CN110194170A - A kind of ramp parking control method, device and storage medium - Google Patents
A kind of ramp parking control method, device and storage medium Download PDFInfo
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- CN110194170A CN110194170A CN201910587242.8A CN201910587242A CN110194170A CN 110194170 A CN110194170 A CN 110194170A CN 201910587242 A CN201910587242 A CN 201910587242A CN 110194170 A CN110194170 A CN 110194170A
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- vehicle
- slope
- ramp
- brake system
- parking control
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
Abstract
The invention discloses a kind of ramp parking control methods, comprising: when detecting that vehicle is on ramp, detects the current vehicle speed of vehicle；When the current vehicle speed is less than or equal to speed threshold value, pressure instruction is built in generation；It builds pressure instruction by described and is sent to Intelligent brake system, establish brake pressure so that the Intelligent brake system builds pressure instruction according to and act on the wheel of vehicle, so that vehicle be made to complete in slope.The invention also discloses a kind of ramp parking control device and storage mediums.The present invention can carry out automatic parking when vehicle has landslide phenomenon, effectively prevent the generation of vehicle landslide accident.
Description
Technical field
The present invention relates to parking technical field more particularly to a kind of ramp parking control methods, device and storage medium.
Background technique
General electric car needs to brake by artificially controlling parking brake, can only be by trampling braking when on ramp
Pedal and pull-up parking brake apply the torque progress parking (be generally only capable of maintain 3s) opposite with direction of vehicle movement by motor,
And in starting-up process, driver is by loosening the brake to during bend the throttle, and electric car is whithin a period of time
Will appear does not have the case where driving force, and under gravity, vehicle may slip by slope, and if customer responsiveness relatively it is slow not in time
Bend the throttle, it is likely that since landslide causes the accident.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is to provide a kind of ramp parking control method, device and storage mediums, it is intended to solve
It needs artificially to trample brake pedal and pull-up parking brake in the prior art, is easy on ramp because the technology that landslide causes the accident is asked
Topic.
To achieve the above object, the present invention provides a kind of ramp parking control method, the ramp parking control method packet
It includes: when detecting that vehicle is on ramp, detecting the current vehicle speed of vehicle；When the current vehicle speed is less than or equal to speed threshold
When value, pressure instruction is built in generation；Instruction is pressed to be sent to Intelligent brake system described build, so that the Intelligent brake system is according to institute
It states and builds pressure instruction and establish brake pressure and act on the wheel of vehicle, so that vehicle be made to complete to stay slope.
Optionally, instruction is pressed to be sent to Intelligent brake system described build described, so that the Intelligent brake system root
It builds pressure instruction according to described and establishes brake pressure and act on the wheel of vehicle, thus after so that vehicle is completed the step of in slope, it is described
Ramp parking control method further include: after detecting that accelerator pedal is operated, Xiang Suoshu Intelligent brake system sends pressure release and refers to
It enables, so that the Intelligent brake system carries out pressure release to wheel to start the vehicle.
Optionally, described after detecting that accelerator pedal is operated, Xiang Suoshu Intelligent brake system sends pressure release instruction, with
So that the Intelligent brake system is carried out the step of pressure release is to start the vehicle to wheel includes: to detect that accelerator pedal is stepped on
After lower, the aperture of accelerator pedal and the current shift of vehicle are obtained；Aperture is preset when the aperture of accelerator pedal is greater than or equal to, and
When current shift is that D is kept off, Xiang Suoshu Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out wheel
Pressure release is to start the vehicle.
Optionally, it includes: the intelligent braking that the Intelligent brake system, which carries out pressure release to wheel to start the vehicle,
System successively carries out pressure release to wheel according to multiple default pressure release slopes, until the vehicle launch.
It is optionally, described that when the current vehicle speed is less than or equal to speed threshold value, generation is built before the step of pressure instructs,
The ramp parking control method further include: whether detection brake pedal is trampled；If the brake pedal is not trampled, when
When the current vehicle speed is less than or equal to speed threshold value, it includes: that generation control instruction is concurrent that the step of pressure instructs is built in the generation
It send to power control unit, so that whether power control unit detection vehicle is in the state of slipping by slope, is slipped if vehicle is in
It in ramp shaped state, then controls motor output and slips by slope contrary torque, until vehicle is completed to stay slope, and returned to entire car controller
Return the signal of completion in slope；When receiving the signal of completion in slope, pressure instruction is built in generation.
Optionally, if the brake pedal is not trampled, instruction is pressed to be sent to intelligent braking system described build described
System, so that the Intelligent brake system is built pressure according to and instructed and establishes brake pressure and act on the wheel of vehicle, to make vehicle
After completing the step of in slope, the ramp parking control method further include: detecting that the Intelligent brake system builds pressure
After the completion, Xiang Suoshu power control unit sends Motor torque release signal, so that the power control unit controls the electricity
Machine discharges torque.
Optionally, if the brake pedal is not trampled, the power control unit returns complete in slope to entire car controller
At the torque in slope of motor when also returning to completion in slope to entire car controller while signal；It is described to detect accelerator pedal quilt
After stepping on, Xiang Suoshu Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out pressure release to wheel to open
The step of moving the vehicle includes: the current torque for comparing motor after detecting that accelerator pedal is operated and the torsion in slope
The size of square；If the current torque is greater than the torque in slope, pressure release instruction is sent to the Intelligent brake system, so that
The Intelligent brake system carries out pressure release to wheel to start vehicle；If the current torque is less than or equal to the torsion in slope
Square then keeps the state in ramp shaped of vehicle.
In addition, to achieve the above object, the present invention also provides a kind of ramp parking control device, the ramp parking control
Device includes:
Detection module, for detecting the current vehicle speed of vehicle when detecting that vehicle is on ramp；
Generation module, for when the current vehicle speed is less than or equal to speed threshold value, pressure instruction to be built in generation；
Module in slope, for pressing instruction to be sent to Intelligent brake system described build, so that the Intelligent brake system root
It builds pressure instruction according to described and establishes brake pressure and act on the wheel of vehicle, so that vehicle be made to complete to stay slope.
In addition, to achieve the above object, the present invention also provides a kind of ramp parking control device, the ramp parking control
Device includes: memory, processor and the ramp parking control that is stored on the memory and can run on the processor
Processing procedure sequence, the ramp parking control program realize the step such as above-mentioned ramp parking control method when being executed by the processor
Suddenly.
In addition, to achieve the above object, the present invention also provides a kind of storage medium, being stored with ramp on the storage medium
Parking controls program, and the ramp parking control program is realized when being executed by processor such as above-mentioned ramp parking control method
Step.
A kind of ramp parking control method, device and the storage medium that the embodiment of the present invention proposes, by detecting vehicle
When on the ramp, the current vehicle speed of vehicle is detected, to judge whether vehicle can slip by slope by current vehicle speed, when described
When current vehicle speed is less than or equal to speed threshold value, i.e., when vehicle may slip by slope, generation builds pressure and instructs and be sent to intelligent brake
Vehicle system, so that the Intelligent brake system builds pressure instruction according to establishes the wheel that brake pressure acts on vehicle, thus
Make vehicle complete to stay slope, by introducing Intelligent brake system, the brake of communication control vehicle, Neng Gou are carried out with entire car controller
Vehicle carries out automatic parking when having landslide phenomenon, effectively prevents the generation of vehicle landslide accident.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the entire car controller for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of parking control method embodiment in ramp of the present invention；
The process signal for the step of Fig. 3 is after the step S206 of parking control method embodiment in ramp of the present invention in Fig. 2
Figure；
Fig. 4 is the refinement flow diagram of the step S302 of parking control method embodiment in ramp of the present invention in Fig. 2；
Fig. 5 illustrates for another refinement process of the step S302 of parking control method embodiment in ramp of the present invention in Fig. 2
Figure；
Fig. 6 is the structural block diagram of parking control device embodiment in ramp of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Fig. 1 is entire car controller (VCU, the Vehicle for the hardware running environment that the embodiment of the present invention is related to
Control Unit) structural schematic diagram.
VCU may include: processor 1001, memory 1003 and communication bus 1002.Wherein, communication bus 1002 is used for
Realize the connection communication between VCU and the other component of vehicle.The other component of vehicle include power control unit (PCU,
Power COntrol Unit), Intelligent brake system, accelerator pedal, brake pedal, motor, gyroscope and horizon sensor
Deng.VCU can receive accelerator pedal signal and the corresponding judgement accelerator pedal of brake pedal signal and brake pedal tramples shape
State.Memory 1003 can be high speed RAM memory, be also possible to stable memory (non-volatile memory), example
Such as magnetic disk storage.Memory 1003 optionally can also be the storage device independently of aforementioned processor 1001.
It will be understood by those skilled in the art that entire car controller structure shown in Fig. 1 is not constituted to entire car controller
Restriction, may include perhaps combining certain components or different component layouts than illustrating more or fewer components.
As shown in Figure 1, as may include communication module and slope in a kind of memory 1003 of computer storage medium
Road parking controls program.Processor 1001 can be used for that the ramp parking stored in memory 1003 is called to control program, and hold
The following operation of row: when detecting that vehicle is on ramp, the current vehicle speed of vehicle is detected；When the current vehicle speed is less than or waits
When speed threshold value, pressure instruction is built in generation；Instruction is pressed to be sent to Intelligent brake system described build, so that the intelligent braking system
System builds pressure instruction according to and establishes brake pressure and act on the wheel of vehicle, so that vehicle be made to complete in slope.
Optionally, instruction is pressed to be sent to Intelligent brake system described build described, so that the Intelligent brake system root
It builds pressure instruction according to described and establishes brake pressure and act on the wheel of vehicle, thus after so that vehicle is completed the step of in slope, it is described
Ramp parking control method further include: after detecting that accelerator pedal is operated, Xiang Suoshu Intelligent brake system sends pressure release and refers to
It enables, so that the Intelligent brake system carries out pressure release to wheel to start the vehicle.
Optionally, described after detecting that accelerator pedal is operated, Xiang Suoshu Intelligent brake system sends pressure release instruction, with
So that the Intelligent brake system is carried out the step of pressure release is to start the vehicle to wheel includes: to detect that accelerator pedal is stepped on
After lower, the aperture of accelerator pedal and the current shift of vehicle are obtained；Aperture is preset when the aperture of accelerator pedal is greater than or equal to, and
When current shift is that D is kept off, Xiang Suoshu Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out wheel
Pressure release is to start the vehicle.
Optionally, it includes: the intelligent braking that the Intelligent brake system, which carries out pressure release to wheel to start the vehicle,
System successively carries out pressure release to wheel according to multiple default pressure release slopes, until the vehicle launch.
It is optionally, described that when the current vehicle speed is less than or equal to speed threshold value, generation is built before the step of pressure instructs,
The ramp parking control method further include: whether detection brake pedal is trampled；If the brake pedal is not trampled, when
When the current vehicle speed is less than or equal to speed threshold value, it includes: that generation control instruction is concurrent that the step of pressure instructs is built in the generation
It send to power control unit, so that whether power control unit detection vehicle is in the state of slipping by slope, is slipped if vehicle is in
It in ramp shaped state, then controls motor output and slips by slope contrary torque, until vehicle is completed to stay slope, and returned to entire car controller
Return the signal of completion in slope；When receiving the signal of completion in slope, pressure instruction is built in generation.
Optionally, if the brake pedal is not trampled, instruction is pressed to be sent to intelligent braking system described build described
System, so that the Intelligent brake system is built pressure according to and instructed and establishes brake pressure and act on the wheel of vehicle, to make vehicle
After completing the step of in slope, the ramp parking control method further include: detecting that the Intelligent brake system builds pressure
After the completion, Xiang Suoshu power control unit sends Motor torque release signal, so that the power control unit controls the electricity
Machine discharges torque.
Optionally, if the brake pedal is not trampled, the power control unit returns complete in slope to entire car controller
At the torque in slope of motor when also returning to completion in slope to entire car controller while signal；It is described to detect accelerator pedal quilt
After stepping on, Xiang Suoshu Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out pressure release to wheel to open
The step of moving the vehicle includes: the current torque for comparing motor after detecting that accelerator pedal is operated and the torsion in slope
The size of square；If the current torque is greater than the torque in slope, pressure release instruction is sent to the Intelligent brake system, so that
The Intelligent brake system carries out pressure release to wheel to start vehicle；If the current torque is less than or equal to the torsion in slope
Square then keeps the state in ramp shaped of vehicle.
Reference Fig. 2, a kind of ramp parking control method embodiment, the ramp parking control method include:
Step S202 detects the current vehicle speed of vehicle when detecting that vehicle is on ramp；
Whether VCU detection vehicle is on ramp.Specifically, VCU detects the angle between the pedestal and horizontal direction of vehicle
Degree, judges whether vehicle is on ramp.Specifically, VCU detects the bottom of vehicle by control gyroscope or horizon sensor
Angle between seat and horizontal direction receives the angle signal that gyroscope or horizon sensor return, obtains the angle.Into
One step, when the angle is greater than or equal to angle threshold, then judge that vehicle is on ramp.
Further, VCU detects the current vehicle speed of vehicle.Specifically, terminal receives speed signal, obtains the current of vehicle
Speed.
Step S204, when the current vehicle speed is less than or equal to speed threshold value, pressure instruction is built in generation；
When speed is less than speed threshold value, vehicle there are landslide hazard, need to carry out vehicle corresponding brake operating with
Vehicle is prevented to come down.In the present embodiment, speed threshold value is 1km/h.
In one of the embodiments, before step S204, the ramp parking control method further include: detection braking
Whether pedal is trampled；
Specifically, VCU detects brake pedal signal, judges whether brake pedal is trampled.
If brake pedal is trampled, S204 is thened follow the steps.Specifically, VCU detect brake pedal trampled it is lasting when
Between and current vehicle speed size.If the duration that brake pedal is trampled is greater than or equal to preset time and the current vehicle speed
When less than or equal to speed threshold value, VCU enters the first park mode.Specifically, under the first park mode, pressure is built in VCU generation
Instruction, to execute step S206.In the present embodiment, preset time 800ms.
If the brake pedal is not trampled, and when the current vehicle speed is less than or equal to speed threshold value, VCU enters the
Two park modes.Under the second park mode, it includes: to generate control instruction and be sent to function that the step of pressure instructs is built in the generation
Rate control unit, so that whether power control unit detection vehicle is in the state of slipping by slope, if vehicle, which is in, slips by slope state
In, then it controls motor output and slips by slope contrary torque, until vehicle is completed to stay slope, and returned to entire car controller and stay slope
Complete signal；When receiving the signal of completion in slope, pressure instruction is built in generation.
Specifically, VCU generates control instruction and is sent to power control unit, so that power control unit detection vehicle is
No be in slips by slope in state.Specifically, whether power control unit judges vehicle according to the current shift and motor speed of vehicle
In slipping by slope in state, if the non-D gear of the current shift of vehicle, and when motor speed is less than or equal to preset rotation speed, then judge vehicle
In slipping by slope in state.When power control unit judge vehicle be in slip by slope state when, power control unit control motor it is defeated
The torque contrary with slipping by slope acts on wheel out, so that wheel is completed to stay slope.After vehicle is completed to stay slope, power control list
Member returns to the signal of completion in slope to VCU.When receiving the signal of completion in slope, pressure instruction is built in generation, to execute step S206.
Described build is pressed instruction to be sent to Intelligent brake system, so that the Intelligent brake system is according to institute by step S206
It states and builds pressure instruction and establish brake pressure and act on the wheel of vehicle, so that vehicle be made to complete to stay slope.
Wherein, Intelligent brake system is N-Booster Intelligent brake system, establishes communication connection realization with VCU and interacts
Control.
VCU will build pressure instruction and be sent to Intelligent brake system, establish so that Intelligent brake system builds pressure instruction according to
Brake pressure acts on the wheel of vehicle, so that vehicle be made to complete to stay slope.Specifically, VCU is stopped by building pressure instruction control intelligence
Vehicle system establishes brake pressure, checks four vehicles of vehicle, so that vehicle is completed to stay slope.In vehicle completion in slope,
Intelligent brake system builds pressure to VCU return and completes signal to notify VCU completion in slope.
Under the first park mode, VCU carries out vehicle using the method for above-mentioned steps S206 and stays slope.Specifically, VCU is to intelligence
Energy brake system sends the instruction built pressure instruction and enter the first park mode, and Intelligent brake system is receiving the first parking
When the instruction of mode, the gradient in the ramp being presently according to vehicle obtains target torque in slope.Wherein, target torque in slope with
The gradient is to be positively correlated, i.e. the gradient in ramp that is presently in of vehicle is bigger, and the target torque in slope that Intelligent brake system obtains is got over
Greatly.It is such as when vehicle is on the ramp of certain slope, and the ramp signal of generation is the 5% of maximum ramp signal, then intelligent
Torque in slope when the target torque in slope that brake system obtains then is 5% that ramp signal is maximum ramp signal.Further
Ground, Intelligent brake system establishes brake pressure and acts on the wheel of vehicle according to the pressure instruction of building received, so that vehicle be made to complete
In slope.Specifically, the current torque of vehicle is adjusted to target torque in slope according to pre-set velocity by Intelligent brake system.Wherein,
If current torque is less than target torque in slope, Intelligent brake system boosts the current torque of vehicle according to the default rate of rise
To target torque in slope；If current torque is greater than target torque in slope, Intelligent brake system is according to default pressure decay rate by vehicle
Current torque be depressurized to target torque in slope.After Intelligent brake system reaches target torque in slope, slope is stayed to VCU feedback
Complete signal.During in slope or after the completion of staying slope, the speed of VCU real-time detection vehicle, if vehicle speed is greater than calibration value,
It then controls Intelligent brake system and increases certain torque in slope.During Intelligent brake system builds pressure parking, VCU can be responded
The request that driver issues.
If the brake pedal is not trampled in one of the embodiments, after step S206, the ramp is stayed
Vehicle control method further include: after the completion of detecting that the Intelligent brake system builds pressure, Xiang Suoshu power control unit sends electricity
Machine torque release signal, so that the power control unit controls the motor and discharges torque.
I.e. under the second park mode, after step S206, VCU after the completion of detecting that Intelligent brake system builds pressure,
Since vehicle is completed by the brake pressure that Intelligent brake system is established in slope, VCU passes through power control at this time
Unit controls motor and discharges torque, so that vehicle carries out staying slope separately through the brake pressure that Intelligent brake system is established.
Referring to Fig. 3, in one of the embodiments, after the step S206, the ramp parking control method is also
Include:
Step S302, after detecting that accelerator pedal is operated, Xiang Suoshu Intelligent brake system sends pressure release instruction, so that
The Intelligent brake system carries out pressure release to wheel to start the vehicle.
VCU detects the current brake mode of vehicle, if current brake mode is the first park mode, in vehicle completion in slope
Any time afterwards, VCU detect accelerator pedal signal, judge whether step on the accelerator is to start vehicle by user.It is detected in VCU
After being operated to accelerator pedal, pressure release instruction is sent to Intelligent brake system, so that the Intelligent brake system carries out wheel
Pressure release is to start the vehicle.
Specifically, include: referring to Fig. 4, the step S302
Step S402 obtains the aperture of accelerator pedal and the current shift of vehicle after detecting that accelerator pedal is operated；
In order to ensure after the brake pressure of release wheel, vehicle does not come down, and needs to apply wheel certain drive
Dynamic power, and the driving power of wheel is positively correlated to the aperture of accelerator pedal and related with the current shift of vehicle, therefore having must
Detect accelerator pedal aperture and vehicle current shift come to judge whether to wheel carry out pressure release.
Step S404, when the aperture of accelerator pedal is greater than or equal to default aperture, and current shift is that D is kept off, Xiang Suoshu
Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out pressure release to wheel to start the vehicle.
In the present embodiment, presetting aperture is 15%.Wherein, D gear is forward gear.In the present embodiment, work as front when vehicle
When position is that D is kept off and the aperture of accelerator pedal is greater than or equal to 15%, after carrying out pressure release to wheel, vehicle will not come down.
The current shift D gear of vehicle is judged in VCU, and when the aperture of accelerator pedal is greater than or equal to default aperture, then to intelligent braking
System sends pressure release instruction, so that the Intelligent brake system carries out pressure release to wheel to start the vehicle.
Specifically, the Intelligent brake system carries out pressure release to wheel to start the vehicle in one of the embodiments,
It include: that the Intelligent brake system successively carries out pressure release to wheel according to multiple default pressure release slopes, until the vehicle opens
It is dynamic.In the present embodiment, VCU controls Intelligent brake system successively according to 10%, 15%, 20%, 25% pressure release slope to wheel
Pressure release is carried out, until the vehicle launch.
Referring to Fig. 5, if the brake pedal is not trampled in one of the embodiments, i.e., current brake mode is the
When two park modes, also to entire car controller while the power control unit returns to the signal of completion in slope to entire car controller
The torque in slope of motor when returning to completion in slope；
The step S302 includes:
Step S502 compares the current torque and the torque in slope of motor after detecting that accelerator pedal is operated
Size；
VCU detects the current torque of motor after detecting that accelerator pedal is operated, and by the size of current torque and stays slope
The size of torque is compared.
Step S504 sends pressure release to the Intelligent brake system if the current torque is greater than the torque in slope
Instruction, so that the Intelligent brake system carries out pressure release to wheel to start vehicle；
If carrying out pressure release rear vehicle car slipping occurs, VCU controls Intelligent brake system again and carries out automatic parking.
Step S506 keeps the state in ramp shaped of vehicle if the current torque is less than or equal to the torque in slope.
If the current torque of motor is greater than torque in slope, show to slide to wheel progress pressure release rear vehicle
Therefore slope can carry out pressure release to wheel to start vehicle.If the current torque of motor is less than torque in slope, show right
Wheel, which carries out pressure release rear vehicle, to come down, therefore VCU control Intelligent brake system continues to carry out pressure maintaining to wheel, so that
Vehicle keeps state in ramp shaped.
In the present embodiment, by detecting the current vehicle speed of vehicle when detecting that vehicle is on ramp, by current
Speed judges whether vehicle can slip by slope, and when the current vehicle speed is less than or equal to speed threshold value, i.e., vehicle may occur
When slipping by slope, generation builds pressure and instructs and be sent to Intelligent brake system, so that the Intelligent brake system builds pressure instruction according to
It establishes brake pressure and acts on the wheel of vehicle, to make vehicle complete to stay slope, by introducing Intelligent brake system, with vehicle control
Device processed carries out the brake of communication control vehicle, can carry out automatic parking when vehicle has landslide phenomenon, effectively prevent vehicle
The generation of landslide accident.
Referring to Fig. 6, the embodiment of the present invention also proposes a kind of ramp parking control device, the ramp parking control device packet
It includes:
Detection module 610, for detecting the current vehicle speed of vehicle when detecting that vehicle is on ramp；
Generation module 620, for when the current vehicle speed is less than or equal to speed threshold value, pressure instruction to be built in generation；
Module in slope 630, for pressing instruction to be sent to Intelligent brake system described build, so that the Intelligent brake system
It builds pressure instruction according to described and establishes brake pressure and act on the wheel of vehicle, so that vehicle be made to complete to stay slope.
Optionally, the ramp parking control device further include: pressure release module 640, for detecting accelerator pedal quilt
After stepping on, Xiang Suoshu Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out pressure release to wheel to open
Move the vehicle.
Optionally, the pressure release module 640, is also used to after detecting that accelerator pedal is operated, obtains accelerator pedal
The current shift of aperture and vehicle；When the aperture of accelerator pedal is greater than or equal to default aperture, and current shift is that D is kept off, to
The Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out pressure release to wheel to start the vehicle
?.
Optionally, it includes: the intelligent braking that the Intelligent brake system, which carries out pressure release to wheel to start the vehicle,
System successively carries out pressure release to wheel according to multiple default pressure release slopes, until the vehicle launch.
Optionally, the detection module 610, is also used to detect whether brake pedal is trampled；If the brake pedal is not
It is trampled, then when the current vehicle speed is less than or equal to speed threshold value, the generation module 620 is also used to generate control and refers to
Power control unit is enabled and is sent to, so that whether power control unit detection vehicle is in the state of slipping by slope, if vehicle
It in slipping by slope in state, then controls motor output and slips by slope contrary torque, until vehicle is completed to stay slope, and to vehicle control
Device processed returns to the signal of completion in slope；When receiving the signal of completion in slope, pressure instruction is built in generation.
Optionally, if the brake pedal is not trampled, the ramp parking control device further include: torque discharges mould
Block, for after the completion of detecting that the Intelligent brake system builds pressure, Xiang Suoshu power control unit to send Motor torque release
Signal, so that the power control unit controls the motor and discharges torque.
Optionally, also to full-vehicle control while the power control unit returns to the signal of completion in slope to entire car controller
The torque in slope of motor when device returns to completion in slope；The pressure release module 640 is also used to detecting that accelerator pedal is operated
Afterwards, compare the current torque of motor and the size of the torque in slope；If the current torque is greater than the torque in slope, to
The Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out pressure release to wheel to start vehicle；If
The current torque is less than or equal to the torque in slope, then keeps the state in ramp shaped of vehicle.
In addition, the embodiment of the present invention also proposes that a kind of ramp parking control device, the ramp parking control device include:
The ramp parking control program that memory, processor and being stored in can be run on the memory and on the processor, institute
It states when parking control program in ramp is executed by the processor and realizes such as the step of above-mentioned ramp parking control method embodiment.
In addition, the embodiment of the present invention also proposes a kind of storage medium, parking control in ramp is stored on the storage medium
Program, the ramp parking control program realize the step such as above-mentioned ramp parking control method embodiment when being executed by processor
Suddenly.
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 system 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 system 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 system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a VCU executes each implementation of the present invention
Method described in example.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of ramp parking control method, which is characterized in that the ramp parking control method the following steps are included:
When detecting that vehicle is on ramp, the current vehicle speed of vehicle is detected；
When the current vehicle speed is less than or equal to speed threshold value, pressure instruction is built in generation；
It presses instruction to be sent to Intelligent brake system described build, is established so that the Intelligent brake system builds pressure instruction according to
Brake pressure acts on the wheel of vehicle, so that vehicle be made to complete to stay slope.
2. parking control method in ramp as described in claim 1, which is characterized in that press instruction to be sent to described build described
Intelligent brake system, so that the Intelligent brake system builds pressure instruction according to establishes the vehicle that brake pressure acts on vehicle
Wheel, thus after so that vehicle is completed the step of in slope, the ramp parking control method further include:
After detecting that accelerator pedal is operated, Xiang Suoshu Intelligent brake system sends pressure release instruction, so that the intelligent braking
System carries out pressure release to wheel to start the vehicle.
3. parking control method in ramp as claimed in claim 2, which is characterized in that described to detect that accelerator pedal is operated
Afterwards, Xiang Suoshu Intelligent brake system sends pressure release instruction, so that the Intelligent brake system carries out pressure release to wheel to start
The step of stating vehicle include:
After detecting that accelerator pedal is operated, the aperture of accelerator pedal and the current shift of vehicle are obtained；
When the aperture of accelerator pedal is greater than or equal to default aperture, and current shift is that D is kept off, Xiang Suoshu Intelligent brake system hair
Pressure release is sent to instruct, so that the Intelligent brake system carries out pressure release to wheel to start the vehicle.
4. parking control method in ramp as claimed in claim 3, which is characterized in that the Intelligent brake system carries out wheel
The step of pressure release is to start the vehicle include:
The Intelligent brake system successively carries out pressure release to wheel according to multiple default pressure release slopes, until the vehicle launch.
5. such as the described in any item ramp parking control methods of claim 2-4, which is characterized in that described to work as the current vehicle speed
When less than or equal to speed threshold value, generation is built before the step of pressure instructs, the ramp parking control method further include:
Whether detection brake pedal is trampled；
If the brake pedal is not trampled, when the current vehicle speed is less than or equal to speed threshold value, pressure is built in the generation
The step of instruction includes:
It generates control instruction and is sent to power control unit, so that whether power control unit detection vehicle is in and slips by slope
It in state, is slipped by slope in state if vehicle is in, control motor output and slips by slope contrary torque, until vehicle completion is stayed
Slope, and the signal of completion in slope is returned to entire car controller；
When receiving the signal of completion in slope, pressure instruction is built in generation.
6. parking control method in ramp as claimed in claim 5, which is characterized in that if the brake pedal is not trampled,
It presses instruction to be sent to Intelligent brake system described build described, is built so that the Intelligent brake system builds pressure instruction according to
Vertical brake pressure acts on the wheel of vehicle, thus after so that vehicle is completed the step of in slope, the ramp parking control method
Further include:
After the completion of detecting that the Intelligent brake system builds pressure, Xiang Suoshu power control unit sends Motor torque release letter
Number, so that the power control unit controls the motor and discharges torque.
7. parking control method in ramp as claimed in claim 6, which is characterized in that if the brake pedal is not trampled, institute
It states while power control unit returns to the signal of completion in slope to entire car controller also to when entire car controller return completion in slope
The torque in slope of motor；
It is described after detecting that accelerator pedal is operated, Xiang Suoshu Intelligent brake system send pressure release instruction so that the intelligence
Brake system carries out the step of pressure release is to start the vehicle to wheel
After detecting that accelerator pedal is operated, compare the current torque of motor and the size of the torque in slope；
If the current torque is greater than the torque in slope, pressure release instruction is sent to the Intelligent brake system, so that described
Intelligent brake system carries out pressure release to wheel to start vehicle；
If the current torque is less than or equal to the torque in slope, the state in ramp shaped of vehicle is kept.
8. a kind of ramp parking control device, which is characterized in that the ramp parking control device includes:
Detection module, for detecting the current vehicle speed of vehicle when detecting that vehicle is on ramp；
Generation module, for when the current vehicle speed is less than or equal to speed threshold value, pressure instruction to be built in generation；
Module in slope, for pressing instruction to be sent to Intelligent brake system described build, so that the Intelligent brake system is according to institute
It states and builds pressure instruction and establish brake pressure and act on the wheel of vehicle, so that vehicle be made to complete to stay slope.
9. a kind of ramp parking control device, which is characterized in that the ramp parking control device includes: memory, processor
And it is stored in the ramp parking control program that can be run on the memory and on the processor, the ramp parking control
The step of method as described in any one of claims 1 to 7 is realized when program is executed by the processor.
10. a kind of storage medium, which is characterized in that be stored with ramp parking control program, the ramp on the storage medium
Parking control program realizes the ramp parking control method as described in any one of claims 1 to 7 when being executed by processor
Step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910587242.8A CN110194170A (en) | 2019-07-01 | 2019-07-01 | A kind of ramp parking control method, device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910587242.8A CN110194170A (en) | 2019-07-01 | 2019-07-01 | A kind of ramp parking control method, device and storage medium |
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| CN201910587242.8A Pending CN110194170A (en) | 2019-07-01 | 2019-07-01 | A kind of ramp parking control method, device and storage medium |
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| CN110901412A (en) * | 2019-12-06 | 2020-03-24 | 中国人民解放军陆军装甲兵学院士官学校 | Safe starting control system for ramp of electric vehicle |
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| CN112060906A (en) * | 2020-09-08 | 2020-12-11 | 上海拿森汽车电子有限公司 | Single-pedal driving control method and device and vehicle |
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| CN112874523A (en) * | 2019-11-29 | 2021-06-01 | 比亚迪股份有限公司 | Vehicle control method and device and vehicle |
| CN116494940A (en) * | 2023-06-25 | 2023-07-28 | 江西五十铃汽车有限公司 | Automatic slope parking method, system, storage medium and equipment for new energy automobile |
| WO2023173982A1 (en) * | 2022-03-16 | 2023-09-21 | 岚图汽车科技有限公司 | Automatic parking function control method and apparatus, device and readable storage medium |
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