CN112049929B - Vehicle parking method, device, equipment and storage medium - Google Patents
Vehicle parking method, device, equipment and storage medium Download PDFInfo
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- CN112049929B CN112049929B CN202010853919.0A CN202010853919A CN112049929B CN 112049929 B CN112049929 B CN 112049929B CN 202010853919 A CN202010853919 A CN 202010853919A CN 112049929 B CN112049929 B CN 112049929B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/68—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings
- F16H61/684—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive
- F16H61/688—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive with two inputs, e.g. selection of one of two torque-flow paths by clutches
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
- F16H63/48—Signals to a parking brake or parking lock; Control of parking locks or brakes being part of the transmission
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
- F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
- F16H2061/0093—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method using models to estimate the state of the controlled object
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention discloses a vehicle parking method, device, equipment and storage medium, and belongs to the technical field of vehicle control. According to the method, when a parking instruction is received, a target duty ratio is obtained according to the parking instruction; obtaining a corresponding target gear angle through a preset gear angle model according to the target duty ratio; judging whether the target gear angle is within a preset gear angle range; when the target gear angle is within the preset gear angle range, the parking instruction is responded, the target gear angle corresponding to the target duty ratio is obtained through the preset gear angle model, and when the target gear angle is within the preset gear angle range, the parking instruction is responded, so that the vehicle can be parked more accurately, and the stability of the vehicle parking is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle parking method, device, equipment and storage medium.
Background
In a wet dual clutch automatic transmission mating electronic shifter, the park and non-park gear belong to two mechanical positions. After the gearbox is manufactured, because of difference of parts, before the vehicle parks, the position learning of parking gear and non-parking gear must be carried out, and the electronic gear shifting controller can accurately identify the parking gear and the non-parking gear, so that the vehicle can be parked effectively.
The current scheme mostly adopts the mode through once study to obtain the gear angle of electron selector, carries out the vehicle parking according to the gear angle, and the mode of once study can have the learning error, and the gear angle of the electron selector that obtains is not accurate enough, leads to actual gear not to accord with the gear of expectation, can't carry out the vehicle parking effectively.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle parking method, a vehicle parking device, vehicle parking equipment and a storage medium, and aims to solve the technical problems that the electronic gear shifter learned by the prior art is not accurate enough in gear angle and cannot effectively park a vehicle.
To achieve the above object, the present invention provides a vehicle parking method including the steps of:
when a parking instruction is received, obtaining a target duty ratio according to the parking instruction;
obtaining a corresponding target gear angle through a preset gear angle model according to the target duty ratio;
judging whether the target gear angle is within a preset gear angle range;
and responding to the parking instruction when the target gear angle is within the preset gear angle range.
Optionally, before obtaining the corresponding target gear angle according to the target duty ratio through a preset gear angle model, the method further includes:
when a historical gear movement instruction is received, controlling a parking gear to move to a preset position according to the historical gear movement instruction;
controlling the parking gear to move in a gear learning area corresponding to the preset position according to a preset duty ratio;
acquiring a corresponding current value of the parking gear in the gear learning area;
screening out a target current value from the current values;
taking the historical position corresponding to the target current value as a parking position;
acquiring a learning angle corresponding to the parking gear position;
and generating the preset gear angle model according to the learning angle.
Optionally, before obtaining the corresponding current value of the parking gear in the gear learning region, the method further includes:
detecting the current gear angle of the parking gear in the gear learning area in real time;
judging the current gear angle according to a preset condition;
and when the current gear angle meets the preset condition, executing the step of acquiring the corresponding current value of the parking gear in the gear learning area.
Optionally, after the determining the current gear angle according to the preset condition, the method further includes:
when the current gear angle does not meet the preset condition, adjusting the preset duty ratio;
and controlling the parking gear to move in a gear learning area corresponding to the preset position according to the adjusted duty ratio.
Optionally, the obtaining of the learning angle corresponding to the park position includes:
obtaining a parking gear angle when the parking gear is at the parking gear position;
if the parking gear angle accords with the preset gear angle range, acquiring the parking gear angle when the parking gear is positioned at different parking gear positions in the gear learning area;
and determining a learning angle according to the parking gear angles.
Optionally, the determining a learning angle from a plurality of the parking position angles comprises:
judging a plurality of parking gear angles according to a preset angle range;
if the parking gear angle is within the preset angle range, sequencing the parking gear angles according to the angle;
acquiring an angle difference between the maximum parking gear angle and the minimum parking gear angle in the parking gear angles according to the sequencing result;
and when the angle difference is within a preset angle error range, calculating an angle average value of the parking gear angle, and taking the angle average value as a learning angle.
Optionally, if the parking position angle exists in the preset angle range, sorting the parking position angles according to the angle size includes:
if the parking gear angle is within the preset angle range, comparing the parking gear angle with a preset angle threshold value, and screening out an effective parking gear angle from the parking gear angles according to a comparison result;
and sequencing the effective parking gear angles according to the angle.
Further, to achieve the above object, the present invention also proposes a vehicle parking device including:
the receiving module is used for obtaining a target duty ratio according to a parking instruction when the parking instruction is received;
the determining module is used for obtaining a corresponding target gear angle through a preset gear angle model according to the target duty ratio;
the judging module is used for judging whether the target gear angle is within a preset gear angle range;
and the response module is used for responding to the parking instruction when the target gear angle is within the preset gear angle range.
Further, to achieve the above object, the present invention also proposes a vehicle parking apparatus including: a memory, a processor and a vehicle parking program stored on the memory and executable on the processor, the vehicle parking program being configured to implement the steps of the vehicle parking method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having a vehicle parking program stored thereon, which when executed by a processor implements the steps of the vehicle parking method as described above.
According to the method, when a parking instruction is received, a target duty ratio is obtained according to the parking instruction; obtaining a corresponding target gear angle through a preset gear angle model according to the target duty ratio; judging whether the target gear angle is within a preset gear angle range; when the target gear angle is within the preset gear angle range, the parking instruction is responded, the target gear angle corresponding to the target duty ratio is obtained through the preset gear angle model, and when the target gear angle is within the preset gear angle range, the parking instruction is responded, so that the vehicle can be parked more accurately, and the stability of the vehicle parking is improved.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle parking apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a vehicle parking method of the present invention;
FIG. 3 is a schematic diagram of a gear structure of the parking method of the vehicle according to the present invention;
FIG. 4 is a schematic flow chart of a second embodiment of a vehicle parking method of the present invention;
FIG. 5 is a schematic flow chart of a third embodiment of a vehicle parking method of the present invention;
fig. 6 is a block diagram showing the construction of the first embodiment of the parking apparatus for a vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle parking apparatus in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle parking apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 does not constitute a limitation of the vehicle parking apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle parking program.
In the vehicle parking apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the vehicle parking apparatus of the present invention may be provided in the vehicle parking apparatus, which calls the vehicle parking program stored in the memory 1005 through the processor 1001 and executes the vehicle parking method provided by the embodiment of the present invention.
The embodiment of the invention provides a vehicle parking method, and referring to fig. 2, fig. 2 is a flow chart illustrating a first embodiment of the vehicle parking method.
In this embodiment, the vehicle parking method includes the steps of:
step S10: and when a parking instruction is received, obtaining a target duty ratio according to the parking instruction.
It should be noted that the executing body of the embodiment may be a shift controller, configured to control the shift position of the electronic gear shifter to move to an optimal position corresponding to the shift position, where the shift position of the electronic gear shifter includes a parking position and a non-parking position, the parking position is used to stabilize the vehicle on the road surface after the vehicle stops, and the non-parking position is other shift positions besides the parking position, such as a reverse position, a neutral position, and a forward position. When the electronic gear shifter leaves a factory, each gear has a corresponding optimal position, the optimal position is the gear position with the best gear control effect, and when the gear is located at the optimal position, a better control effect can be achieved.
Further, in the present embodiment, the shift controller may also be used to obtain the shift angle when the shift position is moved to any position, and the inherent mechanical structure of the electronic shifter when it leaves the factory results in the parking position (P position) and the non-parking position (non-P position) having fixed angles at the corresponding optimal positions. The optimal position of the P range is point P as shown in fig. 3, and it is easily understood that the shift controller is necessarily limited by the inherent mechanical structure when moving the shift range, and can not move freely without limitation, P is shown in fig. 31And P2The limit position that the P gear can move, and the P gear is at the limit position P similarly1And P2Also has a fixed angle and has a fixed angle difference with the fixed angle of P rail at the optimal position P point. For example, P range is in the extreme position P1The angle of the time is 10 °, and if the angle difference is 2 °, the P range is at the angle 12 ° at the optimal position P point, so when the shift position control obtains that the shift position angle of the P range is 12 °, it can be determined that the P range is at the optimal position at this time.
In specific implementation, before the parking position or the non-parking position is controlled by the gear controller to move, a parking instruction needs to be received, the parking instruction can be triggered by a user through a parking button arranged on a vehicle, when the parking instruction is received, a target duty ratio is obtained according to the parking instruction, the target duty ratio represents the amplitude of the movement of the parking position controlled by the gear controller, the target duty ratio can be correspondingly set according to the mechanical structure of the actual electronic gear shifter, and the embodiment is not limited.
Step S20: and obtaining a corresponding target gear angle through a preset gear angle model according to the target duty ratio.
It should be noted that, in this embodiment, the gear controller controls the parking gear to start moving from the limit position according to the target duty ratio, the parking gear may be moved to different positions based on different duty ratios, the target gear angle when the parking gear is at different positions may be obtained according to the preset gear angle model, the preset gear angle model is a corresponding relationship between the gear angle and the position, the corresponding current gear angle may be determined based on the current position, and the corresponding current position may also be determined based on the current gear angle.
Step S30: and judging whether the target gear angle is within a preset gear angle range.
It should be noted that, in an actual situation, a certain error exists in the shift angle, and the preset shift angle range is a shift angle range formed by the shift angle and the allowable angle error when the parking shift is in the optimal position, for example, the shift angle when the parking shift is in the optimal position is 12 °, assuming that the allowable angle error is 1 °, the preset shift angle range is 11 ° to 13 °, if the shift angle a is 10 °, it is determined that the shift angle a is not within the preset shift angle range, and if the shift angle B is 12 °, it is determined that the shift angle B is within the preset shift angle range.
Step S40: and responding to the parking instruction when the target gear angle is within the preset gear angle range.
In this embodiment, when the target gear angle is within the preset gear angle range, the parking gear is considered to be in the best position, the parking instruction is responded to complete parking of the vehicle, and when the target gear angle is not within the preset gear angle range, a new target gear angle is obtained again through the preset gear angle model until the new target gear angle is within the preset gear angle range, and the parking instruction is responded.
According to the embodiment, when a parking instruction is received, a target duty ratio is obtained according to the parking instruction; obtaining a corresponding target gear angle through a preset gear angle model according to the target duty ratio; judging whether the target gear angle is within a preset gear angle range; when the target gear angle is within the preset gear angle range, the parking instruction is responded, the target gear angle corresponding to the target duty ratio is obtained through the preset gear angle model, and when the target gear angle is within the preset gear angle range, the parking instruction is responded, so that the vehicle can be parked more accurately, and the stability of the vehicle parking is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a parking method of a vehicle according to a second embodiment of the present invention.
Based on the first embodiment described above, the vehicle parking method of the present embodiment further includes, before the step S20:
step S201: and when a historical gear movement instruction is received, controlling the parking gear to move to a preset position according to the historical gear movement instruction.
It is easy to understand that, before the target gear angle is obtained through the preset gear model, the preset gear angle model needs to be generated, in this embodiment, the preset gear angle model is generated based on the learning angle corresponding to the parking gear position, before the learning angle is obtained, the parking gear needs to be moved to the preset position first, and the preset position is the limit position of the parking gear, such as P shown in fig. 31In the point position, the parking gear is controlled to move to the preset position according to the historical gear movement instruction by receiving the historical gear movement instruction and when the historical gear movement instruction is received.
Step S202: and controlling the parking gear to move in a gear learning area corresponding to the preset position according to a preset duty ratio.
In a specific implementation, the parking position is controlled to move according to a preset duty ratio, a starting point position of the parking position is a preset position, the preset duty ratio is an amplitude of the parking position, the preset duty ratio can be set according to an actual situation, the preset duty ratio is not limited in this embodiment, and the gear learning region is a gear region with a parking function, which is described with reference to fig. 3 as an example. As shown in FIG. 3, P1For the preset position of the parking gear movement, the gear learning area is P1And P2In the area between which the learned parking position is completedThe parking function can be realized.
Step S203: and acquiring a corresponding current value of the parking gear in the gear learning area.
In the specific implementation, the electronic gear shifter generates corresponding current in the moving process of the parking gear, the corresponding current values are different when the parking gear is located at different positions, and in the implementation, whether the parking gear moves to the optimal position is determined through the current values, so that the corresponding current values of the parking gear in the gear learning area need to be acquired.
Further, in this embodiment, a current value corresponding to the parking position in the gear learning region is obtained, so it is required to ensure that the parking position is in the gear learning region, specifically, step S203 further includes: detecting the current gear angle of the parking gear in the gear learning area in real time; and judging the current gear angle according to a preset condition.
It should be noted that the current gear angle of the parking gear in the gear learning region is detected in real time, and the current gear angle is determined according to a preset condition, where the preset condition is the gear angle corresponding to the parking gear limit position, for example, in fig. 3, P2And if the current gear angle exceeds the gear angle corresponding to the right limit position of the parking gear, the parking gear is moved to a gear learning area of a non-parking gear.
In addition, it should be noted that, if the parking position has been moved to the gear learning region of the non-parking position, it indicates that the parking position movement amplitude is large, that is, the preset duty ratio is large, and therefore, the preset duty ratio needs to be adjusted, and then the parking position is controlled to move in the gear learning region corresponding to the preset position according to the adjusted duty ratio.
Step S204: and screening out a target current value from the current values.
It should be noted that learning the position of the parking position corresponding to the minimum current value enables the best parking effect of the parking position, and therefore the current value with the minimum target current value.
Step S205: and taking the historical position corresponding to the target current value as a parking position.
In specific implementation, after the target current value is obtained, a historical position corresponding to the target current value is obtained, and the historical position is used as the park position.
Step S206: and acquiring a learning angle corresponding to the parking gear position.
It should be noted that the parking position angle corresponding to the parking position obtained is the learning angle.
Step S207: and generating the preset gear angle model according to the learning angle.
In the present embodiment, a correspondence relationship between the park position and the learning angle is constructed, which is a preset gear angle model.
In the embodiment, when a historical gear movement instruction is received, a parking gear is controlled to move to a preset position according to the historical gear movement instruction; controlling the parking gear to move in a gear learning area corresponding to the preset position according to a preset duty ratio; acquiring a corresponding current value of the parking gear in the gear learning area; screening out a target current value from the current values; taking the historical position corresponding to the target current value as a parking position; acquiring a learning angle corresponding to the parking gear position; the preset gear angle model is generated according to the learning angle, a target current value is screened out by obtaining a current value of the parking gear in a gear learning area, a corresponding relation between the parking gear position and the learning angle is obtained according to the target current value, and the preset gear angle model is generated based on the corresponding relation, so that the preset gear angle model is more accurate.
Referring to fig. 5, fig. 5 is a flowchart illustrating a parking method of a vehicle according to a third embodiment of the present invention.
A third embodiment of a vehicle parking method according to the present invention is proposed based on the first embodiment or the second embodiment, and will be described by taking the second embodiment as an example.
In this embodiment, the step S206 specifically includes:
step S2061: and acquiring a parking gear angle when the parking gear is in the parking gear position.
In a specific implementation, the parking position angle of the parking position is acquired when the parking position is in the parking position.
Step S2062: and if the parking gear angle accords with the preset gear angle range, acquiring the parking gear angle when the parking gear is in different parking gear positions in the gear learning area.
It should be noted that if the parking gear angle corresponds to the preset gear angle range, it indicates that the parking gear angle is within the angle range corresponding to the optimal parking gear position, and the parking gear is moved from the preset position for multiple times according to the preset duty ratio.
Step S2063: and determining a learning angle according to the parking gear angles.
In this embodiment, an average angle is calculated according to a plurality of parking position angles, and the average angle is a learning angle, specifically, step S2603 includes: judging a plurality of parking gear angles according to a preset angle range; if the parking gear angle is within the preset angle range, sequencing the parking gear angles according to the angle; acquiring an angle difference between the maximum parking gear angle and the minimum parking gear angle in the parking gear angles according to the sequencing result; and when the angle difference is within a preset angle error range, calculating an angle average value of the parking gear angle, and taking the angle average value as a learning angle.
It should be noted that due to factors such as abrasion caused in the moving process, even if the parking position is moved according to the unified duty ratio, a situation that the parking position angle corresponding to the parking position exceeds a preset angle range may exist, and the preset angle range is a gear angle range corresponding to the limit position of the parking position, for example, the gear angle corresponding to the left limit position of the parking position is 10 °, the gear angle corresponding to the right limit position is 15 °, and the preset angle range is 10 ° to 15 °. After the preset angle range is obtained, the parking gear angles are screened according to the preset angle range, the parking gear angles in the preset angle range are sorted according to the angle size, then the angle difference between the maximum parking gear angle and the minimum parking gear angle is calculated, if the angle difference is in the preset angle error range, the average value of all parking gear angles in the preset angle range is calculated, the average value is the learning angle, the preset angle error range can be automatically set according to actual requirements, and the method is not limited in the embodiment.
Furthermore, in order to improve the accuracy of the learning angle, the parking gear angles within the preset angle range are screened again, the parking gear angles are compared with the preset angle threshold value, effective parking gear angles are screened out from the parking gear angles, the angle difference between the effective parking gear angles is large, invalid parking gear angles with larger angle difference with other valid parking gear angles can be eliminated according to a preset angle threshold, then the effective parking gear angles are sequenced according to the angle, the angle difference between the largest effective parking gear angle and the smallest effective parking gear angle in the effective parking gear angles is obtained according to the sequencing result, and when the angle difference is within a preset angle error range, calculating the angle average value of all effective parking gear angles, and taking the angle average value as a learning angle.
Furthermore, an embodiment of the present invention also provides a storage medium having a vehicle parking program stored thereon, where the vehicle parking program is executed by a processor to implement the steps of the vehicle parking method as described above.
Referring to fig. 6, fig. 6 is a block diagram illustrating a structure of a parking apparatus for a vehicle according to a first embodiment of the present invention.
As shown in fig. 6, a vehicle parking apparatus according to an embodiment of the present invention includes:
the receiving module 10 is configured to obtain a target duty ratio according to a parking instruction when the parking instruction is received.
It should be noted that the vehicle parking device may be used to control the shift position of the electronic gear shifter to move to the optimal position corresponding to the shift position, the shift position of the electronic gear shifter includes a parking position and a non-parking position, the parking position is used to fix the vehicle on the road surface after the vehicle stops, and the non-parking position is other than the parking position, such as a reverse position, a neutral position, a forward position, and the like. When the electronic gear shifter leaves a factory, each gear has a corresponding optimal position, the optimal position is the gear position with the best gear control effect, and when the gear is located at the optimal position, a better control effect can be achieved.
Further, in the present embodiment, the parking device for the vehicle may also be used to obtain the shift angle when the shift position is moved to any position, and the inherent mechanical structure of the electronic shifter when it leaves the factory results in the parking position (P position) and the non-parking position (non-P position) having fixed angles at the corresponding optimal positions. As shown in fig. 3, the optimal position of the P range is point P, and it is easily understood that the parking device of the vehicle is necessarily limited by the inherent mechanical structure when moving the shift range, and can not move freely without limitation, P shown in fig. 31And P2The limit position that the P gear can move, and the P gear is at the limit position P similarly1And P2Also has a fixed angle and has a fixed angle difference with the fixed angle of P rail at the optimal position P point. For example, P range is in the extreme position P1The angle of the time is 10 °, and if the angle difference is 2 °, the P range is at the angle 12 ° at the optimal position P point, so when the shift position control obtains that the shift position angle of the P range is 12 °, it can be determined that the P range is at the optimal position at this time.
In specific implementation, before the parking position or the non-parking position is controlled by the vehicle parking device to move, a parking instruction needs to be received, the parking instruction can be triggered by a user through a parking button arranged on the vehicle, when the parking instruction is received, a target duty ratio is obtained according to the parking instruction, the target duty ratio represents the magnitude of the movement of the parking position controlled by the vehicle parking device, the magnitude of the target duty ratio can be correspondingly set according to the mechanical structure of the actual electronic gear shifter, and the embodiment is not limited.
And the determining module 20 is configured to obtain a corresponding target gear angle according to the target duty ratio through a preset gear angle model.
It should be noted that, in this embodiment, the vehicle parking device controls the parking position to start moving from the extreme position according to the target duty ratio, the parking position may be moved to different positions based on different duty ratios, the target gear angle when the parking position is at different positions may be obtained according to the preset gear angle model, the preset gear angle model is a corresponding relationship between the gear angle and the position, the corresponding current gear angle may be determined based on the current position, and the corresponding current position may also be determined based on the current gear angle.
And the judging module 30 is configured to judge whether the target gear angle is within a preset gear angle range.
It should be noted that, in an actual situation, a certain error exists in the shift angle, and the preset shift angle range is a shift angle range formed by the shift angle and the allowable angle error when the parking shift is in the optimal position, for example, the shift angle when the parking shift is in the optimal position is 12 °, assuming that the allowable angle error is 1 °, the preset shift angle range is 11 ° to 13 °, if the shift angle a is 10 °, it is determined that the shift angle a is not within the preset shift angle range, and if the shift angle B is 12 °, it is determined that the shift angle B is within the preset shift angle range.
And the response module 40 is configured to respond to the parking instruction when the target gear angle is within the preset gear angle range.
In this embodiment, when the target gear angle is within the preset gear angle range, the parking gear is considered to be in the best position, the parking instruction is responded to complete parking of the vehicle, and when the target gear angle is not within the preset gear angle range, a new target gear angle is obtained again through the preset gear angle model until the new target gear angle is within the preset gear angle range, and the parking instruction is responded.
According to the embodiment, when a parking instruction is received, a target duty ratio is obtained according to the parking instruction; obtaining a corresponding target gear angle through a preset gear angle model according to the target duty ratio; judging whether the target gear angle is within a preset gear angle range; when the target gear angle is within the preset gear angle range, the parking instruction is responded, the target gear angle corresponding to the target duty ratio is obtained through the preset gear angle model, and when the target gear angle is within the preset gear angle range, the parking instruction is responded, so that the vehicle can be parked more accurately, and the stability of the vehicle parking is improved.
In an embodiment, the vehicle parking apparatus further comprises a generation module;
the generating module is used for controlling the parking gear to move to a preset position according to a historical gear moving instruction when the historical gear moving instruction is received; controlling the parking gear to move in a gear learning area corresponding to the preset position according to a preset duty ratio; acquiring a corresponding current value of the parking gear in the gear learning area; screening out a target current value from the current values; taking the historical position corresponding to the target current value as a parking position; acquiring a learning angle corresponding to the parking gear position; and generating the preset gear angle model according to the learning angle.
In one embodiment, the vehicle parking device further comprises a detection module;
the detection module is used for detecting the current gear angle of the parking gear in the gear learning area in real time; judging the current gear angle according to a preset condition; and when the current gear angle meets the preset condition, executing the step of acquiring the corresponding current value of the parking gear in the gear learning area.
In an embodiment, the detection module is further configured to adjust the preset duty ratio when the current gear angle does not meet the preset condition; and controlling the parking gear to move in a gear learning area corresponding to the preset position according to the adjusted duty ratio.
In one embodiment, the vehicle parking apparatus further comprises a calculation module;
the calculation module is used for acquiring a parking gear angle when the parking gear is at the parking gear position; if the parking gear angle meets a second preset condition, acquiring the parking gear angle when the parking gear is positioned at different parking gear positions in the gear learning area; and determining a learning angle according to the parking gear angles.
In an embodiment, the calculation module is further configured to determine a plurality of parking position angles according to a preset angle range; if the parking gear angle is within the preset angle range, sequencing the parking gear angles according to the angle; acquiring an angle difference between the maximum parking gear angle and the minimum parking gear angle in the parking gear angles according to the sequencing result; and when the angle difference is within a preset angle error range, calculating an angle average value of the parking gear angle, and taking the angle average value as a learning angle.
In an embodiment, the calculation module is further configured to compare the parking range angle with a preset angle threshold if the parking range angle is within the preset angle range, and screen out an effective parking range angle from the parking range angles according to a comparison result; and sequencing the effective parking gear angles according to the angle.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not elaborated in the present embodiment may be referred to a vehicle parking method provided by any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A vehicle parking method, characterized by comprising:
when a parking instruction is received, obtaining a target duty ratio according to the parking instruction;
when a historical gear movement instruction is received, controlling a parking gear to move to a preset position according to the historical gear movement instruction;
controlling the parking gear to move in a gear learning area corresponding to the preset position according to a preset duty ratio;
acquiring a corresponding current value of the parking gear in the gear learning area;
screening out a target current value from the current values;
taking the historical position corresponding to the target current value as a parking position;
acquiring a learning angle corresponding to the parking gear position;
generating a preset gear angle model according to the learning angle;
obtaining a corresponding target gear angle through the preset gear angle model according to the target duty ratio;
judging whether the target gear angle is within a preset gear angle range;
and responding to the parking instruction when the target gear angle is within the preset gear angle range.
2. The vehicle parking method according to claim 1, wherein before the obtaining of the current value corresponding to the parking range in the range learning region, further comprises:
detecting the current gear angle of the parking gear in the gear learning area in real time;
judging the current gear angle according to a preset condition;
and when the current gear angle meets the preset condition, executing the step of acquiring the corresponding current value of the parking gear in the gear learning area.
3. The vehicle parking method according to claim 2, further comprising, after the determining the current gear angle according to a preset condition:
when the current gear angle does not meet the preset condition, adjusting the preset duty ratio;
and controlling the parking gear to move in a gear learning area corresponding to the preset position according to the adjusted duty ratio.
4. The vehicle parking method according to claim 1, wherein the acquiring of the learning angle corresponding to the park position includes:
obtaining a parking gear angle when the parking gear is at the parking gear position;
if the parking gear angle accords with the preset gear angle range, acquiring the parking gear angle when the parking gear is positioned at different parking gear positions in the gear learning area;
and determining a learning angle according to the parking gear angles.
5. The vehicle parking method of claim 4, wherein said determining a learning angle from a plurality of said parking position angles comprises:
judging a plurality of parking gear angles according to a preset angle range;
if the parking gear angle is within the preset angle range, sequencing the parking gear angles according to the angle;
acquiring an angle difference between the maximum parking gear angle and the minimum parking gear angle in the parking gear angles according to the sequencing result;
and when the angle difference is within a preset angle error range, calculating an angle average value of the parking gear angle, and taking the angle average value as a learning angle.
6. The vehicle parking method according to claim 5, wherein if the parking position angle is within the preset angle range, the sorting the parking position angles according to angle magnitude comprises:
if the parking gear angle is within the preset angle range, comparing the parking gear angle with a preset angle threshold value, and screening out an effective parking gear angle from the parking gear angles according to a comparison result;
and sequencing the effective parking gear angles according to the angle.
7. A vehicle parking device characterized by comprising:
the receiving module is used for obtaining a target duty ratio according to a parking instruction when the parking instruction is received;
the determining module is used for obtaining a corresponding target gear angle through a preset gear angle model according to the target duty ratio;
the judging module is used for judging whether the target gear angle is within a preset gear angle range;
the response module is used for responding to the parking instruction when the target gear angle is within the preset gear angle range;
the vehicle parking device further comprises a generation module;
the generating module is used for controlling the parking gear to move to a preset position according to a historical gear moving instruction when the historical gear moving instruction is received; controlling the parking gear to move in a gear learning area corresponding to the preset position according to a preset duty ratio; acquiring a corresponding current value of the parking gear in the gear learning area; screening out a target current value from the current values; taking the historical position corresponding to the target current value as a parking position; acquiring a learning angle corresponding to the parking gear position; and generating the preset gear angle model according to the learning angle.
8. A vehicle electronic shifter, comprising: memory, a processor and a vehicle parking program stored on the memory and run on the processor, the vehicle parking program being configured to implement the steps of the vehicle parking method according to any of claims 1 to 6.
9. A storage medium having stored thereon a vehicle parking program which, when executed by a processor, carries out the steps of the vehicle parking method according to any one of claims 1 to 6.
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| CN202010853919.0A CN112049929B (en) | 2020-08-21 | 2020-08-21 | Vehicle parking method, device, equipment and storage medium |
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| CN202010853919.0A CN112049929B (en) | 2020-08-21 | 2020-08-21 | Vehicle parking method, device, equipment and storage medium |
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| CN112049929A (en) | 2020-12-08 |
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Effective date of registration: 20221021 Address after: 237000 Gao Cheng East Road, Lu'an Economic Development Zone, Anhui Patentee after: ANHUI XINGRUI GEAR-TRANSMISSION Co.,Ltd. Address before: No.99, Ziyun Road, economic and Technological Development Zone, Hefei City, Anhui Province Patentee before: ANHUI JIANGHUAI AUTOMOBILE GROUP Corp.,Ltd. |
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