CN109367535A - A kind of automatic parking control method and device - Google Patents
A kind of automatic parking control method and device Download PDFInfo
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- CN109367535A CN109367535A CN201811196704.5A CN201811196704A CN109367535A CN 109367535 A CN109367535 A CN 109367535A CN 201811196704 A CN201811196704 A CN 201811196704A CN 109367535 A CN109367535 A CN 109367535A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The present invention provides a kind of automatic parking control method and device, and wherein method includes: the functional status for obtaining the automatic parking functional module of vehicle, wherein the functional status includes open state, state undetermined, state of activation or closed state；According to the current state of the vehicle and the functional status, the vehicle is controlled.The present invention is according to the current state of vehicle and the functional status of automatic parking functional module, to control vehicle, to realize the function of automatic parking functional module in ESP module, reduces development cost and period.
Description
Technical field
The present invention relates to automobile technical field more particularly to a kind of automatic parking control method and device.
Background technique
AutoHold means automatic parking, be body electronics systems stabilisation (Electronic Stability Program,
Abbreviation ESP) extension function, press AutoHold switch it is openable or close automatic parking function.Swash when automatic parking meets
After condition living, AutoHold function activation, driver does not have to step on brake pedal always after activation, but certainly by AutoHold function
It is dynamic to keep brake pressure, so that vehicle stabilization is parked on ramp or on level road.When starting to walk on ramp, AutoHold function
Gradient size can be monitored by ramp sensor or longitudinal acceleration device, and calculate required engine driving torque accordingly,
It is compared again with actual engine driving torque, when driving moment is enough, brake pressure release, vehicle is steadily sailed out of；
At level road up or down slope, the i.e. releasable brake pressure of throttle is slightly stepped on.
In existing technology, AutoHold module is directly connected to ESP module by rigid line, is independently carried out by ESP module
Software development.If ESP module does not have extra interface (such as pin) to connect AutoHold functional module, ESP module needs weight
New type selecting increases development cost and period.Alternatively, the switch of AutoHold module is connected to other controllers by rigid line,
The switching signal of AutoHold module is issued ESP by other controllers, but AutoHold module lacks control strategy, because
This, it is necessary to a kind of AutoHold control strategy is designed, to realize AutoHold function in existing ESP module, reduces exploitation
Expense and period.
Summary of the invention
The embodiment of the present invention provides a kind of automatic parking control method and device, to solve to realize in existing ESP module
The problem of AutoHold function, reduction development cost and period.
In order to solve the above technical problems, the present invention is implemented as follows:
In a first aspect, being applied to automatic parking control dress the embodiment of the invention provides a kind of automatic parking control method
It sets, comprising:
Obtain vehicle automatic parking functional module functional status, wherein the functional status include open state, to
Determine state, state of activation or closed state；
According to the current state of the vehicle and the functional status, the vehicle is controlled.
Second aspect, the embodiment of the present invention also provide a kind of automatic parking control device, comprising:
Obtain module, the functional status of the automatic parking functional module for obtaining vehicle, wherein the functional status packet
Include open state, state undetermined, state of activation or closed state；
Control module, for according to the vehicle current state and the functional status, the vehicle is controlled.
In embodiments of the present invention, pass through the functional status of the automatic parking functional module of acquisition vehicle, wherein the function
Energy state includes open state, state undetermined, state of activation or closed state；According to the current state of the vehicle and the function
Energy state, controls the vehicle, in this way, according to the function shape of the current state of vehicle and automatic parking functional module
State, to realize the function of AutoHold module in ESP module, reduces development cost and period to control vehicle.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed in being described below to the embodiment of the present invention
Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the flow chart for the automatic parking control method that the embodiment of the present invention one provides；
Fig. 2 is the signal schematic representation of automatic parking control method provided by Embodiment 2 of the present invention；
Fig. 3 is one of the structure chart for the automatic parking control device that the embodiment of the present invention three provides；
Fig. 4 is the two of the structure chart for the automatic parking control device that the embodiment of the present invention four provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Embodiment one
It is one of the flow chart for the automatic parking control method that one embodiment of the invention provides referring to Fig. 1, Fig. 1, such as Fig. 1 institute
Show, automatic parking control method provided in an embodiment of the present invention, be applied to automatic parking control device, comprising the following steps:
The functional status of step 101, the automatic parking functional module of acquisition vehicle, wherein the functional status includes opening
Open state, state undetermined, state of activation or closed state.
The switch of automatic parking functional module, that is, AutoHold module, AutoHold module is connected to other controls by rigid line
Device processed, such as car body control module (body control module, abbreviation BCM) or electronic parking (Electrical
Park Brake, abbreviation EPB) etc., the switching signal of AutoHold module is passed through controller local area network by BCM or EPB
(Controller Area Network, abbreviation CAN) issues ESP, to realize the function of AutoHold module in ESP module.
In the present embodiment, automatic parking control device is the ESP for being integrated with AutoHold module.
The functional status of AutoHold module includes open state, state undetermined, state of activation or closed state.
When the switch of AutoHold module is opened, AutoHold module is in the open state；When the switch of AutoHold module is closed,
AutoHold module is in close state.
The switch of AutoHold module is opened, and after detecting that AutoHold module is in the condition of state undetermined,
AutoHold module is in state undetermined, and the switch indication light of AutoHold module is lighted.
AutoHold module is in state undetermined, and after detecting condition that AutoHold module is active,
AutoHold module is active, and the switch indication light of AutoHold module is lighted.
Step 102, the current state according to the vehicle and the functional status, control the vehicle.
The current state of vehicle includes that the switch of AutoHold module opens or closes, whether driver side car door close,
Whether driver fastens one's safety belt or whether engine is in operating condition etc..
The switching signal of ESP detection AutoHold module is considered as and presses when detecting that this signal changes
The switching signal of the switch of AutoHold module, AutoHold is edging trigger, prevents the switch card of AutoHold module
It is stagnant.
After ESP detects that the switching signal of AutoHold module changes, it is detected simultaneously by other conditions, such as driver
It fastens one's safety belt, driver side closing of the door etc., the function of AutoHold module could be opened, at this point, at AutoHold module
Illuminating state is in the switch indication light of state undetermined (i.e. standby state), AutoHold module.
After AutoHold module meets activation condition, AutoHold module is active:
After certain conditions no longer meet, if driver's release safety belt or driver side car door are opened, AutoHold
Module request EPB adapter tube, after EPB takes over, the function of AutoHold module is exited；After these conditions meet again,
AutoHold module is automatically into state undetermined.
After the dwell time when activating of AutoHold module is more than certain setting value, setting value be may be configured as 2 minutes
By 4 minutes, preferably 3 minutes, AutoHold module request EPB adapter tube, after EPB takes over, AutoHold module entered shape undetermined
State；
After AutoHold module is active, the switch of AutoHold module and release, AutoHold mould are pressed
Block requests EPB adapter tube, and after EPB takes over, the functional status of AutoHold module is in off state；
After AutoHold module is active, puts into gear in level road up or down slope driver and slightly step on the throttle
Discharge the brake pressure of AutoHold module；In steep uphill when engine driving torque be greater than ramp generate after slip power,
AutoHold module brake pressure discharges automatically, realizes gentle start.After the brake pressure of AutoHold module discharges automatically,
AutoHold module is in state undetermined.
AutoHold module has memory function, when last KL15 off (i.e. before vehicle stall), AutoHold mould
The state of block, is restored to original state after powering on again, that is, is restored to closed state or open state.
In the present embodiment, the functional status of the automatic parking functional module by obtaining vehicle, wherein the functional status
Including open state, state undetermined, state of activation or closed state；According to the current state of the vehicle and the function shape
State controls the vehicle, in this way, being come according to the functional status of the current state of vehicle and automatic parking functional module
Vehicle is controlled, to realize the function of AutoHold module in ESP module, reduces development cost and period.
Optionally, step 102, the current state according to the vehicle and the functional status, to the vehicle into
The step of row control, comprising:
In the case where the functional status is state of activation, if the current state of the vehicle is that driver side car door is beaten
Open, driver unlocks safety belt or engine stop operating, to electronic parking EPB send clamp request.
Specifically, when the current state of vehicle is driver side car door opening, driver unlocks safety belt or engine
When the situation that at least one of shuts down, automatic parking control device sends to EPB and clamps request, to realize parking purpose.
Sending to EPB and clamping request is the AutoHold module in automatic parking control device.AutoHold module is sent to EPB
Request is clamped, to realize that AutoHold module to the clamping control strategy of vehicle, realizes AutoHold module in ESP module
Clamping function reduces development cost and period.
Optionally, step 102, the current state according to the vehicle and the functional status, to the vehicle into
The step of row control, comprising:
In the case where the functional status is state of activation, if the current state of the vehicle is driver side car door pass
Close, driver fastens one's safety belt and is in operating condition with engine, determine the functional status be the state undetermined；
According to the state undetermined, the vehicle is controlled.
Specifically, when the current state of vehicle meets driver side closing of the door simultaneously, driver fastens one's safety belt and sends out
When motivation is in operating condition, determine that functional status is state undetermined.When AutoHold module is in state undetermined, AutoHold
The switch indication light of module is bright.
When functional status is in state undetermined, in the case where the current state of vehicle meets activation condition, AutoHold
The functional status of module can switch to state of activation, real in ESP module to realize AutoHold module to the control strategy of vehicle
The function of existing AutoHold module, reduces development cost and period.
Optionally, step 102, the current state according to the vehicle and the functional status, to the vehicle into
The step of row control, comprising:
In the case where the functional status is in off state, if the current state of the vehicle is the automatic parking function
Can module switch be pressed and discharge, driver side closing of the door, driver fasten one's safety belt and are in operating shape with engine
State determines that the functional status is state undetermined；
According to the state undetermined, the vehicle is controlled.
Specifically, in the case where the functional status is in off state, when the current state of vehicle meets automatically simultaneously
The switch of parking function module is pressed and discharges, driver side closing of the door, driver fasten one's safety belt and be in engine
When operating condition, the functional status of vehicle switchs to state undetermined by closed state.When AutoHold module is in state undetermined,
The switch indication light of AutoHold module is bright.
When functional status is in state undetermined, in the case where the current state of vehicle meets activation condition, AutoHold
The functional status of module can switch to state of activation, real in ESP module to realize AutoHold module to the control strategy of vehicle
The function of existing AutoHold module, reduces development cost and period.
Optionally, step 102, the current state according to the vehicle and the functional status, to the vehicle into
The step of row control, comprising:
In the case where the functional status is open state, if the current state of the vehicle is to press driver side vehicle
Door is closed, driver fastens one's safety belt and is in operating condition with engine, determines that the functional status is state undetermined；
According to the state undetermined, the vehicle is controlled.
Specifically, being pressed in the case where the functional status is open state when the current state of vehicle meets simultaneously
Driver side closing of the door, driver fasten one's safety belt when being in operating condition with engine, and the functional status of vehicle is by opening
State switchs to state undetermined.When AutoHold module is in state undetermined, the switch indication light of AutoHold module is bright.
When functional status is in state undetermined, in the case where the current state of vehicle meets activation condition, AutoHold
The functional status of module can switch to state of activation, real in ESP module to realize AutoHold module to the control strategy of vehicle
The function of existing AutoHold module, reduces development cost and period.
Optionally, step 102, the current state according to the vehicle and the functional status, to the vehicle into
The step of row control, comprising:
In the case where the functional status is state undetermined, if the current state of the vehicle is the clamp of the vehicle
Brake pedal when being not on clamped condition and the stationary vehicle determines that the functional status is state of activation；
According to the state of activation, the vehicle is controlled.
Specifically, in the case where the functional status is state undetermined, if the current state of the vehicle meets simultaneously
The functional status of brake pedal when clamp are not on clamped condition and the stationary vehicle, vehicle is switched to by state undetermined
State of activation, to realize that AutoHold module to the control strategy of vehicle, realizes the function of AutoHold module in ESP module
Can, reduce development cost and period.
After AutoHold module is active, puts into gear in level road up or down slope driver and slightly step on the throttle and can release
Put the brake pressure of AutoHold module；In steep uphill, when engine driving torque be greater than ramp generate after slip power,
The brake pressure of AutoHold module discharges automatically, realizes gentle start.
It is exemplified below specific embodiment to be described in detail, as shown in Figure 2.
The input signal of AutoHold module includes: longitudinal acceleration signal (ramp signal), transfer gear drive mode letter
Number, gear signal, engine torque signal, accelerator opening amount signal (signal can reflect driver intention), speed signal, wheel speed
Signal (whether speed signal, wheel speed signal can reflect vehicle static), EPB clamp status signal, EPB can response external ask
Ask signal, driver side car door signal, driver-side air's band signal, power supply signal, AutoHold switching signal.
Wherein, it is big that ramp longitudinal acceleration signal: can be calculated according to the longitudinal acceleration signal and wheel speed signal
It is small, longitudinal acceleration signal can by ESP (or vehicle body stabilizing control system (Electronic Stability Control, letter
Claim ESC)) (CAN signal or hard signal) is provided or provides (CAN signal) by EPB Integrated Accelerometer, or by other
Controller provides (CAN signal)；Transfer gear drive mode signal: the transfer gear drive mode signal includes at least three kinds of moulds
Formula: 2H (i.e. two-wheel drive mode), 4H (i.e. high speed 4 wheel driven mode), 4L (i.e. low speed 4 wheel driven mode)；The transfer gear drives mould
Formula signal can be provided by transfer gear or by providing (CAN signal) after the conversion of other controllers.
Gear signal: by real-time road management system (TMS) or engine management system (Engine Management
System, abbreviation EMS) (CAN signal) is provided.
Engine torque signal: (CAN signal) is provided by EMS.
Accelerator opening amount signal: judging the intention of driver according to this signal, provides (CAN signal) by EMS；
Speed signal, wheel speed signal: judging whether vehicle remains static according to speed signal and/or wheel speed signal,
This signal is by anti-lock braking system (Anti-lock Braking System, abbreviation ABS) or body electronics systems stabilisation
(Electronic Stability Program, abbreviation ESP) provides (CAN signal).
EPB clamp status signal: the EPB clamp status signal includes at least 3 signal values: clamping, release, is pressing from both sides
During tightly/release, the EPB clamp status signal provides (CAN signal) by EPB controller.
Driver side car door signal: the driver side car door signal includes at least 3 signal values: closing of the door, car door
Whether opening, car door signal are effective, and the driver side car door signal provides (CAN signal) by BCM.
Driver-side air's band signal: driver-side air's band signal includes at least 3 signal values: safety belt system
Upper, safety belt is not, belt signal, and the driver-side air is with by sensor diagnostic module control system (Sensing
Diagnostic Module, abbreviation SDM) (CAN signal) is provided.
Power supply signal: the power supply signal includes at least 3 signal values: off (i.e. power-off signal), acc (i.e. igniting letter
Number), run (i.e. run signal), by keyless entry and activation system (Passive Entry Passive Start, referred to as
PEPS) or car body control module (body control module, abbreviation BCM) provides (CAN signal and hard signal).
AutoHold switching signal: the AutoHold switching signal includes 2 signal values: press (pressing signal),
Not press (does not press signal), provides (CAN signal) by the controller of connection AutoHold switch.
Can EPB response external request signal: the EPB can response external request signal include at least 2 signal values: energy
Response cannot respond, and provide (CAN signal) by EPB.
AutoHold function input signal includes: that AutoHold functional status signal (CAN signal), AutoHold system are
No available (CAN signal), EPB clamp request signal (CAN signal):
AutoHold functional status signal: the AutoHold functional status signal includes at least 4 signal values: off (is closed
Close signal), standby (i.e. pending signal), active (i.e. activation signal), error (i.e. error signal), provided by ESP.
AutoHold system whether available signal: the AutoHold system whether available signal include 2 signal values:
AutoHold Available (i.e. AutoHold system available signal), AutoHold not Available (i.e. AutoHold
The unavailable signal of system), it is provided by ESP.
EPB clamps request signal: the EPB clamps request signal and includes at least 3 signal values: no request (i.e. EPB folder
Tight non-request signal), request (i.e. EPB clamps request signal), invalid (i.e. EPB clamps request invalid signals), by ESP
It provides.
The function embodiment of AutoHold module:
AutoHold system (i.e. AutoHold module) power-on self-test, such as system fault-free, AutoHold after the completion of self-test
When the functional status of module is restored to last time KL15 off state (when i.e. vehicle the last time is flame-out, AutoHold module
Functional status): open state or closed state.But due to the functional status of AutoHold module enter standby state (i.e. to
Determine state) condition be unsatisfactory for, i.e., AutoHold system whether available signal=AutoHold not Available,
AutoHold functional status signal=off.
If the functional status of AutoHold module is in close state when electric under last time, pressed when meeting simultaneously
AutoHold switchs and discharges, driver side closing of the door, driver fasten one's safety belt after being in operating condition with engine,
AutoHold system whether available signal=AutoHold Available, AutoHold functional status signal=standby.
If vehicle the last time stops working, the functional status of AutoHold module is in the open state, meets when simultaneously
Driver side closing of the door, driver fasten one's safety belt be in operating condition with engine after, whether AutoHold system can be used
Signal=AutoHold Available, AutoHold functional status signal=standby.
When AutoHold system whether available signal=AutoHold Available, AutoHold functional status signal=
After standby, the controller of rigid line connection AutoHold switch lights AutoHold switch indication light.
Meet the following conditions when simultaneously:
Gear: MT: neutral gear puts into gear and (must step on clutch), AT: any gear, parked state: EPB do not clamp, vehicle
State: it brake pedal and discharges or releases the pedal after stepping on brake pedal and making stationary vehicle when stationary vehicle；AutoHold
Function activation (i.e. the functional status of AutoHold module is active), AutoHold functional status signal=active,
Instrument lights AutoHold work light.
After AutoHold function activation, meet driver side car door opening, driver fastens one's safety belt, engine stop
When either condition in operating, AutoHold system hair clip is tightly requested to EPB, after EPB is clamped, AutoHold Braking system pressure
Power release, AutoHold system whether available signal=AutoHold not Available, AutoHold functional status signal
=off, at this point, the functional status of AutoHold module is in close state.
When driver side closing of the door, driver fastens one's safety belt, and when engine is in operating condition, AutoHold system
Whether available signal automatically becomes AutoHold Available to system, and AutoHold functional status signal automatically becomes standby,
The functional status of AutoHold module is in state undetermined at this time.
After AutoHold function activation, after the service lap time being more than certain setting value, request EPB adapter tube, EPB adapter tube
Afterwards, AutoHold function enters standby state, i.e. the functional status of AutoHold module is in state undetermined；AutoHold
After function activation, put into gear the braking pressure of i.e. releasable AutoHold module of slightly stepping on the throttle in level road up or down slope driver
Power；In steep uphill when engine driving torque be greater than ramp generate after slip power after, the brake pressure of AutoHold module
Automatic release, realizes gentle start.After the brake pressure of AutoHold module discharges automatically, the functional status of AutoHold module
In standby state.
After AutoHold function activation, driver presses the switch of AutoHold module, and AutoHold module hair clip is tightly asked
Ask to EPB, after EPB is clamped, the brake pressure release of AutoHold module, AutoHold system whether available signal=
AutoHold not Available, AutoHold functional status signal=off, AutoHold function close (i.e. AutoHold
The functional status of module is in close state).
After AutoHold function activation, driver presses AutoHold switch, AutoHold mould while stepping on brake pedal
Block not tightly request to EPB by hair clip, AutoHold system whether available signal=AutoHold not Available, AutoHold
Functional status signal=off, AutoHold function are closed.
After AutoHold function activation, EPB detects that ESP timeout (i.e. the ESP time terminates), rear wheel speed be invalid, Bus
When either condition in off (i.e. vehicle stall), EPB automatically takes over clamping.
At this point, AutoHold system whether available signal=AutoHold not Available, AutoHold function shape
State signal=off, AutoHold function are closed.
Embodiment two
It is the structure chart for the automatic parking control device that one embodiment of the invention provides referring to Fig. 3, Fig. 3, as shown in figure 3,
Automatic parking control device 200 provided in an embodiment of the present invention, comprising:
Obtain module 201, the functional status of the automatic parking functional module for obtaining vehicle, wherein the function shape
State includes open state, state undetermined, state of activation or closed state；
Control module 202, for according to the vehicle current state and the functional status, the vehicle is controlled
System.
Optionally, as shown in figure 4, the control module 202 includes:
Request sending module 2021 is clamped, is used in the case where the functional status is state of activation, if the vehicle
Current state be that driver side car door opening, driver unlock safety belt or engine stop operating, to electronic parking EPB
It sends and clamps request.
Optionally, as shown in figure 4, the control module 202 includes:
First state undetermined determines submodule 2022, is used in the case where the functional status is state of activation, if institute
It states the current state of vehicle to fasten one's safety belt for driver side closing of the door, driver and be in operating condition with engine, determine
The functional status is the state undetermined；
First control submodule 2023, for controlling the vehicle according to the state undetermined.
Optionally, as shown in figure 4, the control module 202 includes:
Second state undetermined determines submodule 2024, in the case where the functional status is in off state, if institute
The current state of vehicle is stated to be pressed and discharge, driver side closing of the door, drive for the switch of the automatic parking functional module
The person of sailing, which fastens one's safety belt, is in operating condition with engine, determines that the functional status is state undetermined；
First control submodule 2023, for controlling the vehicle according to the state undetermined.
Optionally, as shown in figure 4, the control module 202 includes:
Third state undetermined determines submodule 2025, is used in the case where the functional status is open state, if institute
State vehicle current state be press driver side closing of the door, driver fastens one's safety belt and is in operating condition with engine,
Determine that the functional status is state undetermined；
First control submodule 2023, for controlling the vehicle according to the state undetermined.
Optionally, as shown in figure 4, the control module 202 includes:
State of activation determines submodule 2026, is used in the case where the functional status is state undetermined, if the vehicle
Current state be the vehicle clamp brake pedal when being not on clamped condition and the stationary vehicle, determine
The functional status is state of activation；
Second control submodule 2027, for controlling the vehicle according to the state of activation.
It is Installation practice corresponding with embodiment one by automatic parking control device 200 in this present embodiment, it can
Realize each step in embodiment one, to avoid repeating, which is not described herein again.
In the present embodiment, the functional status of the automatic parking functional module by obtaining vehicle, wherein the functional status
Including open state, state undetermined, state of activation or closed state；According to the current state of the vehicle and the function shape
State controls the vehicle, in this way, being come according to the functional status of the current state of vehicle and automatic parking functional module
Vehicle is controlled, to realize the function of AutoHold module in ESP module, reduces development cost and period.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form belongs within protection of the invention.
Claims (12)
1. a kind of automatic parking control method is applied to automatic parking control device characterized by comprising
Obtain the functional status of the automatic parking functional module of vehicle, wherein the functional status includes open state, shape undetermined
State, state of activation or closed state；
According to the current state of the vehicle and the functional status, the vehicle is controlled.
2. the method according to claim 1, wherein the current state and the function according to the vehicle
State, the step of control the vehicle, comprising:
The functional status be state of activation in the case where, if the current state of the vehicle be driver side car door opening,
Driver unlocks safety belt or engine stop operating, sends to electronic parking EPB and clamps request.
3. the method according to claim 1, wherein the current state and the function according to the vehicle
State, the step of control the vehicle, comprising:
The functional status be state of activation in the case where, if the current state of the vehicle be driver side closing of the door,
Driver, which fastens one's safety belt, is in operating condition with engine, determines that the functional status is the state undetermined；
According to the state undetermined, the vehicle is controlled.
4. the method according to claim 1, wherein the current state and the function according to the vehicle
State, the step of control the vehicle, comprising:
In the case where the functional status is in off state, if the current state of the vehicle is the automatic parking function mould
The switch of block is pressed and discharges, driver side closing of the door, driver fasten one's safety belt and be in operating condition with engine, really
The fixed functional status is state undetermined；
According to the state undetermined, the vehicle is controlled.
5. the method according to claim 1, wherein the current state and the function according to the vehicle
State, the step of control the vehicle, comprising:
In the case where the functional status is open state, if the current state of the vehicle is to press driver side car door pass
Close, driver fastens one's safety belt and is in operating condition with engine, determine the functional status be state undetermined；
According to the state undetermined, the vehicle is controlled.
6. the method according to claim 1, wherein the current state and the function according to the vehicle
State, the step of control the vehicle, comprising:
In the case where the functional status is state undetermined, if the clamp that the current state of the vehicle is the vehicle do not have
Brake pedal when the in clamped condition and described stationary vehicle determines that the functional status is state of activation；
According to the state of activation, the vehicle is controlled.
7. a kind of automatic parking control device characterized by comprising
Obtain module, the functional status of the automatic parking functional module for obtaining vehicle, wherein the functional status includes opening
Open state, state undetermined, state of activation or closed state；
Control module, for according to the vehicle current state and the functional status, the vehicle is controlled.
8. device according to claim 7, which is characterized in that the control module includes:
Request sending module is clamped, is used in the case where the functional status is state of activation, if the current shape of the vehicle
State is driver side car door opening, driver unlocks safety belt or engine stop operates, and sends and clamps to electronic parking EPB
Request.
9. device according to claim 7, which is characterized in that the control module includes:
First state undetermined determines submodule, is used in the case where the functional status is state of activation, if the vehicle
Current state is driver side closing of the door, driver fastens one's safety belt and is in operating condition with engine, determines the function
State is the state undetermined；
First control submodule, for controlling the vehicle according to the state undetermined.
10. device according to claim 7, which is characterized in that the control module includes:
Second state undetermined determines submodule, in the case where the functional status is in off state, if the vehicle
Current state is that the switch of the automatic parking functional module is pressed and discharges, driver side closing of the door, driver fasten
Safety belt and engine are in operating condition, determine that the functional status is state undetermined；
First control submodule, for controlling the vehicle according to the state undetermined.
11. device according to claim 7, which is characterized in that the control module includes:
Third state undetermined determines submodule, is used in the case where the functional status is open state, if the vehicle
Current state be press driver side closing of the door, driver fastens one's safety belt and engine be in operating condition, described in determination
Functional status is state undetermined；
First control submodule, for controlling the vehicle according to the state undetermined.
12. device according to claim 7, which is characterized in that the control module includes:
State of activation determines submodule, is used in the case where the functional status is state undetermined, if the vehicle is current
State is brake pedal when the clamp of the vehicle are not on clamped condition and the stationary vehicle, determines the function
State is state of activation；
Second control submodule, for controlling the vehicle according to the state of activation.
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Effective date of registration: 20200522 Address after: 100130 Zhaofeng Town, Shunyi District, Beijing Zhaofeng industrial base Tongxin Road No. 1 Applicant after: BAIC GROUP ORV Co.,Ltd. Address before: 101300, 99, Shuanghe Avenue, Renhe Town, Beijing, Shunyi District Applicant before: BEIJING AUTOMOBILE RESEARCH GENERAL INSTITUTE Co.,Ltd. |
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Application publication date: 20190222 |