way that ESC is braked.
Wherein, by above-mentioned Fig. 1 it is found that ESC can be communicated with EPB by CAN network, therefore, when EPB breaks down
When, failure message can be sent to ESC by EPB, and ESC can brake intelligent automobile after receiving failure message.When
When EPB does not break down and operates normally, failure message can not be sent to ESC, or send normal operation message to ESC.
ESC is not involved in braking of the EPB to intelligent automobile when not receiving failure message or receiving normal operation message.
Step 303: intelligent automobile is based on mode of braking, and control intelligent automobile is braked.
Wherein, when the mode of braking of intelligent automobile is to be carried out in such a way that ESC is braked by intelligent automobile ESC
Braking；When the mode of braking of intelligent automobile is in such a way that EPB and ESC are braked, by the EPB of intelligent automobile and
ESC respectively brakes intelligent automobile；When the mode of braking of intelligent automobile is in such a way that EPB is braked, pass through
The EPB of intelligent automobile brakes intelligent automobile.
In embodiments of the present invention, the parking situation that intelligent automobile can be current by determination, from a variety of of intelligent automobile
The corresponding mode of braking of current parking situation is selected in mode of braking, and is braked according to corresponding mode of braking.Due to intelligence
It can may include a variety of modes of braking in automobile, corresponding mode of braking is selected according to parking situation to not only realize, is guaranteed simultaneously
When a kind of mode of braking breaks down wherein, there is also other modes of braking to intelligent automobile system in intelligent automobile
It is dynamic, improve intelligent automobile braking safety and drive safety.
After the parking braking method to intelligent automobile provided in an embodiment of the present invention is explained, next,
The holding brake device of intelligent automobile provided in an embodiment of the present invention is introduced.
Fig. 4 is that a kind of block diagram of the holding brake device for intelligent automobile that the embodiment of the present disclosure provides referring to fig. 4 should
Device being implemented in combination with by software, hardware or both.The device includes: the first determining module 401, the second determining module
402 and control module 403.
First determining module 401, for when detecting that intelligent automobile currently needs to carry out parking, determining the intelligent vapour
The current parking situation of vehicle；
Second determining module 402, for the parking situation current based on the intelligent automobile, from the more of the intelligent automobile
The corresponding mode of braking of the current parking situation of intelligent automobile is determined in a mode of braking；
Control module 403 controls the intelligent automobile and is braked for being based on the mode of braking.
Optionally, referring to Fig. 5, first determining module 401 includes:
Detection sub-module 4011, for detecting the intelligent automobile current environment；
First determines submodule 4012, for being in the environment of traffic lights crossing or ramp when the intelligent automobile
When in environment or in traffic congestion environment, determine that the current parking situation of the intelligent automobile is interim parking situation；
Second determines submodule 4013, for being not in the traffic lights crossing or described when the intelligent automobile
When in ramp environment or the traffic congestion environment, parking situation when the current parking situation of the intelligent automobile is long is determined.
Optionally, second determining module 402 is used for:
When the intelligent automobile is in interim parking situation, determine that the mode of braking of the intelligent automobile is to pass through electronics
The mode that stabilitrak ESC is braked；
When the intelligent automobile be in it is long when parking situation when, determine the intelligent automobile mode of braking be pass through electronics
The mode that parking braking system EPB and the ESC are braked.
Optionally, referring to Fig. 6, described device further include:
Obtain module 404, the operation information of the braking system for obtaining the intelligent automobile；
Third determining module 405, for determining the intelligent automobile when the ESC in the intelligent automobile breaks down
Mode of braking be in such a way that EPB is braked；
4th determining module 406, for determining the intelligent automobile when the EPB in the intelligent automobile breaks down
Mode of braking be in such a way that ESC is braked.
In conclusion in embodiments of the present invention, the parking situation that intelligent automobile can be current by determination, from intelligent vapour
The corresponding mode of braking of current parking situation is selected in a variety of modes of braking of vehicle, and according to corresponding mode of braking system
It is dynamic.Due to may include a variety of modes of braking in intelligent automobile, corresponding mode of braking is selected according to parking situation to not only realize,
When ensure that a kind of mode of braking breaks down wherein simultaneously, there is also other modes of braking to intelligent automobile in intelligent automobile
It is braked, improves intelligent automobile braking safety and drive safety.
It should be understood that the holding brake device of intelligent automobile provided by the above embodiment is to intelligent automobile system
When dynamic, only the example of the division of the above functional modules, in practical application, can according to need and by above-mentioned function
Distribution is completed by different functional modules, i.e., the internal structure of device is divided into different functional modules, to complete above retouch
The all or part of function of stating.In addition, the holding brake device and intelligent automobile of intelligent automobile provided by the above embodiment
Parking braking method embodiment belongs to same design, and specific implementation process is detailed in embodiment of the method, and which is not described herein again.
Fig. 7 shows the structural block diagram of the intelligent automobile 700 of an illustrative embodiment of the invention offer.
In general, intelligent automobile 700 includes: processor 701 and memory 702.
Processor 701 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
Reason device 701 can use DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-
Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, may be programmed
Logic array) at least one of example, in hardware realize.Processor 701 also may include primary processor and coprocessor, master
Processor is the processor for being handled data in the awake state, also referred to as CPU (Central Processing
Unit, central processing unit)；Coprocessor is the low power processor for being handled data in the standby state.?
In some embodiments, processor 701 can be integrated with GPU (Graphics Processing Unit, image processor),
GPU is used to be responsible for the rendering and drafting of content to be shown needed for display screen.In some embodiments, processor 701 can also be wrapped
AI (Artificial Intelligence, artificial intelligence) processor is included, the AI processor is for handling related machine learning
Calculating operation.
Memory 702 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 702 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 702 can
Storage medium is read for storing at least one instruction, at least one instruction performed by processor 701 for realizing this Shen
Please in embodiment of the method provide intelligent automobile parking braking method.
In some embodiments, intelligent automobile 700 is also optional includes: peripheral device interface 703 and at least one periphery
Equipment.It can be connected by bus or signal wire between processor 701, memory 702 and peripheral device interface 703.It is each outer
Peripheral equipment can be connected by bus, signal wire or circuit board with peripheral device interface 703.Specifically, peripheral equipment includes: to penetrate
At least one in frequency circuit 704, touch display screen 705, camera 706, voicefrequency circuit 707, positioning component 708 and power supply 709
Kind.
Peripheral device interface 703 can be used for I/O (Input/Output, input/output) is relevant outside at least one
Peripheral equipment is connected to processor 701 and memory 702.In some embodiments, processor 701, memory 702 and peripheral equipment
Interface 703 is integrated on same chip or circuit board；In some other embodiments, processor 701, memory 702 and outer
Any one or two in peripheral equipment interface 703 can realize on individual chip or circuit board, the present embodiment to this not
It is limited.
Radio circuit 704 is for receiving and emitting RF (Radio Frequency, radio frequency) signal, also referred to as electromagnetic signal.It penetrates
Frequency circuit 704 is communicated by electromagnetic signal with communication network and other communication equipments.Radio circuit 704 turns electric signal
It is changed to electromagnetic signal to be sent, alternatively, the electromagnetic signal received is converted to electric signal.Optionally, radio circuit 704 wraps
It includes: antenna system, RF transceiver, one or more amplifiers, tuner, oscillator, digital signal processor, codec chip
Group, user identity module card etc..Radio circuit 704 can be carried out by least one wireless communication protocol with other terminals
Communication.The wireless communication protocol includes but is not limited to: Metropolitan Area Network (MAN), each third generation mobile communication network (2G, 3G, 4G and 5G), wireless office
Domain net and/or WiFi (Wireless Fidelity, Wireless Fidelity) network.In some embodiments, radio circuit 704 may be used also
To include the related circuit of NFC (Near Field Communication, wireless near field communication), the application is not subject to this
It limits.
Display screen 705 is for showing UI (User Interface, user interface).The UI may include figure, text, figure
Mark, video and its their any combination.When display screen 705 is touch display screen, display screen 705 also there is acquisition to show
The ability of the touch signal on the surface or surface of screen 705.The touch signal can be used as control signal and be input to processor
701 are handled.At this point, display screen 705 can be also used for providing virtual push button and/or dummy keyboard, also referred to as soft button and/or
Soft keyboard.In some embodiments, display screen 705 can be one, and the front panel of intelligent automobile 700 is arranged；In other realities
It applies in example, display screen 705 can be at least two, be separately positioned on the different surfaces of intelligent automobile 700 or in foldover design；?
In still other embodiments, display screen 705 can be flexible display screen, is arranged on the curved surface of intelligent automobile 700 or folds
On face.Even, display screen 705 can also be arranged to non-rectangle irregular figure, namely abnormity screen.Display screen 705 can be adopted
With LCD (Liquid Crystal Display, liquid crystal display), (Organic Light-Emitting Diode, has OLED
Machine light emitting diode) etc. materials preparation.
CCD camera assembly 706 is for acquiring image or video.Optionally, CCD camera assembly 706 include front camera and
Rear camera.In general, the front panel of terminal is arranged in front camera, the back side of terminal is arranged in rear camera.One
In a little embodiments, rear camera at least two is main camera, depth of field camera, wide-angle camera, focal length camera shooting respectively
Any one in head, to realize that main camera and the fusion of depth of field camera realize background blurring function, main camera and wide-angle
Camera fusion realizes that pan-shot and VR (Virtual Reality, virtual reality) shooting function or other fusions are clapped
Camera shooting function.
Voicefrequency circuit 707 may include microphone and loudspeaker.Microphone is used to acquire the sound wave of user and environment, and will
Sound wave, which is converted to electric signal and is input to processor 701, to be handled, or is input to radio circuit 704 to realize voice communication.
For stereo acquisition or the purpose of noise reduction, microphone can be separately positioned on the different parts of intelligent automobile 700 to be multiple.
Microphone can also be array microphone or omnidirectional's acquisition type microphone.Loudspeaker is then used to that processor 701 or radio frequency will to be come from
The electric signal of circuit 704 is converted to sound wave.Loudspeaker can be traditional wafer speaker, be also possible to piezoelectric ceramics loudspeaking
Device.When loudspeaker is piezoelectric ceramic loudspeaker, the audible sound wave of the mankind can be not only converted electrical signals to, can also be incited somebody to action
Electric signal is converted to the sound wave that the mankind do not hear to carry out the purposes such as ranging.In some embodiments, voicefrequency circuit 707 can be with
Including earphone jack.
Positioning component 708 is used for the current geographic position of positioning intelligent automobile 700, to realize navigation or LBS (Location
Based Service, location based service).Positioning component 708 can be the GPS (Global based on the U.S.
Positioning System, global positioning system), the dipper system of China, Russia Gray receive this system or European Union
The positioning component of Galileo system.
Power supply 709 is used to be powered for the various components in intelligent automobile 700.Power supply 709 can be alternating current, direct current
Electricity, disposable battery or rechargeable battery.When power supply 709 includes rechargeable battery, which can support wired
Charging or wireless charging.The rechargeable battery can be also used for supporting fast charge technology.
In some embodiments, intelligent automobile 700 further includes having one or more sensors 710.The one or more passes
Sensor 710 includes but is not limited to: acceleration transducer 711.
Acceleration transducer 711 can detecte the acceleration in three reference axis of the coordinate system established with intelligent automobile 700
Spend size.For example, acceleration transducer 711 can be used for detecting component of the acceleration of gravity in three reference axis.Processor
The 701 acceleration of gravity signals that can be acquired according to acceleration transducer 711, control touch display screen 705 with transverse views or
Longitudinal view carries out the display of user interface.Acceleration transducer 711 can be also used for game or the exercise data of user
Acquisition.
It that is to say, the embodiment of the present invention provides not only a kind of intelligent automobile, including processor and is used for storage processor
The memory of executable instruction, wherein processor is configured as executing the method in Fig. 2 and embodiment shown in Fig. 3, moreover,
The embodiment of the invention also provides a kind of computer readable storage medium, it is stored with computer program in the storage medium, the meter
The parking braking method of Fig. 2 and the intelligent automobile in embodiment shown in Fig. 3 may be implemented in calculation machine program when being executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 7 does not constitute the restriction to intelligent automobile 700, it can
To include perhaps combining certain components than illustrating more or fewer components or being arranged using different components.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of parking braking method of intelligent automobile, which is characterized in that the described method includes:
When detecting that intelligent automobile currently needs to carry out parking, the current parking situation of the intelligent automobile is determined；
Based on the current parking situation of the intelligent automobile, the intelligence is determined from multiple modes of braking of the intelligent automobile
The corresponding mode of braking of the current parking situation of automobile；
Based on the mode of braking, controls the intelligent automobile and braked.
2. the method as described in claim 1, which is characterized in that the current parking situation of the determination intelligent automobile, packet
It includes:
Detect the intelligent automobile current environment；
When the intelligent automobile be in the environment of traffic lights crossing in the environment of ramp or traffic congestion environment in when, determine institute
Stating the current parking situation of intelligent automobile is interim parking situation；
When the intelligent automobile is not in the traffic lights crossing or the ramp environment or the traffic congestion environment,
Determine parking situation when the current parking situation of the intelligent automobile is long.
3. method according to claim 1 or 2, which is characterized in that the parking situation current based on the intelligent automobile,
Determine the current mode of braking of the intelligent automobile, comprising:
When the intelligent automobile is in interim parking situation, determine that the mode of braking of the intelligent automobile is to pass through electronic stability
The mode that property control system ESC is braked；
When the intelligent automobile be in it is long when parking situation when, determine the intelligent automobile mode of braking be pass through electronic parking
The mode that braking system EPB and the ESC are braked.
4. the method as described in claim 1, which is characterized in that determined in multiple modes of braking from the intelligent automobile
After the corresponding mode of braking of the current parking situation of intelligent automobile, further includes:
Obtain the operation information of the braking system of the intelligent automobile；
When the ESC in the intelligent automobile breaks down, determine that the mode of braking of the intelligent automobile is to be made by EPB
Dynamic mode；
When the EPB in the intelligent automobile breaks down, determine that the mode of braking of the intelligent automobile is to be made by ESC
Dynamic mode.
5. a kind of holding brake device of intelligent automobile, which is characterized in that described device includes:
First determining module, for when detecting that intelligent automobile currently needs to carry out parking, determining that the intelligent automobile is current
Parking situation；
Second determining module, for the parking situation current based on the intelligent automobile, from multiple brakings of the intelligent automobile
The corresponding mode of braking of the current parking situation of intelligent automobile is determined in mode；
Control module controls the intelligent automobile and is braked for being based on the mode of braking.
6. device as claimed in claim 5, which is characterized in that first determining module includes:
Detection sub-module, for detecting the intelligent automobile current environment；
First determine submodule, for when the intelligent automobile be in the environment of traffic lights crossing or in the environment of ramp or
When in traffic congestion environment, determine that the current parking situation of the intelligent automobile is interim parking situation；
Second determines submodule, for being not in the traffic lights crossing or the ramp environment when the intelligent automobile
Or when in the traffic congestion environment, parking situation when the current parking situation of the intelligent automobile is long is determined.
7. such as device described in claim 5 or 6, which is characterized in that second determining module is used for:
When the intelligent automobile is in interim parking situation, determine that the mode of braking of the intelligent automobile is to pass through electronic stability
The mode that property control system ESC is braked；
When the intelligent automobile be in it is long when parking situation when, determine the intelligent automobile mode of braking be pass through electronic parking
The mode that braking system EPB and the ESC are braked.
8. device as claimed in claim 5, which is characterized in that described device further include:
Obtain module, the operation information of the braking system for obtaining the intelligent automobile；
Third determining module, for determining the braking side of the intelligent automobile when the ESC in the intelligent automobile breaks down
Formula is in such a way that EPB is braked.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer program, the meter in the storage medium
Any method in claim 1-4 is realized when calculation machine program is executed by processor.
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| CN201811469575.2A CN109334641B (en) | 2018-11-28 | 2018-11-28 | Parking braking method and device of intelligent automobile and storage medium |
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| CN201811469575.2A CN109334641B (en) | 2018-11-28 | 2018-11-28 | Parking braking method and device of intelligent automobile and storage medium |
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| CN114435321A (en) * | 2022-02-21 | 2022-05-06 | 一汽解放汽车有限公司 | Automatic parking control method for vehicle |
| CN112114575B (en) * | 2019-07-17 | 2024-06-28 | 上汽通用五菱汽车股份有限公司 | Chip fault processing method, automobile and computer readable storage medium |
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