CN109334641B - Parking braking method and device of intelligent automobile and storage medium - Google Patents
Parking braking method and device of intelligent automobile and storage medium Download PDFInfo
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- CN109334641B CN109334641B CN201811469575.2A CN201811469575A CN109334641B CN 109334641 B CN109334641 B CN 109334641B CN 201811469575 A CN201811469575 A CN 201811469575A CN 109334641 B CN109334641 B CN 109334641B
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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
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Abstract
The invention discloses a parking braking method and device of an intelligent automobile and a storage medium, and belongs to the technical field of intelligent automobiles. The method comprises the following steps: when the intelligent automobile is detected to be required to be parked currently, determining the current parking condition of the intelligent automobile; determining a braking mode corresponding to the current parking condition of the intelligent automobile from a plurality of braking modes of the intelligent automobile based on the current parking condition of the intelligent automobile; and controlling the intelligent automobile to brake based on the braking mode. According to the intelligent automobile parking braking method, the current parking condition of the intelligent automobile is determined, the corresponding braking mode is selected from the multiple braking modes, and braking is carried out according to the corresponding braking mode. The intelligent automobile can comprise a plurality of braking modes, so that the corresponding braking mode is selected according to the parking condition, and meanwhile, when one braking mode breaks down, other braking modes exist in the intelligent automobile to brake the intelligent automobile, and the braking safety and the driving safety of the intelligent automobile are improved.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a parking braking method and device of an intelligent automobile and a storage medium.
Background
With the development of technology, automobiles are one of the transportation means used by people in daily life as a wide range of transportation means, and with the development of automobile intelligence, the safety performance of intelligent automobiles is gradually receiving more and more attention. In the driving process of the intelligent automobile, various situations needing braking usually occur, and the intelligent automobile is required to realize effective braking at the moment.
At present, the parking brake mode of the intelligent automobile only comprises an electronic parking brake mode, and a P-gear mechanical locking device of a gearbox is cancelled. The parking Brake function in the smart car is actually performed by an EPB (Electrical Park Brake), and once the EPB fails, the smart car cannot implement the parking function, and may cause a traffic accident, thereby endangering the safety of drivers and passengers.
Disclosure of Invention
The embodiment of the invention provides a parking braking method, a parking braking device and a storage medium of an intelligent automobile, which are used for solving the problems of poor braking safety and low driving safety of the intelligent automobile in the related technology. The technical scheme is as follows:
in a first aspect, a parking brake method for a smart car is provided, the method comprising:
when the situation that the intelligent automobile needs to be parked currently is detected, determining the current parking condition of the intelligent automobile;
determining a braking mode corresponding to the current parking condition of the intelligent automobile from a plurality of braking modes of the intelligent automobile based on the current parking condition of the intelligent automobile;
and controlling the intelligent automobile to brake based on the braking mode.
Optionally, the determining the current parking condition of the smart car includes:
detecting the current environment of the intelligent automobile;
when the intelligent automobile is in a traffic signal lamp intersection environment, or in a ramp environment or a traffic jam environment, determining that the current parking condition of the intelligent automobile is a temporary parking condition;
and when the intelligent automobile is not positioned at the intersection of the traffic signal lamp, or in the ramp environment or the traffic jam environment, determining that the current parking condition of the intelligent automobile is a long-term parking condition.
Optionally, the determining a current braking manner of the smart car based on the current parking condition of the smart car includes:
when the intelligent automobile is in a temporary parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic stability control system (ESC);
and when the intelligent automobile is in a long-term parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic parking brake system (EPB) and the ESC.
Optionally, after determining the braking manner corresponding to the current parking condition of the intelligent vehicle from the plurality of braking manners of the intelligent vehicle, the method further includes:
acquiring running information of a brake system of the intelligent automobile;
when an ESC in the intelligent automobile breaks down, determining that the braking mode of the intelligent automobile is a mode of braking through an EPB;
when the EPB in the intelligent automobile has a fault, determining that the braking mode of the intelligent automobile is a mode of braking through the ESC.
In a second aspect, there is provided a parking brake apparatus of an intelligent vehicle, the apparatus including:
the intelligent automobile parking control system comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining the current parking condition of the intelligent automobile when the intelligent automobile is detected to be parked currently;
the second determining module is used for determining a braking mode corresponding to the current parking condition of the intelligent automobile from a plurality of braking modes of the intelligent automobile based on the current parking condition of the intelligent automobile;
and the control module is used for controlling the intelligent automobile to brake based on the braking mode.
Optionally, the first determining module includes:
the detection submodule is used for detecting the current environment of the intelligent automobile;
the first determining submodule is used for determining that the current parking condition of the intelligent automobile is a temporary parking condition when the intelligent automobile is in a traffic signal lamp intersection environment, a ramp environment or a traffic jam environment;
and the second determining submodule is used for determining that the current parking condition of the intelligent automobile is a long-term parking condition when the intelligent automobile is not positioned at the intersection of the traffic signal lamp, or in the ramp environment or the traffic jam environment.
Optionally, the second determining module is configured to:
when the intelligent automobile is in a temporary parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic stability control system (ESC);
and when the intelligent automobile is in a long-term parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic parking brake system (EPB) and the ESC.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring the running information of the brake system of the intelligent automobile;
the third determining module is used for determining that the braking mode of the intelligent automobile is a mode of braking through an EPB (electronic braking system) when the ESC in the intelligent automobile breaks down;
and the fourth determining module is used for determining that the braking mode of the intelligent automobile is a mode of braking through an ESC when the EPB in the intelligent automobile has a fault.
In a third aspect, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of the above-mentioned first aspects.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the invention, the current parking condition of the intelligent automobile can be determined, the braking mode corresponding to the current parking condition is selected from a plurality of braking modes of the intelligent automobile, and braking is carried out according to the corresponding braking mode. The intelligent automobile can comprise a plurality of braking modes, so that the corresponding braking mode is selected according to the parking condition, and meanwhile, when one braking mode breaks down, other braking modes exist in the intelligent automobile to brake the intelligent automobile, and the braking safety and the driving safety of the intelligent automobile are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a braking system of an intelligent vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a parking braking method for an intelligent vehicle according to an embodiment of the present invention;
FIG. 3 is a flowchart of a parking braking method for an intelligent vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a parking brake device of an intelligent vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a first determining module according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a parking brake device of another intelligent vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an intelligent vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Before explaining the embodiments of the present invention in detail, an application scenario and a system architecture related to the embodiments of the present invention are explained separately.
First, an application scenario related to the embodiment of the present invention is described.
With the development of automobile intellectualization, in order to ensure the safety of the intelligent automobile under different road conditions, when the intelligent automobile needs braking, the parking braking can be carried out in an included electronic parking braking mode, however, the parking gear braking function in the existing intelligent automobile is actually executed by an EPB (electronic parking brake panel), once the EPB fails, the intelligent automobile cannot realize the parking function, and traffic accidents can be caused, so that the safety of drivers and passengers is endangered.
Based on the scene, the embodiment of the invention provides the parking braking method of the intelligent automobile, which can improve the braking effect and the braking safety.
Next, a system architecture according to an embodiment of the present invention will be described.
Fig. 1 is a schematic structural diagram of a braking system of an intelligent vehicle according to an embodiment of the present invention, and referring to fig. 1, the system includes an ESC (electronic stability control) 1, an EPB (electronic parking Brake) 2, a first power supply system 3, and a second power supply system 4. The ESC1 may be connected to the first power system 3, the EPB2 may be connected to the second power system 4, and the ESC1 and EPB2 are independent of each other but may communicate with each other through a CAN network. The ESC1 is used for realizing the braking of the intelligent automobile when the intelligent automobile is in the temporary parking condition, and the EPB2 is used for realizing the braking of the intelligent automobile simultaneously with the ESC when the intelligent automobile is in the long-term parking condition.
It should be noted that the first power system and the second power system are two sets of storage batteries, or DCDC (direct current to direct current) converters, or a combination of two storage batteries and two DCDC converters, respectively.
After the application scenario and the system architecture of the embodiment of the present invention are introduced, the parking braking method of the intelligent vehicle provided by the embodiment of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 2 is a flowchart of a parking braking method for an intelligent vehicle according to an embodiment of the present invention, and referring to fig. 2, the method is applied to the intelligent vehicle and includes the following steps.
Step 201: when the situation that the intelligent automobile needs to be parked currently is detected, the current parking situation of the intelligent automobile is determined.
Step 202: and determining a braking mode corresponding to the current parking condition of the intelligent automobile from a plurality of braking modes of the intelligent automobile based on the current parking condition of the intelligent automobile.
Step 203: and controlling the intelligent automobile to brake based on the braking mode.
In the embodiment of the invention, the current parking condition of the intelligent automobile can be determined, the braking mode corresponding to the current parking condition is selected from a plurality of braking modes of the intelligent automobile, and braking is carried out according to the corresponding braking mode. The intelligent automobile can comprise a plurality of braking modes, so that the corresponding braking mode is selected according to the parking condition, and meanwhile, when one braking mode breaks down, other braking modes exist in the intelligent automobile to brake the intelligent automobile, and the braking safety and the driving safety of the intelligent automobile are improved.
Optionally, determining the current parking condition of the intelligent automobile comprises:
detecting the current environment of the intelligent automobile;
when the intelligent automobile is in a traffic signal lamp intersection environment, or in a ramp environment or a traffic jam environment, determining that the current parking condition of the intelligent automobile is a temporary parking condition;
and when the intelligent automobile is not positioned at the intersection of the traffic signal lamp, or in the ramp environment or the traffic jam environment, determining that the current parking condition of the intelligent automobile is a long-term parking condition.
Optionally, determining the current braking mode of the smart vehicle based on the current parking condition of the smart vehicle includes:
when the intelligent automobile is in a temporary parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic stability control system (ESC);
and when the intelligent automobile is in a long-term parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic parking brake system (EPB) and the ESC.
Optionally, before determining the current braking mode of the intelligent vehicle, the method further includes:
acquiring running information of a brake system of the intelligent automobile;
when an ESC in the intelligent automobile breaks down, determining that the braking mode of the intelligent automobile is a mode of braking through an EPB;
when the EPB in the intelligent automobile has a fault, determining that the braking mode of the intelligent automobile is a mode of braking through the ESC.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present invention, which is not described in detail herein.
Fig. 3 is a flowchart of a parking braking method for an intelligent vehicle according to an embodiment of the present invention, and referring to fig. 3, the method includes the following steps.
Step 301: when the situation that the intelligent automobile needs to be parked currently is detected, the current parking situation of the intelligent automobile is determined.
Due to the fact that a driver can have various road conditions in the process of driving the intelligent automobile, for example, traffic jam, traffic signal lamp intersections, uphill road intersections and the like can occur. According to different road conditions, the intelligent automobile can be parked temporarily at times, and sometimes the driver can arrive at the destination to park for a long time. The parking of different situations requires that the intelligent automobile selects different braking modes, so that the intelligent automobile can determine the current parking condition of the intelligent automobile when detecting that the intelligent automobile needs to park at present in order to accurately select the braking modes.
The operation of the intelligent automobile for determining the current parking condition can be as follows: detecting the current environment of the intelligent automobile; when the intelligent automobile is in a traffic signal lamp intersection environment, or in a ramp environment or a traffic jam environment, determining that the current parking condition of the intelligent automobile is a temporary parking condition; when the intelligent automobile is not located at a traffic signal lamp intersection, or in a ramp environment or a traffic jam environment, determining that the current parking condition of the intelligent automobile is a long-term parking condition.
It should be noted that when the intelligent automobile acquires a traffic signal lamp signal, it is determined that the current environment is in the intersection environment of the traffic signal lamp; when the intelligent automobile is in the ramp environment, the ramp usually has a certain inclination angle, so that the body of the intelligent automobile on the ramp can also incline, and therefore when the intelligent automobile detects that the inclination angle of the body of the intelligent automobile is larger than or equal to the angle threshold value, the intelligent automobile is determined to be in the ramp environment currently; because when the intelligent automobile is in the traffic jam environment, the distance between the intelligent automobile and other vehicles in front of the current driving direction is smaller, and the other vehicles hardly move, when the intelligent automobile detects that other vehicles exist in front of the current driving direction and the distance between the intelligent automobile and other vehicles is gradually reduced to a distance threshold value, the intelligent automobile is determined to be in the traffic jam environment at present.
It should be noted that the angle threshold may be set in advance, for example, the angle threshold may be 10 degrees, 20 degrees, 30 degrees, and so on. The distance threshold may also be set in advance, for example, the distance threshold may be 5 meters, 3 meters, 2 meters, and so on.
In addition, the intelligent automobile can determine that parking is required currently when a parking instruction is received, or determine that parking is required currently when a traffic signal lamp is detected to indicate that the intelligent automobile stops running.
Step 302: the intelligent automobile determines a braking mode corresponding to the current parking condition of the intelligent automobile from a plurality of braking modes of the intelligent automobile based on the current parking condition.
According to the steps, different braking modes are required to be selected for different parking conditions, so that the intelligent automobile needs to determine the braking mode corresponding to the current parking condition of the intelligent automobile from a plurality of braking modes of the intelligent automobile according to the current parking condition.
The operation of determining the braking mode corresponding to the current parking condition of the intelligent automobile from the plurality of braking modes of the intelligent automobile based on the current parking condition of the intelligent automobile may include: when the intelligent automobile is in a temporary parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an ESC (electronic stability control) chip; and when the intelligent automobile is in a long-term parking condition, determining the braking mode of the intelligent automobile as a mode of braking through the EPB and the ESC.
It should be noted that, when the intelligent automobile needs to be parked for a long time, the intelligent automobile is braked through the ESC and the EPB at the same time, and the parking safety of the intelligent automobile is ensured.
In addition, when the intelligent automobile needs to be parked, the driver can actively select whether to park for a long time or temporarily without detecting the current parking condition of the intelligent automobile. When the intelligent automobile detects that the driver selects temporary parking, the intelligent automobile is determined to be braked through the ESC. When the intelligent automobile detects that the driver selects to park for a long time, the intelligent automobile is determined to be braked by the EPB and the ESC.
The driver may issue an instruction to park the vehicle for a long time or temporarily to the smart vehicle through voice information, or may select the instruction through a long-time parking button or a temporary parking button in the smart vehicle.
Further, because the EPB in the intelligent vehicle may be in failure, the intelligent vehicle may not be braked by the EPB at this time, and a traffic accident caused by the inability to brake may occur at this time, in order to ensure the driving safety of the intelligent vehicle, the intelligent vehicle may further obtain the operation information of the braking system of the intelligent vehicle after determining the braking mode corresponding to the current parking condition of the intelligent vehicle from the plurality of braking modes of the intelligent vehicle; when an ESC in the intelligent automobile breaks down, determining that the braking mode of the intelligent automobile is a mode of braking through an EPB; when the EPB in the intelligent automobile has a fault, determining the braking mode of the intelligent automobile as a mode of braking through the ESC.
As CAN be seen from fig. 1, the ESC CAN communicate with the EPB through the CAN network, so that when the EPB fails, the EPB CAN send a fault message to the ESC, and the ESC CAN brake the smart car after receiving the fault message. When the EPB is not failed and operates normally, no failure message may be sent to the ESC or a normal operation message may be sent to the ESC. And when the ESC does not receive the fault message or receives the normal operation message, the ESC does not intervene in the braking of the EPB on the intelligent automobile.
Step 303: the intelligent automobile is controlled to brake based on the braking mode.
When the intelligent automobile is braked in an ESC braking mode, the intelligent automobile is braked in the ESC braking mode; when the intelligent automobile is braked by the EPB and the ESC, the intelligent automobile is braked by the EPB and the ESC of the intelligent automobile respectively; when the braking mode of the intelligent automobile is a mode of braking through the EPB, the intelligent automobile is braked through the EPB of the intelligent automobile.
In the embodiment of the invention, the intelligent automobile can select the braking mode corresponding to the current parking condition from a plurality of braking modes of the intelligent automobile by determining the current parking condition, and brake according to the corresponding braking mode. The intelligent automobile can comprise a plurality of braking modes, so that the corresponding braking mode is selected according to the parking condition, and meanwhile, when one braking mode breaks down, other braking modes exist in the intelligent automobile to brake the intelligent automobile, and the braking safety and the driving safety of the intelligent automobile are improved.
After explaining the parking brake method of the intelligent vehicle according to the embodiment of the present invention, the parking brake device of the intelligent vehicle according to the embodiment of the present invention will be described.
Fig. 4 is a block diagram of a parking brake device of an intelligent vehicle according to an embodiment of the present disclosure, and referring to fig. 4, the device may be implemented by software, hardware, or a combination of the two. The device includes: a first determining module 401, a second determining module 402 and a control module 403.
The first determining module 401 is configured to determine a current parking condition of the smart vehicle when it is detected that the smart vehicle needs to be parked currently;
a second determining module 402, configured to determine, based on a current parking situation of the smart vehicle, a braking manner corresponding to the current parking situation of the smart vehicle from among multiple braking manners of the smart vehicle;
and a control module 403, configured to control the smart car to brake based on the braking manner.
Optionally, referring to fig. 5, the first determining module 401 includes:
the detection submodule 4011 is configured to detect a current environment of the intelligent automobile;
the first determining submodule 4012 is configured to determine that the current parking condition of the intelligent automobile is a temporary parking condition when the intelligent automobile is in an intersection environment of traffic lights, or in a ramp environment or in a traffic jam environment;
the second determining submodule 4013 is configured to determine that the current parking condition of the smart car is a long-term parking condition when the smart car is not located at the intersection of the traffic signal lamp, or in the ramp environment or the traffic jam environment.
Optionally, the second determining module 402 is configured to:
when the intelligent automobile is in a temporary parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic stability control system (ESC);
and when the intelligent automobile is in a long-term parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic parking brake system (EPB) and the ESC.
Optionally, referring to fig. 6, the apparatus further comprises:
an obtaining module 404, configured to obtain operation information of a brake system of the smart car;
a third determining module 405, configured to determine, when an ESC in the smart car fails, that a braking manner of the smart car is a braking manner by an EPB;
a fourth determining module 406, configured to determine that the braking manner of the smart car is a braking manner through the ESC when the EPB in the smart car has a fault.
In summary, in the embodiment of the present invention, the intelligent vehicle may select the braking manner corresponding to the current parking condition from the multiple braking manners of the intelligent vehicle by determining the current parking condition, and perform braking according to the corresponding braking manner. The intelligent automobile can comprise a plurality of braking modes, so that the corresponding braking mode is selected according to the parking condition, and meanwhile, when one braking mode breaks down, other braking modes exist in the intelligent automobile to brake the intelligent automobile, and the braking safety and the driving safety of the intelligent automobile are improved.
It should be noted that: in the parking brake device for an intelligent vehicle according to the above embodiment, when the intelligent vehicle is braked, only the division of the functional modules is illustrated, and in practical application, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules, so as to complete all or part of the functions described above. In addition, the parking brake device of the intelligent vehicle provided by the embodiment and the parking brake method embodiment of the intelligent vehicle belong to the same concept, and the specific implementation process is detailed in the method embodiment and is not repeated herein.
Fig. 7 shows a block diagram of an intelligent vehicle 700 according to an exemplary embodiment of the present invention.
In general, the smart car 700 includes: a processor 701 and a memory 702.
The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 701 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
In some embodiments, the smart car 700 may further optionally include: a peripheral interface 703 and at least one peripheral. The processor 701, the memory 702, and the peripheral interface 703 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 704, touch screen display 705, camera 706, audio circuitry 707, positioning components 708, and power source 709.
The peripheral interface 703 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 701 and the memory 702. In some embodiments, processor 701, memory 702, and peripheral interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 704 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 704 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 704 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 704 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 704 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 705 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 705 is a touch display screen, the display screen 705 also has the ability to capture touch signals on or over the surface of the display screen 705. The touch signal may be input to the processor 701 as a control signal for processing. At this point, the display 705 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 705 may be one, providing the front panel of the smart car 700; in other embodiments, the number of the display screens 705 may be at least two, and the at least two display screens are respectively disposed on different surfaces of the smart car 700 or are in a folding design; in still other embodiments, the display 705 may be a flexible display, disposed on a curved surface or on a folded surface of the smart car 700. Even more, the display 705 may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The Display 705 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.
The camera assembly 706 is used to capture images or video. Optionally, camera assembly 706 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions.
The audio circuitry 707 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 701 for processing or inputting the electric signals to the radio frequency circuit 704 to realize voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be provided at different locations of the smart car 700. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 701 or the radio frequency circuit 704 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 707 may also include a headphone jack.
The location component 708 is used to locate the current geographic location of the smart car 700 to implement navigation or LBS (location based Service). The positioning component 708 may be a positioning component based on the GPS (global positioning System) in the united states, the beidou System in china, the graves System in russia, or the galileo System in the european union.
In some embodiments, the smart car 700 also includes one or more sensors 710. The one or more sensors 710 include, but are not limited to: an acceleration sensor 711.
The acceleration sensor 711 may detect the magnitude of acceleration in three coordinate axes of the coordinate system established with the smart car 700. For example, the acceleration sensor 711 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 701 may control the touch screen 705 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 711. The acceleration sensor 711 may also be used for acquisition of motion data of a game or a user.
That is, not only is an embodiment of the present invention provide an intelligent vehicle including a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the method in the embodiment shown in fig. 2 and 3, but also an embodiment of the present invention provides a computer-readable storage medium having a computer program stored therein, and the computer program can implement the parking brake method of the intelligent vehicle in the embodiment shown in fig. 2 and 3 when the computer program is executed by the processor.
Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the smart car 700, and may include more or fewer components than shown, or combine certain components, or employ a different arrangement of components.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A parking braking method of an intelligent automobile is characterized by comprising the following steps:
when the fact that the intelligent automobile needs to be parked currently is detected, detecting the current environment of the intelligent automobile;
when the intelligent automobile is in a traffic signal lamp intersection environment, or in a ramp environment or a traffic jam environment, determining that the current parking condition of the intelligent automobile is a temporary parking condition;
when the intelligent automobile is not positioned at the intersection of the traffic signal lamp, or in the ramp environment or the traffic jam environment, determining that the current parking condition of the intelligent automobile is a long-term parking condition;
determining a braking mode corresponding to the current parking condition of the intelligent automobile from a plurality of braking modes of the intelligent automobile based on the current parking condition of the intelligent automobile;
controlling the intelligent automobile to brake based on the braking mode;
when the intelligent automobile acquires a traffic signal lamp signal, determining that the current environment is in the intersection environment of the traffic signal lamp; when the intelligent automobile detects that the inclination angle of the automobile body of the intelligent automobile is larger than or equal to an angle threshold value, determining that the intelligent automobile is currently in the ramp environment; when the intelligent automobile detects that other vehicles exist in the current driving direction and the distance between the intelligent automobile and the other vehicles is gradually reduced to a distance threshold value, it is determined that the intelligent automobile is currently in a traffic jam environment.
2. The method of claim 1, wherein the determining the current braking mode of the smart vehicle based on the current parking condition of the smart vehicle comprises:
when the intelligent automobile is in a temporary parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic stability control system (ESC);
and when the intelligent automobile is in a long-term parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic parking brake system (EPB) and the ESC.
3. The method of claim 1, wherein after determining the braking mode corresponding to the current parking situation of the smart vehicle from the plurality of braking modes of the smart vehicle, the method further comprises:
acquiring running information of a brake system of the intelligent automobile;
when an ESC in the intelligent automobile breaks down, determining that the braking mode of the intelligent automobile is a mode of braking through an EPB;
when the EPB in the intelligent automobile has a fault, determining that the braking mode of the intelligent automobile is a mode of braking through the ESC.
4. A parking brake device of an intelligent vehicle, the device comprising:
the intelligent automobile parking control system comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining the current parking condition of the intelligent automobile when the intelligent automobile is detected to be parked currently;
the second determining module is used for determining a braking mode corresponding to the current parking condition of the intelligent automobile from a plurality of braking modes of the intelligent automobile based on the current parking condition of the intelligent automobile;
the control module is used for controlling the intelligent automobile to brake based on the braking mode;
wherein the first determining module comprises:
the detection submodule is used for detecting the current environment of the intelligent automobile;
the first determining submodule is used for determining that the current parking condition of the intelligent automobile is a temporary parking condition when the intelligent automobile is in a traffic signal lamp intersection environment, a ramp environment or a traffic jam environment;
the second determining submodule is used for determining that the current parking condition of the intelligent automobile is a long-term parking condition when the intelligent automobile is not positioned at the intersection of the traffic signal lamp, or in the ramp environment or the traffic jam environment;
the device also comprises a module for executing the following steps:
when the intelligent automobile acquires a traffic signal lamp signal, determining that the current environment is in the intersection environment of the traffic signal lamp; when the intelligent automobile detects that the inclination angle of the automobile body of the intelligent automobile is larger than or equal to an angle threshold value, determining that the intelligent automobile is currently in the ramp environment; when the intelligent automobile detects that other vehicles exist in the current driving direction and the distance between the intelligent automobile and the other vehicles is gradually reduced to a distance threshold value, it is determined that the intelligent automobile is currently in a traffic jam environment.
5. The apparatus of claim 4, wherein the second determination module is to:
when the intelligent automobile is in a temporary parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic stability control system (ESC);
and when the intelligent automobile is in a long-term parking condition, determining that the braking mode of the intelligent automobile is a mode of braking through an electronic parking brake system (EPB) and the ESC.
6. The apparatus of claim 4, wherein the apparatus further comprises:
the acquisition module is used for acquiring the running information of the brake system of the intelligent automobile;
and the third determining module is used for determining that the braking mode of the intelligent automobile is a mode of braking through the EPB when the ESC in the intelligent automobile has a fault.
7. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the method of any one of claims 1-3.
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| 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 |
| CN110920590B (en) * | 2019-12-12 | 2021-01-05 | 苏州萨克汽车科技有限公司 | Driving assistance method, driving assistance device and electronic parking system |
| CN111959512B (en) * | 2020-08-25 | 2023-03-31 | 重庆长安汽车股份有限公司 | New energy automobile in-situ parking control method, device and system and automobile |
| CN114435321A (en) * | 2022-02-21 | 2022-05-06 | 一汽解放汽车有限公司 | Automatic parking control method for vehicle |
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| DE102009016638A1 (en) * | 2008-04-24 | 2009-10-29 | Continental Teves Ag & Co. Ohg | Multi-circuit electrohydraulic motor vehicle brake system and operating method thereto |
| JP5998636B2 (en) * | 2012-05-24 | 2016-09-28 | 株式会社アドヴィックス | Brake device for vehicle |
| CN203332092U (en) * | 2013-06-09 | 2013-12-11 | 北京汽车股份有限公司 | Dynamic braking control device and vehicle |
| CN105196993A (en) * | 2015-10-12 | 2015-12-30 | 中国第一汽车股份有限公司 | Emergency braking method achieved through electrical park brake |
| CN106864447B (en) * | 2017-03-07 | 2019-05-10 | 广州汽车集团股份有限公司 | Braking control system, method and apparatus |
| CN107054324B (en) * | 2017-06-05 | 2023-09-26 | 南京超靖界智能科技有限公司 | Parking brake assist device and vehicle |
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