CN109435941A - Method and system for controlling automatic parking of vehicle, vehicle and storage medium - Google Patents
Method and system for controlling automatic parking of vehicle, vehicle and storage medium Download PDFInfo
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- CN109435941A CN109435941A CN201811178723.5A CN201811178723A CN109435941A CN 109435941 A CN109435941 A CN 109435941A CN 201811178723 A CN201811178723 A CN 201811178723A CN 109435941 A CN109435941 A CN 109435941A
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- 230000007246 mechanism Effects 0.000 claims description 31
- 230000005611 electricity Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 230000006870 function Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
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- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
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Classifications
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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
- B60W30/06—Automatic manoeuvring for parking
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a method and a system for controlling automatic parking of a vehicle, the vehicle and a storage medium, wherein the vehicle comprises an electric power-assisted brake system, and the method comprises the following steps: the method comprises the steps that a vehicle controller of a vehicle acquires state information of the vehicle; the vehicle control unit judges whether the vehicle meets a static parking condition according to the state information; and the vehicle control unit controls the electric power-assisted braking system to brake when the vehicle meets the static parking condition. The method and the system for controlling the automatic parking of the vehicle and the vehicle can improve the response speed of parking control, have low noise and improve the driving comfort of a user.
Description
Technical field
The invention belongs to technical field of vehicle more particularly to a kind of methods for controlling vehicle automatic parking, and storage to be situated between
Matter and the system and vehicle for controlling vehicle automatic parking.
Background technique
With the development of vehicle technology, the user for possessing vehicle is also more and more, and traffic pressure is also increasing, Yong Hu
When city operating condition drives vehicle, often toggled in operating condition of stopping and start to walk.Pass through P gear or EPB or hand after vehicle brake is stopped
Brake mode keeps vehicle to be in parked state.Although brake modes above are attained by parking effect, still, vehicle is being started to walk
When need to carry out troublesome operation just it is achievable, if P keep off, need to touch on the brake release P gear can just start to walk；Such as EPB, although can be straight
It connects accelerator pedal and releases EPB lockup state, but EPB responds noise that is slower, and having user that can perceive；Such as parking brake, need
The shift that touches on the brake releases parking brake again can just start to walk.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
First purpose is a kind of method for proposing control vehicle automatic parking, and this method, parking response is fast, and low noise is improved and used
The comfort at family.
Second object of the present invention is to propose a kind of storage medium.
Third object of the present invention is to propose a kind of system for controlling vehicle automatic parking.
Fourth object of the present invention is to propose a kind of vehicle.
In order to achieve the above object, the method for the control vehicle automatic parking of first aspect present invention embodiment, wherein vehicle
It include electric energy assisted braking system, which comprises the entire car controller of vehicle obtains the status information of the vehicle；It is described
Entire car controller judges whether the vehicle meets static parking condition according to the state information；The entire car controller is in institute
It states and controls the electric energy assisted braking system when vehicle meets the static parking condition and braked.
The method of control vehicle automatic parking according to an embodiment of the present invention, when vehicle meets static parking condition, by
Electric energy assisted braking system carries out automatic braking, braking response speed can be improved, and noise is small, drives so as to improve user
Comfort is sailed, it is easy to operate.
In some embodiments, the vehicle further includes electronic parking control system, the method also includes: in the electricity
The braking time of energy assisted braking system reaches preset time and the brake force of the electric energy assisted braking system is less than the vehicle
When any one of braking requirement condition meets, electronic parking control system described in the vehicle control unit controls is braked.
It is thus possible to meet the parking demand of vehicle long period, parking safety is improved.
In some embodiments, the electric energy assisted braking system includes electric assist controller and hydraulic actuating mechanism, described
Entire car controller controls the electric energy assisted braking system and is braked, wrapped when the vehicle meets the static parking condition
It includes:
The entire car controller sends the quiet of electric energy assisted braking system when the vehicle meets the static parking condition
State parking enable signal, and can in response to the hydraulic actuating mechanism of the electric booster brake feedback to the electric booster brake
The demand static state parking sign position that electric booster braking system is sent with flag signal and demand compensation hydraulic target value are to institute
Electric booster brake is stated, is braked with controlling the hydraulic actuating mechanism according to the demand compensation hydraulic target value.
In some embodiments, the method also includes: the entire car controller judge the vehicle with the presence or absence of car slipping,
And there are the demand compensation hydraulic target value is adjusted when car slipping to increase the braking of the hydraulic actuating mechanism in the vehicle
Power.
In some embodiments, the electronic parking control system includes that electronic parking controller and electronic parking execute machine
Structure, electronic parking control system described in the vehicle control unit controls are braked, comprising: the entire car controller sends electronics
The static parking enable signal of parking control system is to the electronic parking controller, and in response to the electronic parking controller
Electronic parking executing agency available flag position signal, send demand static state parking sign position to the institute of electronic parking control system
Electronic parking controller is stated, is braked with controlling the electronic parking executing agency.
Not up to above-mentioned purpose, the non-transitorycomputer readable storage medium of second aspect of the present invention embodiment, thereon
It is stored with computer program, when the computer program is executed by processor, control vehicle described in above example may be implemented
The method of automatic parking.
Above example can be achieved by storing in non-transitorycomputer readable storage medium according to an embodiment of the present invention
Control vehicle automatic parking method computer program, provide basis for the realization of this method.
In order to achieve the above object, the system of the control vehicle automatic parking of third aspect present invention embodiment, the system
System includes entire car controller, electronics energy assisted braking system, wherein the entire car controller is used to obtain the state letter of the vehicle
Breath, and judge whether the vehicle meets static parking condition according to the state information, and described in meeting in the vehicle
The electric energy assisted braking system is controlled when static parking condition to be braked.
The system of control vehicle automatic parking according to an embodiment of the present invention, it is whole when vehicle meets static parking condition
Vehicle controller control electron process braking system is braked, and braking response faster and low noise, improves the comfort of driving.
In some embodiments, the system also includes electronic parking control systems, in the electric energy assisted braking system
Braking time reaches preset time and the brake force of the electric energy assisted braking system is less than appointing in the braking requirement of the vehicle
When one condition meets, electronic parking control system described in the vehicle control unit controls is braked.It is thus possible to meet vehicle
The parking demand of long period improves parking safety.
In some embodiments, the electric energy assisted braking system includes electric assist controller and hydraulic actuating mechanism, described
Entire car controller is specifically used for when controlling the electric assisted control system and being braked, and meets the static state in the vehicle and stays
When spoke part, the static parking enable signal of electric energy assisted braking system is sent to the electric booster brake, and in response to described
The hydraulic actuating mechanism available flag position signal of electric booster brake feedback, the demand static state for sending electric booster braking system are stayed
Car mark position and demand compensation hydraulic target value are to the electric booster brake, according to the demand compensation hydraulic target value control
The hydraulic actuating mechanism is made to be braked.
In some embodiments, the entire car controller is also used to, and judges that the vehicle whether there is car slipping, and described
There are the demand compensation hydraulic target value is adjusted when car slipping to increase the brake force of the hydraulic actuating mechanism for vehicle.
In some embodiments, the electronic parking control system includes that electronic parking controller and electronic parking execute machine
Structure, the entire car controller are specifically used for when controlling the electronic parking control system and being braked, and send electronic parking control
The static parking enable signal of system processed is to the electronic parking controller, and in response to the electronics of the electronic parking controller
Control device available flag position signal sends the demand static state parking sign position of electronic parking control system to the electronics
Parking controller is braked with controlling the electronic parking executing agency.
In order to achieve the above object, the vehicle of fourth aspect present invention embodiment, the vehicle include detection device and upper
The system of vehicle automatic parking is controlled described in the embodiment of face, wherein the detection device is used to acquire the state of the vehicle
Information.
Vehicle according to an embodiment of the present invention can by using the system of the control vehicle automatic parking of above example
To improve parking braking response speed and low noise, user's driver comfort is promoted.
Detailed description of the invention
Fig. 1 is the flow chart of the method for control vehicle automatic parking according to an embodiment of the invention；
Fig. 2 is the functional block diagram of the system of control vehicle automatic parking according to an embodiment of the invention；
Fig. 3 is the flow chart of the method for control vehicle automatic parking according to an embodiment of the invention；
Fig. 4 is the block diagram of the system of control vehicle automatic parking according to an embodiment of the invention；
Fig. 5 is the block diagram of the system of control vehicle automatic parking according to another embodiment of the invention；
Fig. 6 is the block diagram of the system of the control vehicle automatic parking of still another embodiment in accordance with the present invention；
Fig. 7 is the block diagram of vehicle according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The method of the control vehicle automatic parking of embodiment according to a first aspect of the present invention is described with reference to the accompanying drawings.
In embodiment, vehicle includes entire car controller (Body Control management, BCM), car body controller
The other systems of (vehicle Control unit, VCU) and electric energy assisted braking system, electronic parking control system and vehicle and
Component.
Fig. 1 is the flow chart of the method for control vehicle automatic parking according to an embodiment of the invention, such as Fig. 1 institute
Show, the method for the control vehicle automatic parking of the embodiment of the present invention includes:
S1, the entire car controller of vehicle obtain the status information of vehicle.
Specifically, entire car controller can be obtained by the network system such as CAN bus of vehicle each sensor or
The related status information of execution unit, for example, the gear information of vehicle, operating status, speed, on-position, communication state etc..
S2, entire car controller judge whether vehicle meets static parking condition according to status information.
In embodiment, vehicle can make a response driver's triggering or operational order when needing to carry out parking, whole
Vehicle controller collects the status information of vehicle, it can be determined that whether meets static parking condition, in order to issue static parking
It instructs to corresponding execution unit.
In some embodiments, entire car controller thinks that vehicle is full when the status information for judging vehicle meets the following conditions
Foot static state parking condition: a) vehicle is in Ready state；B) tactful gear is forward gear；C) vehicle is asked without other outer brakes
It asks, such as ACC operating condition (static parking braking Request Priority is minimum)；D) ABS (antilock brake system, anti-lock system
Dynamic system), TCS (Traction Control System, traction control system), ESP (Electronic Stability
Program, body electronics systems stabilisation) etc. vehicle stabilization controls un-activation；E) without EPB (electric parking
Brake, electronic parking control system) dynamic brake；F) EPB is in release conditions；g)
Brake pedal is not stepped on；H) non-stepping on accelerator pedal；I) VCU and electric energy assisted braking system, EPB, BCM etc. are without communication event
Barrier；J) vehicle is without electric fault under high pressure；K) speed is 0,000 ms/h.The above are one embodiment of static parking condition, when
So, other static parking conditions can also be set according to demand.
S3, entire car controller control electric energy assisted braking system when vehicle meets static parking condition and are braked.
In an embodiment of the present invention, when vehicle meets static parking condition, entire car controller sends braking instruction extremely
Electric energy assisted braking system is first braked by electric energy assisted braking system, and electronics energy assisted braking system can be real using hydraulic braking
Existing, when being braked, electric energy assisted braking system is realized by increasing the method for the master cylinder pressure of hydraulic actuating mechanism.Electric power-assisted
Braking system carries out control for brake, and response can be improved fastly executes rate and noiseless, therefore passes through electric energy assisted braking system
Carrying out static parking can be improved user's driver comfort.
The method of control vehicle automatic parking according to an embodiment of the present invention, when vehicle meets static parking condition, by
Electric energy assisted braking system carries out automatic braking, braking response speed can be improved, and noise is small, drives so as to improve user
Comfort is sailed, it is easy to operate.
Further, in an embodiment of the present invention, electric energy assisted braking system include electric assist controller (Ebooster,
Electric booster) and hydraulic actuating mechanism, entire car controller is when vehicle meets static parking condition, the electric power-assisted of transmission
The static parking enable signal of braking system is to electric booster brake, and in response to the hydraulic execution machine of electric booster brake feedback
Structure available flag position signal sends demand static state parking sign position and the demand compensation hydraulic target value of electric booster braking system
To electric booster brake, braked with the control hydraulic actuating mechanism of compensation hydraulic target value according to demand.
In embodiment, when electronics energy assisted braking system is braked, entire car controller also judges that vehicle whether there is
Car slipping, and there are the demand compensation hydraulic target value of hydraulic actuating mechanism is adjusted when car slipping to increase hydraulic actuating mechanism in vehicle
Brake force, avoid car slipping, improve safety.
The characteristics of due to electronics energy assisted braking system performance itself, can not make hydraulic actuating mechanism pressure maintaining for a long time,
The maximum dwell time is a limit value such as 3min, and therefore, the braking of electronics energy assisted braking system will fail after 3min,
In the embodiment of the present invention, in order to meet the static parking demand of long period, reached in the braking time of electric energy assisted braking system
When meeting to preset time and the brake force of electric energy assisted braking system less than any one of the braking requirement of vehicle condition, vehicle
Controller control electronic parking control system is braked.When carrying out static parking, existing electronics energy assisted braking system is carried out
Braking, then taken over by EPB, thus, it can not only be braked with quick response and low noise, but also can guarantee long-time parking, it is real
The safety of existing static state parking.
Further, in an embodiment of the present invention, electronic parking control system includes electronic parking controller and electronics
Control device reaches the braking of preset time or electric energy assisted braking system in the braking time of electronics energy assisted braking system
When power is less than the braking requirement of vehicle, entire car controller sends the static parking enable signal of electronic parking control system to electronics
Parking controller, and in response to the electronic parking executing agency available flag position signal of electronic parking controller, it sends electronics and stays
It is made to electronic parking controller with controlling electronic parking executing agency the demand static state parking sign position of vehicle control
It is dynamic, meet the parking demand of the long period of vehicle, improves parking safety.
With reference to the accompanying drawings further specifically to the realization of the method for the control vehicle automatic parking of the embodiment of the present invention
It is bright.
Fig. 2 is the functional frame composition of the system of control vehicle automatic parking according to an embodiment of the invention, such as Fig. 2
It is shown, wherein VCU is the main control unit that automatic parking is realized, Ebooster, BCM, EPB are the execution part of the function.If
Vehicle meets static parking condition, first carries out static parking by Ebooster, Ebooster is according to the hydraulic benefit of demand that VCU is sent
It repays target value control hydraulic actuating mechanism to act, realizes braking by the method for increase master cylinder pressure, execute rate fastly and nothing is made an uproar
Sound, therefore, preferentially carrying out static parking using Ebooster can be improved user's driver comfort, and since device performance itself is special
Point, Ebooster can not execute holding pressure control for a long time, and the maximum dwell time is a limit value such as 3min, therefore, in 3min
It when afterwards or electronics force aid system is not able to satisfy braking requirement, will be taken over by EPB, and thereby may be ensured that long-time parking,
Realize the safety of static parking.
Below in brake control process, the signal interaction of VCU and Ebooster, EPB are illustrated.
When vehicle meets static parking condition, it is as shown in table 1 below that VCU sends coherent signal, wherein including right
The enable signal and demand static state parking sign position signal and demand compensation hydraulic target value etc. of Ebooster and EPB is believed
Breath.
Table 1
In static parking control, the relevant information that Ebooster is sent is as shown in table 2 below, including to hydraulic actuating mechanism
Available flag signal and activation marker position signal etc..
Table 2
In static parking control, the coherent signal that EPB is sent is as shown in table 3 below, including electronic parking executing agency
Available flag position signal and activation marker position signal etc..
Table 3
Specifically, referring to shown in Fig. 2 and table 1 above, table 2 and table 3, VCU is judging the static parking item of vehicle satisfaction
When part such as above-mentioned example condition, Ebooster static state parking function is enabled, i.e. VCU sends VCU_SPF_EB_ENA_
FLG=1 to Ebooster:Booster judges whether external execution system such as hydraulic actuating mechanism can be used, and by available flag
Position signal feeds back to VCU, demand Ebooster static state parking function when VCU meets following all conditions, i.e. transmission VCU_SPF_
EB_Req_FLG=1 to Ebooster:a) VCU_SPF_EB_ENA_FLG=1；B) EB_SPF_AVL_FLG=1.In turn, VCU
EPB static state parking function is enabled when judgement meets following all conditions, i.e. transmission VCU_SPF_EP_ENA_FLG=1 to EPB:
A) VCU_SPF_EB_ENA_FLG=1；B) electronics energy assisted braking system braking time, that is, hydraulic actuating mechanism execution time has been
Ability close to 3min or hydraulic actuating mechanism is unable to satisfy static parking demand.VCU is when judgement meets following all conditions
Demand EPB carries out static parking function, i.e. transmission VCU_SPF_EP_Req_FLG=1 to EPB:a) VCU_SPF_EP_ENA_FLG
=1；B) EP_SPF_AVL_FLG=1.After vehicle EPB has executed static parking function, entire function is just exited, Ebooster
No longer carry out holding pressure control.Wherein, in static parking control, Brake lamp need to be lighted, VCU will send VCU_SPF_Light_
Req_FLG1=1 to BCM, so that Brake lamp is lighted.
Fig. 3 is the flow chart of the method for control vehicle automatic parking according to an embodiment of the invention, such as Fig. 3 institute
Show, the method for the control vehicle automatic parking of the embodiment of the present invention includes:
S301, VCU judge whether to meet static parking demand condition, enter step S302 if met, otherwise, terminate.
S302, VCU send VCU_SPF_EB_ENA_FLG=1.
S303, Ebooster judge whether to meet static parking condition, if so, entering step S304, otherwise, terminate.
S304, Ebooster send EB_SPF_AVL_FLG=1.
S305, VCU send VCU_SPF_EB_Req_FLG=1 and VCU_SPF_Hyd_TAG > 0.
S306, VCU judge whether to receive EB_Park_ACT_FLAG=1, if so, entering step S307, otherwise, return
Step S305.
S307, VCU judge vehicle whether there is also car slipping, if so, entering step S308, otherwise enter step S309.
S308, VCU send VCU_SPF_EB_Req_FLG=1 and VCU_SPF_Hyd_TAG > 0.
S309, VCU judge that Hydraulic Static parking controls whether to be more than setting time such as 3 minutes or Hydraulic Static parking
It is impossible to meet current parking demands for ability, if so, entering step S310, otherwise, terminate.
S310, VCU send VCU_SPF_EP_ENA_FLG=1.
S311, EPB judge whether to meet static parking condition, if so, entering step S312, otherwise, terminate.
S312, EPB send EP_SPF_AVL_FLG=1.
S313, VCU send VCU_SPF_EP_Req_FLG=1.
S314, VCU judge whether to receive EP_Park_ACT_FLAG=1, if so, entering step S315, otherwise, return
Return step S313.
S315, VCU send VCU_SPF_EB_ENA_FLG=2 and VCU_SPF_EP_ENA_FLG.
In short, the method for the control vehicle static parking of the embodiment of the present invention, it is excellent from user's comfort work angle
The tedious steps for changing parking control are first braked by electronics energy assisted braking system, are mentioned when vehicle meets static parking condition
Response speed and low noise are risen, user's driver comfort and vehicle safety stability are promoted.In holding for electronics energy assisted braking system
When the row time reaches preset time or is not able to satisfy current demand, continue to brake by electronic parking control system, Ke Yiman
Foot length time parking demand guarantees parking safety.
The method of control vehicle parking based on above example, the non-transitory of second aspect of the present invention embodiment calculate
Machine readable storage medium storing program for executing, is stored thereon with computer program, when which is executed by processor, may be implemented real above
The method for applying the control vehicle automatic parking of example.
Above example can be achieved by storing in non-transitorycomputer readable storage medium according to an embodiment of the present invention
Control vehicle automatic parking method computer program, provide basis for the realization of this method.
The system of the control vehicle automatic parking of embodiment according to a third aspect of the present invention is described with reference to the accompanying drawings.
Fig. 4 is the block diagram of the system of control vehicle automatic parking according to an embodiment of the invention, as shown in figure 4,
The system 100 includes entire car controller 10 and electronics energy assisted braking system 20.Wherein, entire car controller 10 is for obtaining vehicle
Status information, and judge whether vehicle meets static parking condition according to status information, and meet static parking item in vehicle
Electric energy assisted braking system 20 is controlled when part to be braked.
The system 100 of control vehicle automatic parking according to an embodiment of the present invention, when vehicle meets static parking condition,
Entire car controller 10 controls electron process braking system 20 and is braked, and braking response faster and low noise, improves relaxing for driving
Adaptive.
Further, as shown in figure 5, the system 100 of the control vehicle automatic parking of the embodiment of the present invention further includes electronics
Parking control system 30 reaches the system of preset time and electric energy assisted braking system 20 in the braking time of electric energy assisted braking system 20
When power meets less than any one of the braking requirement of vehicle condition, entire car controller 10 controls electronic parking control system 30
It is braked, so as to meet the long period parking demand of vehicle, improves parking safety.
In some embodiments, as shown in fig. 6, electric energy assisted braking system 20 includes electric assist controller 21 (Ebooster)
With hydraulic actuating mechanism 22, entire car controller 10 is specifically used for when controlling electric assisted control system 20 and being braked, in vehicle
When meeting static parking condition, the static parking enable signal of electric energy assisted braking system is sent to electric booster brake 21, and ring
The 22 available flag position signal of hydraulic actuating mechanism that Ying Yu electricity booster brake 21 is fed back sends electric booster braking system 20
Demand static state parking sign position and demand compensation hydraulic target value are to electric booster brake 21, with compensation hydraulic target according to demand
Value control hydraulic actuating mechanism 22 is braked, thus, it realizes quickly and the hydraulic braking of low noise controls.
Further, entire car controller 10 is also used to, and judges that vehicle whether there is car slipping, and there are tune when car slipping in vehicle
Whole demand compensation hydraulic target value presented above is to increase the brake force of hydraulic actuating mechanism 22, to meet static parking need
It asks.
In embodiment, as shown in fig. 6, electronic parking control system 30 includes electronic parking controller 31 (EPB) and electricity
Sub- control device 32, entire car controller 10 are specifically used for when controlling electronic parking control system 30 and being braked, send
The static parking enable signal of electronic parking control system 30 is to electronic parking controller 31, and in response to electronic parking controller
31 32 available flag position signal of electronic parking executing agency sends the demand static state parking sign of electronic parking control system 30
It is braked with controlling electronic parking executing agency 32 to electronic parking controller 31, guarantees staying for the long period of vehicle in position
Vehicle improves parking safety.
Generally speaking, the system 100 of the control vehicle automatic parking of the embodiment of the present invention, from user's comfort work angle
The tedious steps for optimizing parking control are first made by electronics energy assisted braking system 20 when vehicle meets static parking condition
It is dynamic, response speed and low noise are improved, user's driver comfort and vehicle safety stability are promoted.In electronics energy assisted braking system
When 20 execution time reaches preset time or is not able to satisfy current demand, continue to make by electronic parking control system 30
It is dynamic, it can satisfy long-time parking demand, guarantee parking safety.
The system of control vehicle automatic parking based on above example, describes according to the present invention the 4th with reference to the accompanying drawings
The vehicle of aspect embodiment.
Fig. 7 is the block diagram of vehicle according to an embodiment of the invention, as shown in fig. 7, the vehicle of the embodiment of the present invention
1000 include the control vehicle automatic parkings of detection device 200 and above example systems 100 and other necessary systems and
Component, wherein detection device 200 is used to acquire the status information of vehicle, and then the system 100 for controlling vehicle automatic parking can be with
Such status information is obtained by vehicle CAN network, and judges whether vehicle meets static parking condition, Yi Ji according to state
Control electronics energy assisted braking system is braked when meeting static parking condition, and specific implementation process is referred to above example
Explanation.
Vehicle 1000 according to an embodiment of the present invention, by using the system of the control vehicle automatic parking of above example
100, parking braking response speed and low noise can be improved, promote user's driver comfort.
It should be noted that in the description of this specification, any mistake described otherwise above in flow chart or herein
Journey or method description are construed as, and expression includes the steps that one or more for realizing specific logical function or process
Executable instruction code module, segment or part, and the range of the preferred embodiment of the present invention includes other
Realize, wherein sequence shown or discussed can not be pressed, including according to related function by it is basic simultaneously in the way of or press
Opposite sequence, Lai Zhihang function, this should be understood by the embodiment of the present invention person of ordinary skill in the field.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (12)
1. a kind of method for controlling vehicle automatic parking, which is characterized in that vehicle includes electric energy assisted braking system, the method packet
It includes:
The entire car controller of vehicle obtains the status information of the vehicle；
The entire car controller judges whether the vehicle meets static parking condition according to the state information；
The entire car controller controls the electric energy assisted braking system when the vehicle meets the static parking condition and carries out
Braking.
2. the method for control vehicle automatic parking according to claim 1, which is characterized in that the vehicle further includes electronics
Parking control system, the method also includes:
It is small in the brake force that the braking time of the electric energy assisted braking system reaches preset time and the electric energy assisted braking system
When any one of the braking requirement of vehicle condition meets, the control of electronic parking described in vehicle control unit controls system
System is braked.
3. the method for control vehicle automatic parking according to claim 1, which is characterized in that the electricity energy assisted braking system
Including electric assist controller and hydraulic actuating mechanism, the entire car controller meets the static parking condition in the vehicle
When, it controls the electric energy assisted braking system and is braked, comprising:
The entire car controller when the vehicle meets the static parking condition, stay by the static state for sending electric energy assisted braking system
Vehicle enable signal can use mark in response to the hydraulic actuating mechanism of the electric booster brake feedback to the electric booster brake
Will position signal, the demand static state parking sign position for sending electric booster braking system and demand compensation hydraulic target value are to the electricity
Booster brake is braked with controlling the hydraulic actuating mechanism according to the demand compensation hydraulic target value.
4. the method for control vehicle automatic parking according to claim 3, which is characterized in that the method also includes:
The entire car controller judges that the vehicle whether there is car slipping, and there are the demand is adjusted when car slipping in the vehicle
Compensation hydraulic target value is to increase the brake force of the hydraulic actuating mechanism.
5. the method for control vehicle automatic parking according to claim 2, which is characterized in that electronic parking control system
System includes electronic parking controller and electronic parking executing agency, electronic parking control system described in the vehicle control unit controls
It is braked, comprising:
The entire car controller sends the static parking enable signal of electronic parking control system to the electronic parking controller,
And in response to the electronic parking executing agency available flag position signal of the electronic parking controller, electronic parking control system is sent
It is made to the electronic parking controller with controlling the electronic parking executing agency demand static state parking sign position of system
It is dynamic.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the calculating
Machine program realizes control vehicle automatic parking according to any one of claims 1 to 5 method when being executed by processor.
7. a kind of system for controlling vehicle automatic parking, which is characterized in that the system comprises entire car controllers, electronics power-assisted system
Dynamic system, wherein the entire car controller is used to obtain the status information of the vehicle, and judges institute according to the state information
It states whether vehicle meets static parking condition, and controls the electric power-assisted when the vehicle meets the static parking condition
Braking system is braked.
8. the system of control vehicle automatic parking according to claim 7, which is characterized in that the system also includes electronics
Parking control system reaches preset time and the electric energy assisted braking system in the braking time of the electric energy assisted braking system
When brake force meets less than any one of the braking requirement of vehicle condition, electronics described in the vehicle control unit controls is stayed
Vehicle control is braked.
9. the system of control vehicle automatic parking according to claim 7, which is characterized in that the electricity energy assisted braking system
Including electric assist controller and hydraulic actuating mechanism, the entire car controller is braked in the control electric assisted control system
When be specifically used for, when the vehicle meets the static parking condition, the static parking for sending electric energy assisted braking system is enabled
Signal is believed in response to the hydraulic actuating mechanism available flag position of the electric booster brake feedback to the electric booster brake
Number, the demand static state parking sign position for sending electric booster braking system and demand compensation hydraulic target value are to the electric power-assisted system
Dynamic device is braked with controlling the hydraulic actuating mechanism according to the demand compensation hydraulic target value.
10. the system of control vehicle automatic parking according to claim 9, which is characterized in that the entire car controller is also
For judging that the vehicle whether there is car slipping, and there are adjust the demand compensation hydraulic target when car slipping in the vehicle
Value is to increase the brake force of the hydraulic actuating mechanism.
11. the system of control vehicle automatic parking according to claim 8, which is characterized in that the electronic parking control
System includes electronic parking controller and electronic parking executing agency, and the entire car controller is controlling the electronic parking control
It is specifically used for when system is braked, sends the static parking enable signal of electronic parking control system to the electronic parking control
Device processed, and in response to the electronic parking executing agency available flag position signal of the electronic parking controller, send electronic parking
The demand static state parking sign position of control system to the electronic parking controller, with control the electronic parking executing agency into
Row braking.
12. a kind of vehicle, which is characterized in that the vehicle includes detection device and such as described in any item controls of claim 7-11
The system of vehicle automatic parking processed, wherein the detection device is used to acquire the status information of the vehicle.
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| CN201811178723.5A CN109435941B (en) | 2018-10-10 | 2018-10-10 | Method and system for controlling automatic parking of vehicle, vehicle and storage medium |
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