CN110228452A - Automatic parking control method, control system and automobile - Google Patents
Automatic parking control method, control system and automobile Download PDFInfo
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- CN110228452A CN110228452A CN201910528238.4A CN201910528238A CN110228452A CN 110228452 A CN110228452 A CN 110228452A CN 201910528238 A CN201910528238 A CN 201910528238A CN 110228452 A CN110228452 A CN 110228452A
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- Prior art keywords
- pressure
- parking function
- brake pedal
- automatic parking
- state
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
Abstract
The invention discloses a kind of automatic parking function control method, control system and automobiles, control method includes: when automatic parking state, car speed, brake pedal status reach the operating condition for opening parking function, obtain pressure of wheel braking cylinder signal, and when pressure of wheel braking cylinder signal reaches the trigger condition for opening parking function, brake clamping wheel；And/or when automatic parking state, car speed, brake pedal status reach the operating condition for closing parking function, pressure of wheel braking cylinder signal is obtained, and when pressure of wheel braking cylinder signal reaches the trigger condition for closing parking function, releasing of brake wheel.Present invention combination automatic parking state, car speed, brake pedal status and pressure of wheel braking cylinder signal judge that the operation of driver is intended to, and open and close automatically parking function, are not required to driver and operate manually；And it demarcates in the pressure of wheel braking cylinder signal for opening parking function, has been not in that pressure maintaining is insufficient the case where car slipping, improves the experience sense of driving of driver.
Description
Technical field
The present invention relates to automotive field more particularly to a kind of automatic parking control methods, control system and automobile.
Background technique
Automatic parking function refers to that in temporary parking, driver is not needing to brake for a long time, and starting electronics is stayed
In the case that vehicle is braked, start parking function automatically, to avoid vehicle is unnecessary from sliding.
The get on the car opening and closing of automatic parking function of market at present are carried out by physical button or virtual key
Control, controller open or close automatic parking function when receiving voltage signal.This control method is opened by driver
It opens and shutoff operation, needs driver to be manually operated, complex steps；And when opening automatic parking function by driver's
Subjective idea keeps pressure inadequate, in turn results in car slipping without reference to pressure of wheel braking cylinder signal when being easy to produce automatic parking, when slipping
When controlling actuator repressurization after vehicle, actuator operational sound is larger, and pedal is caused to shake, and brings uncomfortable sense to driver
Feel.
Accordingly, it is desirable to provide a kind of combination pressure of wheel braking cylinder, identifies driver intention, opens and closes automatically automatic parking function
The automatic parking control method and control system of energy.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of combination pressure of wheel braking cylinder, identify driver's meaning
Figure, opens and closes automatically the automatic parking control method and control system of automatic parking function.
Technical solution of the present invention provides a kind of automatic parking function control method, includes the following steps:
Obtain automatic parked state, car speed and brake pedal status；
Reach in the automatic parking state, the car speed and the brake pedal status and opens parking function
When operating condition, pressure of wheel braking cylinder signal is obtained, and when the pressure of wheel braking cylinder signal reaches the trigger condition for opening parking function,
Brake clamping wheel；And/or
Reach in the automatic parking state, the car speed, the brake pedal status and closes parking function
When operating condition, pressure of wheel braking cylinder signal is obtained, and when the pressure of wheel braking cylinder signal reaches the trigger condition for closing parking function,
Releasing of brake wheel.
The present invention judges automatically whether reach the behaviour for opening or closing parking function according to car speed, brake pedal status
Make condition, and demarcate when pressure of wheel braking cylinder signal reaches setting trigger condition and just open or close parking function, realizes automatic
The intelligent control of parking function.
Further, the operating condition for opening parking function includes:
The automatic parking state is in close state；And/or
The car speed is gradually decrease to pre-set velocity threshold value；And/or
The brake pedal is in and tramples state.
Whether has the operation of Brake stop at this time according to the judgement of automatic parking state, car speed and brake pedal status
Whether may have the intention of Brake stop with driver.
Further, pressure of wheel braking cylinder signal at this time is obtained, for judging that the operation of driver is intended to:
If the automatic parking state, the car speed and the brake pedal status reach the unlatching parking function
The operating condition of energy, the pressure of wheel braking cylinder signal of acquisition include:
The first pressure of car speed wheel cylinder when being default detection speed；And/or
The stroke that brake pedal is operated is less than preset strokes threshold value, and the time for trampling the brake pedal again is more than
The second pressure of wheel cylinder when preset time threshold.
Further, if the first pressure is greater than preset pressure threshold value, the trigger condition for opening parking function
Are as follows: the second pressure is greater than or equal to the sum of the first pressure and preset pressure fiducial value, and the car speed is small
In pre-set velocity threshold value；
If the first pressure is less than preset pressure threshold value；The then trigger condition for opening parking function are as follows: described the
Two pressure are greater than preset pressure threshold value, and the car speed is less than pre-set velocity threshold value.
Judged according to the pressure of wheel braking cylinder signal of acquisition, to obtain whether driver there is the operation of Brake stop to anticipate
Figure；Pressure of wheel braking cylinder is also demarcated simultaneously, in the pressure of wheel braking cylinder for reaching calibration, then is braked, ensure that will not be because brake be protected
Pressure is insufficient and the case where car slipping occurs.
Further, the operating condition for closing parking function includes:
The automatic parking state is in the open state；And/or
The car speed is less than pre-set velocity threshold value；And/or
The brake pedal is in releasing orientation.
Parking function is closed according to whether the judgement of automatic parking state, car speed and brake pedal status has at this time
Whether operation may have the intention of starting vehicle with driver.
Further, pressure of wheel braking cylinder signal at this time is obtained, for judging that the operation of driver is intended to:
If the automatic parking state, the car speed and the brake pedal status reach the closing parking function
The operating condition of energy, the pressure of wheel braking cylinder signal of acquisition include:
The brake pedal is in the third pressure of wheel cylinder when trampling state.
Further, the trigger condition for closing parking function includes:
The third pressure is greater than preset pressure threshold value, and the brake pedal is in the time for state of trampling more than pre-
If time threshold.
According to the pressure of wheel braking cylinder signal of acquisition, whether driver has the intention for starting vehicle at this time for judgement.
The present invention also provides a kind of automatic parking control systems for realizing aforementioned automatic parking control method, including
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes so that at least one described processor can:
Obtain automatic parked state, car speed and brake pedal status；
Reach in the automatic parking state, the car speed, the brake pedal status and opens parking function
Operating condition obtains pressure of wheel braking cylinder signal, and when the pressure of wheel braking cylinder signal reaches the trigger condition for opening parking function, system
Dynamic device clamping wheel；And/or
Reach in the automatic parking state, the car speed, the brake pedal status and closes parking function
When operating condition, pressure of wheel braking cylinder signal is obtained, and when the pressure of wheel braking cylinder signal reaches the trigger condition for closing parking function,
Releasing of brake wheel.
Automatic parking control method in the present invention is written as program instruction to be stored at least one processor, by communicating
At least one processor for connecting the memory executes the program instruction, and processor can directly acquire automatic parking control method
Needed for data or communicated to connect with the executive component for obtaining the data.
The present invention also provides a kind of automobiles, including the automatic parking control system in the present invention, for realizing the present invention
In automatic parking method, realize vehicle automatic parking function automatic control, reduce the operation of driver, improve driving
Experience sense.
After adopting the above technical scheme, having the following beneficial effects:
By judging whether vehicle-state meets unlatching or pass to automatic parking state, car speed, brake pedal status
The operating condition for closing parking function then combines pressure of wheel braking cylinder signal to judge that the operation of driver is intended to after meeting respective conditions, from
It is dynamic to open and close parking function, it is not required to driver and operates manually；And it demarcates in the wheel cylinder pressure for opening parking function
Force signal is not in that pressure maintaining is insufficient the case where car slipping, improves the experience sense of driving of driver.
Detailed description of the invention
Referring to attached drawing, the disclosure of the present invention will become more readily understood.It is understood that these attached drawings are merely illustrative
Purpose, and be not intended to limit the scope of protection of the present invention.In figure:
Fig. 1 is the flow chart of automatic parking function control method in one embodiment of the invention；
Fig. 2 is the hardware connection figure of automatic parking function control system in one embodiment of the invention.
Specific embodiment
Further illustrate a specific embodiment of the invention with reference to the accompanying drawing.
It is readily appreciated that, according to the technique and scheme of the present invention, in the case where not changing true spirit, the general skill of this field
The various structures mode and implementation that art personnel can be replaced mutually.Therefore, following specific embodiments and attached drawing are only
To the exemplary illustration of technical solution of the present invention, and it is not to be construed as whole of the invention or is considered as to inventive technique scheme
It defines or limits.
It mentions in the present specification or up, down, left, right, before and after, front, the back side, top, the bottom that may mention etc.
Positional terms are defined relative to each construction shown in the drawings, they are opposite concepts, and it is therefore possible to can root
Correspondingly changed according to different location locating for it, different use states.So also should not be by these or others side
Position term is construed to restricted term.
Automatic parking function control method in the present embodiment, includes the following steps:
S01: automatic parked state, car speed and brake pedal status are obtained；
S02-1: reach the operation item for opening parking function in automatic parking state, car speed and brake pedal status
When part, pressure of wheel braking cylinder signal is obtained；
S03-1: when the pressure of wheel braking cylinder signal reaches the trigger condition for opening parking function, brake clamping wheel；
And/or
S02-2: reach the operation item for closing parking function in automatic parking state, car speed and brake pedal status
When part, pressure of wheel braking cylinder signal is obtained；
S03-2: when the pressure of wheel braking cylinder signal reaches the trigger condition for closing parking function, releasing of brake wheel.
The present embodiment do not need driver it is manually opened and close automatic parking function, first by automatic parking state,
Car speed and brake pedal status judge whether vehicle-state reaches the operation item opened parking function or close parking function
Part, such as it is to open the operating condition of parking function, and stay automatically that automatic parking state, which is in off state, vehicle is slowing down
Car state is open state, and vehicle will start, and is the operating condition for closing parking function.
If vehicle-state reaches the operating condition for opening parking function, start to detect whether wheel cylinder pressure signal reaches out
The trigger condition for opening parking function, in conjunction with the operation meaning for operating condition and trigger condition the anticipation driver for opening parking function
Figure then opens automatic parking function, control brake clamping wheel when anticipation result is that driver is stopped；This process
Demarcated in the pressure of wheel braking cylinder signal for opening parking function, be not in that pressure maintaining is insufficient and the case where car slipping.
If vehicle-state reaches the operating condition for closing parking function, detects wheel cylinder pressure signal and whether reach closing and stay
The trigger condition of vehicle function is intended to, in advance in conjunction with the operation for operating condition and trigger condition the anticipation driver for closing parking function
Sentencing result is that driver is ready for starting vehicle, then closes automatic parking function, control brake unclamps wheel.
Further, the operating condition for opening parking function includes:
Automatic parking state is in close state；And/or
Car speed is gradually decrease to pre-set velocity threshold value；And/or
Brake pedal is in and tramples state.
In the case where automatic parking function is in close state, driver tramples brake pedal, and to be gradually reduced to car speed pre-
If threshold speed, and pre-set velocity threshold value is intended to zero, and pre-set velocity threshold value is 0.1kph in the present embodiment；Has system at this time
The operation of dynamic parking is possible, that is, reaches the operating condition of automatic parking function.
Further, if automatic parking state, car speed and brake pedal status reach the behaviour for opening parking function
Make condition, the pressure of wheel braking cylinder signal of acquisition includes:
The first pressure of wheel cylinder when car speed is default detection speed；And/or
The stroke that brake pedal is operated is less than preset strokes threshold value, and the time for trampling brake pedal again is more than default
The second pressure of wheel cylinder when time threshold.
Specifically, driver makes vehicle deceleration by being continuously stepping on brake pedal first, and in vehicle in braking process
Brake pedal is trampled when will stopping again to brake, if driver has aforementioned operation, illustrates that driver may have
The operation of Brake stop is intended to.Then obtain following data: it is 0.1kph that detection speed is preset in the present embodiment；Preset time threshold
For 100ms；It can be adjusted according to different automobile models；
Car speed is that 0.1kph illustrates that vehicle has been decelerated to close to zero, obtains the first pressure of the wheel cylinder before brake at this time
Force signal；When driver tramples brake pedal again and the duration is more than 100ms, illustrate that driver tramples brake pedal
It brakes, the second pressure signal of wheel cylinder when obtaining brake.
Since brake-pedal travel is long, driver for the first time trampled when controlling car deceleration brake pedal strength compared with
Small, the compressed stroke of brake pedal is less than preset strokes threshold value at this time, increases when brake and tramples dynamics, presses brake pedal
The stroke of contracting increases.Therefore, brake pedal tramples stroke less than preset strokes threshold value for the first time, and tramples stroke for the second time and be greater than
Preset strokes threshold value, then can determine whether driver tramples brake pedal again.
Further, if first pressure is greater than preset pressure threshold value, the trigger condition of parking function is opened are as follows: the second pressure
Power is greater than or equal to the sum of first pressure and preset pressure fiducial value, and car speed is less than pre-set velocity threshold value；
If first pressure is less than preset pressure threshold value；Then open the trigger condition of parking function are as follows: second pressure is greater than pre-
If pressure threshold, and car speed is less than pre-set velocity threshold value.
Specifically, preset pressure threshold value is 20bar at this time, preset pressure fiducial value is 5bar, and pre-set velocity threshold value is
0.1kph；
When car speed is less than 0.1kph, i.e., when vehicle is in stopping or is by halted state, if first pressure is greater than
20bar illustrates that brake pedal stampede power is larger when slowing down, for example the case where vehicle condition bad emergency deceleration, due to when system of slowing down
Dynamic pedal is longer by compression travel, and pressure of wheel braking cylinder is larger, and the compressible stroke of brake pedal is shorter when trampling again in braking,
It need to only determine that second pressure is greater than first pressure at least 5bar i.e. and can trigger unlatching automatic parking function at this time；
When car speed is less than 0.1kph, i.e., when vehicle is in stopping or is by halted state, if first pressure is less than
20bar illustrates that brake pedal stampede power is smaller when slowing down, and typically belongs to the case where normally slowing down, brake pedal is by compressed line
Journey is shorter, thus brake when brake pedal compressible stroke it is longer, to reach braking effect, driver will increase pedal force
Degree needs to determine that second pressure is greater than 20bar at this time, can just be determined as that the preparation that is intended to of driver at this time is braked, to set out
Open automatic parking function.
Further, the operating condition for closing parking function includes:
Automatic parking state is in the open state；And/or
Car speed is less than pre-set velocity threshold value；And/or
Brake pedal is in releasing orientation.
Pre-set velocity threshold value is 0.1kph in the present embodiment, illustrates that car speed is almost nil at this time；And automatic parking
Function is in the open state.At this time since automatic parking function is opened, driver will not trample brake pedal, brake pedal at this time
In releasing orientation, meet the operating condition for closing automatic parking function.
Further, if automatic parking state, car speed and brake pedal status reach the behaviour for closing parking function
Make condition, the pressure of wheel braking cylinder signal of acquisition includes:
Brake pedal is in the third pressure of wheel cylinder when trampling state.
When automatic parking state, car speed and brake pedal status reach the operating condition for closing parking function,
Brake pedal is in state of trampling and then illustrates that driver may have the intention for releasing parking, then needs to obtain pressure of wheel braking cylinder letter at this time
Number, judge whether driver has the intention for releasing parking further according to pressure of wheel braking cylinder signal.
Further, the trigger condition for closing parking function includes:
Third pressure is greater than preset pressure threshold value, and brake pedal is in the time for state of trampling more than preset time threshold
Value.
Preset pressure threshold value is 20bar, preset time threshold 200ms at this time, if driver has the intention for releasing parking,
Then brake pedal can be trampled with biggish dynamics and stayed for some time, whether be greater than 20bar and system especially by third pressure
It is more than that 200ms is determined that dynamic pedal, which is in and tramples state duration,.
To sum up, as shown in Figure 1, the automatic parking control flow of the present embodiment is as follows:
S01: automatic parked state, car speed and brake pedal status are obtained；
S21-1: if automatic parking state is in close state, brake pedal is in and tramples state and car speed gradually subtracts
It is small and be intended to zero, then reach the trigger condition for opening parking function, executes step S22-1 to S32-1；
If S21-2 automatic parking state is in the open state, brake pedal is in releasing orientation and car speed is less than
0.1kph；Then reach the trigger condition for closing parking function, executes step S22-2- to S32-2；
S22-1: pressure of wheel braking cylinder signal is obtained, is specifically included:
The first pressure of wheel cylinder when car speed is 0.1kph；
The stroke that brake pedal is operated is less than preset strokes threshold value, and the time for trampling brake pedal again is more than
The second pressure of wheel cylinder when 100ms；
S31-1: first pressure is greater than 20bar, second pressure at least 5bar bigger than first pressure, and car speed is less than
0.1kph；Or
First pressure is less than 20bar, second pressure is greater than 20bar, and car speed is less than 0.1kph；
Then open automatic parking function；
S32-1: brake clamping wheel；
S22-2: obtain pressure of wheel braking cylinder signal: brake pedal is in third pressure when trampling state；
S31-2: if third pressure is greater than 20bar, and brake pedal is more than 200ms in state is trampled, then closes certainly
Dynamic parking function；
S32-2: releasing of brake wheel.
Preset pressure threshold value, preset pressure fiducial value in the present embodiment are by the best critical of test of many times acquisition
Value, the data obtained for the vehicle numerical value slightly deviation of different model, the test that should be subject to；It is in and tramples about brake pedal
The preset time threshold of state can be adjusted and demarcate according to practical application.
The present embodiment further includes a kind of automatic parking control system for realizing aforementioned automatic parking control method, including
At least one processor 1；And
With the memory of at least one described processor 1 communication connection；Wherein,
The memory is stored with the instruction that can be executed by least one described processor 1, described instruction by it is described at least
One processor executes so that at least one described processor 1 can:
Obtain automatic parked state, car speed and brake pedal status；
Reach in the automatic parking state, the car speed, the brake pedal status and opens parking function
Operating condition obtains pressure of wheel braking cylinder signal, and when the pressure of wheel braking cylinder signal reaches the trigger condition for opening parking function, system
Dynamic 2 clamping wheel of device；And/or
Reach in the automatic parking state, the car speed, the brake pedal status and closes parking function
When operating condition, pressure of wheel braking cylinder signal is obtained, and when the pressure of wheel braking cylinder signal reaches the trigger condition for closing parking function,
Brake 2 unclamps wheel.
Specifically, starting detection wheel cylinder pressure signal is if vehicle-state reaches the operating condition for opening parking function
It is no to reach the trigger condition for opening parking function, in conjunction with operating condition and trigger condition the anticipation driver's for opening parking function
Operation is intended to, and when anticipation result is that driver is stopped, then opens automatic parking function, 2 clamping wheel of control brake；?
The case where when opening automatic parking function, obtaining pressure of wheel braking cylinder, being less prone to car slipping due to pressure maintaining is inadequate.
If vehicle-state reaches the operating condition for closing parking function, detects wheel cylinder pressure signal and whether reach closing and stay
The trigger condition of vehicle function is intended to, in advance in conjunction with the operation for operating condition and trigger condition the anticipation driver for closing parking function
Sentencing result is that driver is ready for starting vehicle, then closes automatic parking function, control brake 2 unclamps wheel.
By taking automatic parking control system shown in Fig. 2 as an example, automatic parking control system can also be opened including brake pedal
Close 3, Wheel cylinder pressure sensors 4 and wheel speed sensors 5.
Brake pedal switch 3, Wheel cylinder pressure sensors 4 and wheel speed sensors 5 can be with processors 1 by being electrically connected or leading to
The modes such as news connection connect, in figure for through electrical connection.
Brake pedal switch 3 is for obtaining brake pedal status, and Wheel cylinder pressure sensors 4 are for obtaining pressure of wheel braking cylinder letter
Number, wheel speed sensors 5 are for obtaining car speed.
Two processors 1 being arranged in the present embodiment are automobile-used microcomputer (ECU) 1 (1), 1 (2), and memory
It is integrated in automobile-used microcomputer (ECU) 1 (1), in 1 (2).
Memory as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software program,
Non-volatile computer executable program and module, such as the corresponding program of automatic parking control method in the embodiment of the present application
Instruction/module, for example, method flow shown in FIG. 1.Processor is by running non-volatile software journey stored in memory
Sequence, instruction and module, thereby executing various function application and data processing, i.e. automatic parking in realization above-described embodiment
Control method.
Memory may include storing program area and storage data area, wherein storing program area can store automatic parking control
Application program required for method processed；Storage data area can store brake pedal switch 3, Wheel cylinder pressure sensors 4 and wheel speed and pass
The data such as brake pedal status, pressure of wheel braking cylinder signal, the car speed that sensor 5 obtains.In addition, memory may include high speed with
Machine access memory, can also include nonvolatile memory, a for example, at least disk memory, flush memory device or its
His non-volatile solid state memory part.
The present embodiment further includes a kind of automobile, wherein the automatic parking control system being mounted in the present embodiment, using this
Automatic parking control method in embodiment realizes the automatic control of vehicle automatic parking function, do not need by opening manually and
Automatic parking function is closed, reduces the operation of driver, improves the experience sense of driving.
Above-described is only the principle of the present invention and preferred embodiment.It should be pointed out that for the common skill of this field
For art personnel, on the basis of the principle of the invention, several other modifications can also be made, also should be regarded as protection model of the invention
It encloses.
Claims (9)
1. a kind of automatic parking function control method, which comprises the steps of:
Obtain automatic parked state, car speed and brake pedal status；
Reach the operation for opening parking function in the automatic parking state, the car speed, the brake pedal status
When condition, pressure of wheel braking cylinder signal is obtained, and when the pressure of wheel braking cylinder signal reaches the trigger condition for opening parking function, braking
Device clamping wheel；And/or
Reach the operation for closing parking function in the automatic parking state, the car speed, the brake pedal status
When condition, pressure of wheel braking cylinder signal is obtained, and when the pressure of wheel braking cylinder signal reaches the trigger condition for closing parking function, braking
Device unclamps wheel.
2. a kind of automatic parking function control method according to claim 1, which is characterized in that the unlatching parking function
Operating condition include:
The automatic parking state is in close state；And/or
The car speed is gradually decrease to pre-set velocity threshold value；And/or
The brake pedal is in and tramples state.
3. a kind of automatic parking function control method according to claim 2, which is characterized in that if the automatic parking shape
State, the car speed and the brake pedal status reach it is described open parking function operating condition, acquisition it is described
Pressure of wheel braking cylinder signal includes:
The first pressure of car speed wheel cylinder when being default detection speed；And/or
The stroke that brake pedal is operated is less than preset strokes threshold value, and the time for trampling the brake pedal again is more than default
The second pressure of wheel cylinder when time threshold.
4. a kind of automatic parking function control method according to claim 3, which is characterized in that
If the first pressure is greater than preset pressure threshold value, the trigger condition for opening parking function are as follows: second pressure
Power is greater than or equal to the sum of the first pressure and preset pressure fiducial value, and the car speed is less than pre-set velocity threshold
Value；
If the first pressure is less than preset pressure threshold value；The then trigger condition for opening parking function are as follows: second pressure
Power is greater than preset pressure threshold value, and the car speed is less than pre-set velocity threshold value.
5. a kind of automatic parking function control method according to claim 1, which is characterized in that the closing parking function
Operating condition include:
The automatic parking state is in the open state；And/or
The car speed is less than pre-set velocity threshold value；And/or
The brake pedal is in releasing orientation.
6. a kind of automatic parking function control method according to claim 5, which is characterized in that if the automatic parking shape
State, the car speed and the brake pedal status reach it is described close parking function operating condition, acquisition it is described
Pressure of wheel braking cylinder signal includes:
The brake pedal is in the third pressure for trampling wheel cylinder when state.
7. a kind of automatic parking function control method according to claim 6, which is characterized in that the closing parking function
Trigger condition include:
The third pressure is greater than preset pressure threshold value, and time of the brake pedal in state of trampling is more than when presetting
Between threshold value.
8. a kind of automatic parking for realizing the described in any item automatic parking control methods of such as claim 1-7 controls system
System, which is characterized in that including
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
Manage device execute so that at least one described processor can:
Obtain automatic parked state, car speed and brake pedal status；
Reach the operation for opening parking function in the automatic parking state, the car speed, the brake pedal status
Condition obtains pressure of wheel braking cylinder signal, and when the pressure of wheel braking cylinder signal reaches the trigger condition for opening parking function, the system
Dynamic device clamping wheel；And/or
Reach the operation for closing parking function in the automatic parking state, the car speed, the brake pedal status
When condition, pressure of wheel braking cylinder signal is obtained, and when the pressure of wheel braking cylinder signal reaches the trigger condition for closing parking function, it is described
Releasing of brake wheel.
9. a kind of automobile, which is characterized in that including the described in any item automatic parking control systems of such as claim 1-7.
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| CN201910528238.4A CN110228452B (en) | 2019-06-18 | 2019-06-18 | Automatic parking control method and system and automobile |
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| CN201910528238.4A CN110228452B (en) | 2019-06-18 | 2019-06-18 | Automatic parking control method and system and automobile |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086502A (en) * | 2019-12-30 | 2020-05-01 | 宁波吉利汽车研究开发有限公司 | Control method and device of electronic parking brake system and vehicle |
| CN111422173A (en) * | 2020-03-13 | 2020-07-17 | 宁波吉利汽车研究开发有限公司 | Automatic parking method and device and storage medium |
| CN111762139A (en) * | 2020-06-29 | 2020-10-13 | 北京汽车集团越野车有限公司 | Brake system, control method thereof and vehicle |
| CN112319686A (en) * | 2020-10-30 | 2021-02-05 | 北京六十六号互动科技有限公司 | Method and device for controlling parking of vehicle, electric scooter and storage medium |
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| CN113415262A (en) * | 2020-08-14 | 2021-09-21 | 中国第一汽车股份有限公司 | Engine starting and parking brake maintaining control method suitable for AT vehicle type |
| CN112319686B (en) * | 2020-10-30 | 2022-04-12 | 北京零极创新科技有限公司 | Method and device for controlling parking of vehicle, electric scooter and storage medium |
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| CN112721658A (en) * | 2021-02-01 | 2021-04-30 | 东风小康汽车有限公司重庆分公司 | Automatic parking control method and control system |
| CN112959988A (en) * | 2021-04-15 | 2021-06-15 | 浙江吉利控股集团有限公司 | Automatic parking function activation method, automobile and computer-readable storage medium |
| CN113071456A (en) * | 2021-05-14 | 2021-07-06 | 奇瑞商用车（安徽）有限公司 | Starting control method for automatic parking function |
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| CN114228680A (en) * | 2021-12-21 | 2022-03-25 | 上海拿森汽车电子有限公司 | EHB automatic parking control method and device, ECU and storage medium |
| CN114889573A (en) * | 2022-05-23 | 2022-08-12 | 一汽解放青岛汽车有限公司 | Temporary parking method, device, electronic equipment and storage medium |
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