CN110341667B - Control method and device for automatic parking hold, vehicle and storage medium - Google Patents
Control method and device for automatic parking hold, vehicle and storage medium Download PDFInfo
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- CN110341667B CN110341667B CN201910608926.1A CN201910608926A CN110341667B CN 110341667 B CN110341667 B CN 110341667B CN 201910608926 A CN201910608926 A CN 201910608926A CN 110341667 B CN110341667 B CN 110341667B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
Abstract
The embodiment of the invention discloses a control method and device for automatic parking holding, a vehicle and a storage medium. The method comprises the following steps: collecting running state information after a vehicle is started and a current state of automatic parking maintenance; determining a target state of automatic parking maintenance according to the running state information and the current state; and controlling the automatic parking maintaining to be switched from the current state to the target state. According to the control method for automatic parking holding provided by the embodiment of the invention, the target state of automatic parking holding is determined according to the running state information of the vehicle and the current state of automatic parking holding, and the automatic parking holding is controlled to be switched from the current state to the target state, so that manual operation of a user is not required, and the convenience of automatic parking holding control can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic parking, in particular to a control method and device for automatic parking holding, a vehicle and a storage medium.
Background
An Automatic Vehicle Hold (AVH) is a subfunction of an Electronic Stability Control (ESC), and a driver can turn on/off the Automatic Vehicle Hold (AVH) according to actual needs, but too many switches can greatly reduce the scientific and future senses of a Vehicle and consume material cost. The second is a soft switching mode integrated in the screen, which defaults to an on state and needs to be found in the screen and turned off if the driver does not want to use this function. However, the AVH belongs to a comfortable function, and is usually in a secondary or even tertiary directory of a screen, so that a driver is very inconvenient to find, and the driving experience of a user is reduced.
Disclosure of Invention
The embodiment of the invention provides a control method and device for automatic parking holding, a vehicle and a storage medium, which do not need manual operation of a user and can improve the convenience of automatic parking holding control.
In a first aspect, an embodiment of the present invention provides a control method for automatic parking hold, including:
collecting running state information after a vehicle is started and a current state of automatic parking maintenance;
determining a target state of automatic parking maintenance according to the running state information and the current state;
controlling the automatic parking hold to be switched from the current state to the target state; the automatic parking holding state comprises an off state, an inactivated state, a standby state, an operating state, a releasing state and a take-over state.
Further, the operation state information includes: vehicle speed, wheel speed pulse, brake master cylinder pressure, driving side safety belt state information, cockpit door state information, engine speed, accelerator pedal opening and gear state information.
Further, determining a target state of automatic parking hold according to the operating state information and the current state includes:
if the current state of the automatic parking hold is an inactivated state, a take-over state or a release state; the running state information is that the rotating speed of the engine exceeds a set rotating speed threshold value or the start-stop function of the engine is activated, the controller has no fault, the driving side safety belt state information is in a fastening state and the door state information of the cab is in a closing state; the determined target state of the automatic parking hold is the standby state.
Further, determining a target state of automatic parking hold according to the operating state information and the current state includes:
if the current state of the automatic parking is a standby state, a release state or a take-over state; and the running state information is at least one of the following information: the method comprises the following steps that the rotating speed of an engine does not exceed a set rotating speed threshold value or an engine start-stop function is not activated, a controller fails, the state information of a driving side safety belt is in an open state, the state information of a cab door is in an open state or an automatic parking holding switch is closed; the determined target state of the automatic parking hold is the inactive state.
Further, determining a target state of automatic parking hold according to the operating state information and the current state includes:
if the current state of the automatic parking is in a standby state, the running state information is that the vehicle speed is 0, the pressure of a brake master cylinder is greater than a first threshold value, and the gear state information is in a non-reverse gear state; the determined target state of the automatic parking hold is the operation state.
Further, determining a target state of automatic parking hold according to the operating state information and the current state includes:
if the current state of the automatic parking is the working state; and the running state information is at least one of the following information: the gear state information is reverse gear, the opening of an accelerator pedal is larger than a set opening threshold, a driver steps on a brake pedal and closes an AVH switch at the same time, or the pressure of a brake master cylinder is larger than a second threshold; the determined target state release state of the automatic parking hold.
Further, determining a target state of automatic parking hold according to the operating state information and the current state includes:
if the current state of the automatic parking is the working state; and the running state information is at least one of the following information: the method comprises the following steps that the engine rotating speed does not exceed a set rotating speed threshold value or an engine start-stop function is not activated, a controller fails, the driving side safety belt state information is in an open state, the driving cabin door state information is in an open state or an AVH switch is turned off; the determined target state of the automatic parking hold is the take-over state.
In a second aspect, an embodiment of the present invention further provides a control device for automatic parking hold, including:
the running state information acquisition module is used for acquiring running state information after the vehicle is started and the current state of automatic parking maintenance;
the target state determining module is used for determining a target state of automatic parking holding according to the running state information and the current state;
the state switching module is used for controlling the automatic parking to be switched from the current state to the target state; the automatic parking holding state comprises an off state, an inactivated state, a standby state, an operating state, a releasing state and a take-over state.
In a third aspect, an embodiment of the present invention further provides a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the program to implement the control method for automatic parking hold according to the embodiment of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements a control method of automatic parking hold according to the embodiment of the present invention.
According to the embodiment of the invention, the running state information of the vehicle after starting and the current state of the automatic parking hold are firstly collected, then the target state of the automatic parking hold is determined according to the running state information and the current state, and finally the automatic parking hold is controlled to be switched from the current state to the target state. According to the control method for automatic parking holding provided by the embodiment of the invention, the target state of automatic parking holding is determined according to the running state information of the vehicle and the current state of automatic parking holding, and the automatic parking holding is controlled to be switched from the current state to the target state, so that manual operation of a user is not required, and the convenience of automatic parking holding control can be improved.
Drawings
FIG. 1 is a flowchart of a control method for automatic park maintaining according to a first embodiment of the present invention;
FIG. 2 is a diagram illustrating state switching according to a first embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a control device for automatic park maintaining in a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a control method for automatic park maintaining according to an embodiment of the present invention, which is applicable to a case where the automatic park maintaining is controlled, and the method may be executed by a control device for automatic park maintaining, which may be integrated in a vehicle. As shown in fig. 1, the method specifically includes the following steps:
and step 110, acquiring running state information after the vehicle is started and the current state of automatic parking maintenance.
Wherein the operation state information includes: the system comprises the following components of vehicle speed, brake master cylinder pressure, driving side safety belt state information, cab door state information, engine rotating speed, accelerator pedal opening degree, gear state information and electronic parking brake state information. The states of the automatic parking hold include an off state, an inactive state, a standby state, an operating state, a release state, and a take-over state. The off state may be understood as the AVH switch being off, at which time the AVH system does not perform any operation; an inactive state may be understood as an AVH switch being open, but the AVH system does not perform any operation; the standby state can be understood as that the AVH switch is turned on, and the AVH function related signal is available when the activation condition is met, but the system does not generate braking force; the working state can be understood as an AVH function triggering state, the AVH system can keep a certain brake pressure to keep the vehicle in a static state, and when the vehicle is detected to slide down a slope, the AVH system is actively pressurized; the release state can be understood as that the pressure reserved in the AVH system is stably released during working, so that the vehicle is ensured to start stably; the take-over state can be understood as an AVH function take-over state, which is an Electronic Parking Brake (EPB) take-over state, in which the AVH system releases the remaining pressure. In this application scenario, the AVH system is an Electronic Stability Control (ESC) system.
In the embodiment, the vehicle running state information and the current state of automatic parking holding CAN be acquired through a Controller Area Network (CAN) bus in the vehicle.
And step 120, determining a target state of automatic parking holding according to the running state information and the current state.
In the present embodiment, the state of automatic parking hold is switched with the running state information of the vehicle.
Fig. 2 is a schematic diagram of state switching in the first embodiment of the present invention. When the AVH system is initialized, the switch of the AVH is opened, and the AVH enters an inactivated state. When the AVH switch is closed, the AVH enters an off state.
Alternatively, the process of determining the target state of the automatic parking hold according to the operation state information and the current state may be: if the current state of the automatic parking hold is an inactivated state, a take-over state or a release state; the running state information is that the rotating speed of the engine exceeds a set rotating speed threshold value or the start-stop function of the engine is activated, the controller has no fault, the driving side safety belt state information is in a fastening state and the door state information of the cab is in a closing state; the determined target state of the automatic parking hold is the standby state.
Alternatively, the process of determining the target state of the automatic parking hold according to the operation state information and the current state may be: if the current state of the automatic parking is a standby state, a release state or a take-over state; and the running state information is at least one of the following information: the method comprises the following steps that the rotating speed of an engine does not exceed a set rotating speed threshold value or an engine start-stop function is not activated, a controller fails, the state information of a driving side safety belt is in an open state, the state information of a cab door is in an open state or an automatic parking holding switch is closed; the determined target state of the automatic parking hold is the inactive state.
Alternatively, the process of determining the target state of the automatic parking hold according to the operation state information and the current state may be: if the current state of the automatic parking is in a standby state, the running state information is that the vehicle speed is 0, the pressure of a brake master cylinder is greater than a first threshold value, and the gear state information is in a non-reverse gear state; the determined target state of the automatic parking hold is the operation state. The non-reverse gears include a parking gear (P), a neutral gear (N) and a forward gear (D). The first threshold value may be set to 40 bar.
Alternatively, the process of determining the target state of the automatic parking hold according to the operation state information and the current state may be: if the current state of the automatic parking is the working state; and the running state information is at least one of the following information: the gear state information is reverse gear, the opening of an accelerator pedal is larger than a set opening threshold, a driver steps on a brake pedal and closes an AVH switch at the same time, or the pressure of a brake master cylinder is larger than a second threshold; the determined target state release state of the automatic parking hold. Wherein the second threshold value may be set to 4 bar.
Alternatively, the process of determining the target state of the automatic parking hold according to the operation state information and the current state may be: if the current state of the automatic parking is the working state; and the running state information is at least one of the following information: the method comprises the following steps that the engine speed does not exceed a set speed threshold or an engine start-stop function is not activated, a controller fails, the state information of a driving side safety belt is in an open state, the time length of an automatic parking and maintaining working state exceeds a set time length, the state information of a cab door is in an open state or an AVH switch is turned off; the determined target state of the automatic parking hold is the take-over state. Wherein the set time period may be set to any value between 2 and 3 minutes.
And step 130, controlling the automatic parking maintaining to be switched from the current state to the target state.
Specifically, after the target state of the automatic parking hold is obtained, the automatic parking hold is controlled to be switched from the current state to the target state.
According to the technical scheme of the embodiment, the running state information of the vehicle after starting and the current state of the automatic parking maintaining are collected firstly, then the target state of the automatic parking maintaining is determined according to the running state information and the current state, and finally the automatic parking maintaining is controlled to be switched from the current state to the target state. According to the control method for automatic parking holding provided by the embodiment of the invention, the target state of automatic parking holding is determined according to the running state information of the vehicle and the current state of automatic parking holding, and the automatic parking holding is controlled to be switched from the current state to the target state, so that manual operation of a user is not required, and the convenience of automatic parking holding control can be improved.
Example two
Fig. 3 is a schematic structural diagram of a control device for automatic parking hold according to a second embodiment of the present invention. As shown in fig. 3, the apparatus includes: an operation status information collection module 210, a target status determination module 220 and a status switching module 230.
An operation state information collecting module 210 for collecting operation state information after the vehicle is started and a current state of the automatic parking hold;
a target state determination module 220, configured to determine a target state of the automatic parking hold according to the operating state information and the current state;
a state switching module 230, configured to control the automatic parking hold to switch from the current state to the target state; the automatic parking holding state comprises an off state, an inactivated state, a standby state, an operating state, a releasing state and a take-over state.
Optionally, the running state information includes: the system comprises the following components of vehicle speed, brake master cylinder pressure, driving side safety belt state information, cab door state information, engine rotating speed, accelerator pedal opening degree, gear state information and electronic parking brake state information.
Optionally, the target state determining module 220 is further configured to:
if the current state of the automatic parking hold is an inactivated state, a take-over state or a release state; the running state information is that the rotating speed of the engine exceeds a set rotating speed threshold value or the start-stop function of the engine is activated, the controller has no fault, the driving side safety belt state information is in a fastening state and the door state information of the cab is in a closing state; the determined target state of the automatic parking hold is the standby state.
Optionally, the target state determining module 220 is further configured to:
if the current state of the automatic parking is a standby state, a release state or a take-over state; and the running state information is at least one of the following information: the method comprises the following steps that the rotating speed of an engine does not exceed a set rotating speed threshold value or an engine start-stop function is not activated, a controller fails, the state information of a driving side safety belt is in an open state, the state information of a cab door is in an open state or an automatic parking holding switch is closed; the determined target state of the automatic parking hold is the inactive state.
Optionally, the target state determining module 220 is further configured to:
if the current state of the automatic parking is in a standby state, the running state information is that the vehicle speed is 0, the pressure of a brake master cylinder is greater than a first threshold value, and the gear state information is in a non-reverse gear state; the determined target state of the automatic parking hold is the operation state.
Optionally, the target state determining module 220 is further configured to:
if the current state of the automatic parking is the working state; and the running state information is at least one of the following information: the gear state information is reverse gear, the opening of an accelerator pedal is larger than a set opening threshold, a driver steps on a brake pedal and closes an AVH switch at the same time, or the pressure of a brake master cylinder is larger than a second threshold; the determined target state release state of the automatic parking hold.
Optionally, the target state determining module 220 is further configured to:
if the current state of the automatic parking is the working state; and the running state information is at least one of the following information: the method comprises the following steps that the engine speed does not exceed a set speed threshold or an engine start-stop function is not activated, a controller fails, the state information of a driving side safety belt is in an open state, the time length of an automatic parking and maintaining working state exceeds a set time length, the state information of a cab door is in an open state or an AVH switch is turned off; the determined target state of the automatic parking hold is the take-over state.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For details not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the present invention.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a vehicle according to a fifth embodiment of the present invention, and as shown in fig. 4, the vehicle according to the present embodiment includes: a processor 41 and a memory 42. The number of the processors in the vehicle may be one or more, fig. 4 illustrates one processor 41, the processor 41 and the memory 42 in the vehicle may be connected by a bus or other means, and fig. 4 illustrates the connection by the bus.
The processor 41 of the vehicle in the present embodiment integrates the control device of the automatic parking hold provided in the above-described embodiment. Further, the memory 42 in the vehicle, as a computer-readable storage medium, may be used to store one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the automatic park maintaining in the embodiment of the present invention. The processor 41 executes various functional applications of the apparatus and data processing, i.e., implements the control method of the automatic parking hold in the above-described method embodiment, by executing software programs, instructions, and modules stored in the memory 42.
The memory 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 42 may further include memory located remotely from processor 41, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor 41 implements the control method of the automatic parking hold provided by the embodiment of the present invention by executing a program stored in the memory 42 to thereby execute various functional applications and data processing.
EXAMPLE six
The sixth embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the control method of automatic parking hold provided by the embodiments of the present invention.
Of course, the computer-readable storage medium on which the computer program is stored is not limited to the method operations described above, and may also perform related operations in the control method of automatic parking hold provided by any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A control method of automatic parking hold, characterized by comprising:
collecting running state information after a vehicle is started and a current state of automatic parking maintenance;
determining a target state of automatic parking maintenance according to the running state information and the current state;
controlling the automatic parking hold to be switched from the current state to the target state; the automatic parking maintaining state comprises an off state, an inactivated state, a standby state, a working state, a releasing state and a take-over state;
the AVH system does not execute any operation when the AVH switch is closed; the inactivated state is that the AVH switch is opened, and the AVH system does not execute any operation; the standby state is that the AVH switch is turned on, the AVH function related signals are available, and the system does not generate braking force; the working state is an AVH function triggering state, the AVH system keeps a certain brake pressure to enable the vehicle to keep a static state, and when the vehicle is detected to slide down a slope, the AVH system actively boosts the pressure; the release state is that the AVH system stably releases the pressure reserved during working, so that the vehicle is ensured to start stably; the take-over state is an AVH function hosting state, the state is an electronic parking brake EPB take-over state, and the AVH system can release reserved pressure.
2. The method of claim 1, wherein the operational state information comprises: the system comprises the vehicle speed, the pressure of a brake master cylinder, the state information of a driving side safety belt, the state information of a cab door, the rotating speed of an engine, the opening degree of an accelerator pedal and the gear state information.
3. The method of claim 2, wherein determining a target state for automatic park hold based on the operating state information and the current state comprises:
if the current state of the automatic parking hold is an inactivated state, a take-over state or a release state; the running state information is that the rotating speed of the engine exceeds a set rotating speed threshold value or the start-stop function of the engine is activated, the controller has no fault, the driving side safety belt state information is in a fastening state and the door state information of the cab is in a closing state; the determined target state of the automatic parking hold is the standby state.
4. The method of claim 2, wherein determining a target state for automatic park hold based on the operating state information and the current state comprises:
if the current state of the automatic parking is a standby state, a release state or a take-over state; and the running state information is at least one of the following information: the method comprises the following steps that the rotating speed of an engine does not exceed a set rotating speed threshold value or an engine start-stop function is not activated, a controller fails, the state information of a driving side safety belt is in an open state, the state information of a cab door is in an open state or an automatic parking holding switch is closed; the determined target state of the automatic parking hold is the inactive state.
5. The method of claim 2, wherein determining a target state for automatic park hold based on the operating state information and the current state comprises:
if the current state of the automatic parking is in a standby state, the running state information is that the vehicle speed is 0, the pressure of a brake master cylinder is greater than a first threshold value, and the gear state information is in a non-reverse gear state; the determined target state of the automatic parking hold is the operation state.
6. The method of claim 2, wherein determining a target state for automatic park hold based on the operating state information and the current state comprises:
if the current state of the automatic parking is the working state; and the running state information is at least one of the following information: the gear state information is reverse gear, the opening of an accelerator pedal is larger than a set opening threshold, a driver steps on a brake pedal and closes an AVH switch at the same time, or the pressure of a brake master cylinder is larger than a second threshold; the determined target state release state of the automatic parking hold.
7. The method of claim 2, wherein determining a target state for automatic park hold based on the operating state information and the current state comprises:
if the current state of the automatic parking is the working state; and the running state information is at least one of the following information: the method comprises the following steps that the engine speed does not exceed a set speed threshold or an engine start-stop function is not activated, a controller fails, the state information of a driving side safety belt is in an open state, the time length of an automatic parking and maintaining working state exceeds a set time length, the state information of a cab door is in an open state or an AVH switch is turned off; the determined target state of the automatic parking hold is the take-over state.
8. A control device for automatic parking hold, characterized by comprising:
the running state information acquisition module is used for acquiring running state information after the vehicle is started and the current state of automatic parking maintenance;
the target state determining module is used for determining a target state of automatic parking holding according to the running state information and the current state;
the state switching module is used for controlling the automatic parking to be switched from the current state to the target state; the automatic parking maintaining state comprises an off state, an inactivated state, a standby state, a working state, a releasing state and a take-over state;
the AVH system does not execute any operation when the AVH switch is closed; the inactivated state is that the AVH switch is opened, and the AVH system does not execute any operation; the standby state is that the AVH switch is turned on, the AVH function related signals are available, and the system does not generate braking force; the working state is an AVH function triggering state, the AVH system keeps a certain brake pressure to enable the vehicle to keep a static state, and when the vehicle is detected to slide down a slope, the AVH system actively boosts the pressure; the release state is that the AVH system stably releases the pressure reserved during working, so that the vehicle is ensured to start stably; the take-over state is an AVH function hosting state, the state is an electronic parking brake EPB take-over state, and the AVH system can release reserved pressure.
9. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of controlling automatic park maintaining according to any one of claims 1 to 7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the control method of automatic park maintaining according to any one of claims 1 to 7.
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| CN106627547B (en) * | 2016-11-17 | 2019-01-29 | 广州汽车集团股份有限公司 | Electronic brake system, method for starting and the vehicle of compatible automatic parking function |
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