CN112124098A - Control method and device, vehicle and computer equipment - Google Patents

Control method and device, vehicle and computer equipment Download PDF

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Publication number
CN112124098A
CN112124098A CN202010931242.8A CN202010931242A CN112124098A CN 112124098 A CN112124098 A CN 112124098A CN 202010931242 A CN202010931242 A CN 202010931242A CN 112124098 A CN112124098 A CN 112124098A
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China
Prior art keywords
vehicle
brake pedal
state
pedal signal
parking state
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CN202010931242.8A
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Chinese (zh)
Inventor
孙明
胡耀
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Baoneng Guangzhou Automobile Research Institute Co Ltd
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Baoneng Guangzhou Automobile Research Institute Co Ltd
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Priority to CN202010931242.8A priority Critical patent/CN112124098A/en
Publication of CN112124098A publication Critical patent/CN112124098A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The application discloses a control method and device of a vehicle, the vehicle and computer equipment. The control method comprises the following steps: controlling the vehicle to enter a first parking state in response to a first brake pedal signal of the vehicle while the vehicle is in a first driving state; detecting a second brake pedal signal; when the second brake pedal signal is detected, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal; and when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state. According to the control method, when the vehicle runs with the vehicle, the vehicle is controlled to enter the first parking state or the second parking state only according to the brake pedal signal, the operation is simple, the accelerator pedal and the brake pedal do not need to be frequently switched and stepped, and the fatigue of the driver during running with the vehicle can be effectively relieved while the power consumption is low.

Description

Control method and device, vehicle and computer equipment
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a control method and apparatus for a vehicle, and a computer device.
Background
With the rapid development of the automobile industry and the continuous improvement of living conditions of people, automobiles become one of indispensable transportation tools for people to go out. The automobile keeping amount is increased year by year, and more people own private cars. At present, with the continuous improvement of environmental awareness of people, new energy automobiles are rapidly developed.
At present, in the following driving process of a vehicle, particularly, the situations of deceleration, accelerated parking and the like of a front vehicle possibly occur under the condition of traffic jam in urban road conditions.
Disclosure of Invention
The embodiment of the application provides a control method and device for a vehicle, the vehicle and computer equipment.
The embodiment of the application provides a control method for a vehicle. The control method comprises the following steps: controlling the vehicle to enter a first parked state in response to a first brake pedal signal of the vehicle while the vehicle is in a first driving state; detecting the second brake pedal signal; when the second brake pedal signal is detected, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal; when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
The embodiment of the application provides a control device for a vehicle. The control device comprises a first control module, a detection module and a second control module. The first control module is used for controlling the vehicle to enter a first parking state in response to a first brake pedal signal of the vehicle when the vehicle is in a first running state; the detection module is used for detecting the second brake pedal signal; the second control module is used for controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal when the second brake pedal signal is detected; when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
The embodiment of the application provides a vehicle. The vehicle includes: one or more processors, memory; and one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs when executed by the processors implement the vehicle in a first driving state, control the vehicle to enter a first parking state in response to a first brake pedal signal of the vehicle; detecting the second brake pedal signal; when the second brake pedal signal is detected, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal; when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
The embodiment of the application also provides computer equipment which comprises a memory and a processor. The memory having stored therein a computer program that when executed by the processor effects a first state of travel of the vehicle, controls the vehicle into a first parking state in response to a first brake pedal signal of the vehicle; detecting the second brake pedal signal; when the second brake pedal signal is detected, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal; when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
According to the control method and device, the vehicle and the computer equipment, when the vehicle runs with the vehicle, the vehicle is controlled to enter the first parking state or the second parking state only according to the brake pedal signal, the operation is simple, the accelerator pedal and the brake pedal do not need to be frequently switched and stepped, and the fatigue of a driver during running with the vehicle can be effectively relieved while the power consumption is low.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a control method according to certain embodiments of the present application;
FIG. 2 is a schematic structural diagram of a control device according to certain embodiments of the present application;
FIG. 3 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 4 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 5 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 6 is a schematic illustration of a vehicle according to certain embodiments of the present application;
FIG. 7 is a schematic illustration of a vehicle according to certain embodiments of the present application;
FIG. 8 is a schematic block diagram of a computer device according to some embodiments of the present application;
FIG. 9 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 10 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 11 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 12 is a flow chart illustrating a control method according to some embodiments of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the embodiments of the present application.
The current vehicle is in the process of following the car and is especially likely to have the situations of deceleration, accelerated parking and the like under the condition of traffic jam in urban road conditions, and because the intention of the vehicle in front is not known, a driver needs to repeatedly add and decelerate, even pull a hand to brake for parking and waiting, the operation is large in power consumption for the electric vehicle, and the frequent operation of the driver is easy to be fatigued.
In order to solve the above problem, referring to fig. 1, the present application provides a control method for a vehicle. The control method comprises the following steps:
s12: controlling the vehicle to enter a first parking state in response to a first brake pedal signal of the vehicle while the vehicle is in a first driving state;
s14: detecting a second brake pedal signal;
s16: when the second brake pedal signal is detected, controlling the vehicle to be switched from the first parking state to the first running state or the second parking state according to the second brake pedal signal; and when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
Referring to fig. 2, the present application also provides a control device 10 for a vehicle. The control device 10 includes a first control module 12, a detection module 14, and a second control module 16.
The step S12 may be implemented by the first control module 12, the step S14 may be implemented by the detection module 14, and the step S16 may be implemented by the second control module 16. That is, the first control module 12 is operable to control the vehicle to enter a first parked state in response to a first brake pedal signal of the vehicle while the vehicle is in a first driving state; the detection module 14 is used for detecting a second brake pedal signal; the second control module 16 is configured to: when the second brake pedal signal is detected, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal; and when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
It can be understood that the vehicle control unit is a core control component of the whole vehicle, and is equivalent to the brain of the vehicle. In some embodiments, the first control module 12, the detection module 14, and the second control module 16 may be part of a vehicle control system, that is, the first control module 12, the detection module 14, and the second control module 16 may be mounted together on the vehicle control system of the vehicle, wherein the first control module 12 and the second control module 16 may also be mounted elsewhere on the vehicle, such as a service brake system. When the first control module 12, the detection module 14 and the second control module 16 may be part of a vehicle control system, the vehicle control system may collect an accelerator pedal signal, a brake pedal signal and other component signals, and make corresponding determinations, and then control the actions of the component controllers in the lower layer, so as to drive the vehicle to be in a low-speed following state, a first parking state or a second parking state (as shown in fig. 3).
Specifically, the first driving state is a following state of low-speed driving, and a Vehicle Control Unit (VCU) in the Vehicle can provide a constant torque of the motor, so that the Vehicle can perform low-speed driving.
The first parking state is a state that the vehicle keeps static, at the moment, the vehicle brake pressure keeps unchanged and the parking brake system does not start the parking state, and different from the parking state, the vehicle is at the moment, the gear is a forward gear, and the braking force is kept unchanged.
The first brake pedal signal is a signal when the user deeply depresses the brake pedal, and when the brake pedal is released after the vehicle is stopped by deeply depressing the brake pedal, the vehicle body Stability Program (ESP) can maintain the vehicle in a stationary state by controlling the brake pressure.
The second parking state is a parking state, namely the parking brake provides resistance for the automobile when the automobile is parked, so that the automobile does not slide, namely the parking brake of the automobile or the parking gear in the automatic gear acts, the transmission shaft or the rear wheel of the automobile is locked, and the automobile is prevented from shifting.
The second brake pedal signal may be a signal when the brake pedal is lightly depressed. After the brake pedal is lightly stepped on, the first parking state can be switched to the first running state again (as shown in fig. 4 and 5), namely when the vehicle is in a static state, the whole vehicle control system detects a second brake pedal signal (a signal when the brake pedal is lightly stepped on), and then the vehicle can be changed from the static state (the first parking state) to a low-speed following running state (the first running state), so that the operation is simple, the vehicle-following running is facilitated for a driver, and the fatigue of the following running is relieved.
When the vehicle control system does not detect the second brake pedal signal and the holding time of the first parking state is longer than the preset time, for example, the preset time is 5min or 10min, the parking brake system of the vehicle is automatically started, namely the hand brake is automatically pulled up, and the driver does not need any operation, the vehicle can be switched from the first parking state to the second parking state, namely the vehicle is changed from the static state to the parking state, so that the situation that the vehicle is in a traffic jam state when running with the vehicle is long, the driver needs to manually pull up the hand brake and deeply step on the brake pedal to keep the vehicle still is avoided, and the fatigue of the driver in long-time running with the vehicle is relieved.
According to the control method and the control device 10, when the vehicle runs with the vehicle, the vehicle is controlled to enter the first parking state or the second parking state only according to the brake pedal signal, the operation is simple, the accelerator pedal and the brake pedal do not need to be frequently switched and stepped, and the fatigue of the driver during running with the vehicle can be effectively relieved while the power consumption is low.
Referring to fig. 4, in an embodiment, the control method further includes: detecting an accelerator pedal signal, a brake pedal signal and gear information of the vehicle; and under the conditions that the accelerator pedal signal is empty, the brake pedal signal is that the brake pedal is released after the brake pedal is stepped on, and the gear information is a forward gear, controlling the vehicle to enter a first running state. Specifically, when the detection module 14 of the control device 10 in the vehicle can be used to detect an accelerator pedal signal (including whether the accelerator pedal is pressed), a brake pedal signal (including whether the brake pedal signal is pressed), and gear information (e.g., whether the gear is a forward gear, a reverse gear, or a neutral gear) of the vehicle, the detection module 14 can be part of the vehicle control system. When a driver drives with the vehicle and judges that the distance between the vehicle and a front vehicle is short, the driver can release the brake pedal after stepping on the brake pedal without stepping on the accelerator pedal and keep the gear information as a forward gear, namely, the gear shifting operation is not needed. The detection module 14 may include an accelerator pedal sensor for detecting an accelerator pedal signal and a brake pedal sensor for detecting a brake pedal signal. When the detection module 14 detects that the accelerator pedal signal is empty (the accelerator pedal is not pressed), the brake pedal signal is that the brake pedal is released after the brake pedal is pressed, and the gear information is a forward gear, the vehicle control system can control the vehicle to enter a first running state (a low-speed following running state). At the moment, the driver only needs to step on the brake pedal and then release the brake pedal, does not need to step on the accelerator pedal, and keeps the forward gear, so that the vehicle can be controlled to enter a first running state (namely a low-speed vehicle following state), the driver does not need to step on the brake pedal all the time to control the vehicle to decelerate, the power consumption is low, and the fatigue of the driver during the vehicle following running can be effectively relieved while the energy consumption is saved.
Referring to fig. 3, in some embodiments, the control method may further include: when the vehicle runs with the vehicle on a slope, the opening degree signal of a CAN accelerator pedal of the vehicle is detected to control the vehicle to be switched from a first running state to a second parking state. The CAN accelerator pedal opening signal obtained by comparing the accelerator pedal opening value detected by the whole vehicle control system with the preset accelerator pedal opening value CAN be directly released into the parking brake system to control the vehicle to be switched to the second parking state. Therefore, when the gradient of the road surface is steep, the opening degree signal of the CAN accelerator pedal of the vehicle CAN be different due to different gradients of the road surface, and the preset opening degree value for stepping on the accelerator pedal CAN be set according to the gradient of the road surface so as to stop the vehicle on the slope. For example, when the gradient is steep, the set accelerator pedal opening degree signal value is small, and when the gradient is gentle, the preset accelerator pedal opening degree signal value is large. Then, the whole vehicle control system CAN send the opening degree signal of the CAN accelerator pedal to the parking brake system, after the parking brake system receives the opening degree signal of the CAN accelerator pedal, the parking brake system of the vehicle is automatically started, namely the hand brake is automatically pulled up, and the vehicle is controlled to be switched from the first running state to the second parking state. When the vehicle needs to restart the following driving, the user only needs to press the accelerator pedal again to resume the following driving (as shown in fig. 4). In conclusion, the driver does not need to frequently step on the brake pedal and the accelerator pedal to follow the vehicle when following the vehicle on the slope, the operation is simple, and the fatigue feeling of the driver when following the vehicle on the slope is relieved.
Referring to fig. 6, the present application further provides a vehicle 100, and the control method of the present application may be performed by the vehicle 100, where the vehicle 100 includes a processor 20.
Processor 20 is configured to control vehicle 100 to enter a first parked state in response to a first brake pedal signal of vehicle 100 while vehicle 100 is in a first driving state. Detecting a second brake pedal signal, and controlling the vehicle 100 to be switched from the first parking state to the first running state or the second parking state according to the second brake pedal signal when the second brake pedal signal is detected; and when the second brake pedal signal is not detected and the holding time of the first parking state is greater than the preset time, controlling the vehicle 100 to be switched from the first parking state to the second parking state.
The vehicle in the embodiment of the present application is a new energy electric vehicle, and may be a front-drive single-motor vehicle, a rear-drive single-motor vehicle, a front-drive independent dual-motor vehicle, a rear-drive independent dual-motor vehicle, a four-drive three-motor vehicle, a four-drive independent four-motor vehicle, and the like.
Referring to fig. 7, the present application provides a vehicle 100 comprising one or more processors 20, memory 30; and one or more programs 32, wherein the one or more programs 32 are stored in the memory 30 and executed by the one or more processors 20, the programs 32 being executed by the processors 20 to perform the instructions of the control method described above.
Referring to fig. 8, the present application further provides a computer device 40, which includes a memory 41 and a processor 42. The memory 41 stores a computer program 43.
The steps of the control method of any of the above embodiments are implemented when the computer program 43 is executed by the processor 42.
For example, in the case where the computer program 43 is executed by the processor 42, the steps of the following control method are implemented:
s12: controlling the vehicle to enter a first parking state in response to a first brake pedal signal of the vehicle while the vehicle is in a first driving state;
s14: detecting a second brake pedal signal;
s16: when a second brake pedal signal is detected, controlling the vehicle to be switched from the first parking state to the first running state or to the second parking state according to the second brake pedal signal; and when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
It will be appreciated that the computer program 43 comprises computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer device may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like.
In some embodiments, the control device 10 may be part of a vehicle 100. Alternatively, the vehicle 100 includes the control device 10.
In some embodiments, the control device 10 may be a discrete component assembled in such a way as to have the aforementioned functions, or a chip having the aforementioned functions in the form of an integrated circuit, or a piece of computer software code that causes a computer to have the aforementioned functions when run on the computer.
In some embodiments, the control device 10 may be a stand-alone or add-on peripheral component to a computer or computer system as hardware. The control device 10 may also be integrated into a computer or computer system, for example, where the control device 10 is part of the vehicle 100, the control device 10 may be integrated into the processor 20.
In some embodiments where the control device 10 is part of the vehicle 100, as software, code segments corresponding to the control device 10 may be stored on the memory 41 and executed on the processor 42 to implement the aforementioned functions.
In some embodiments, the processor 20 may be the processor 20 of the vehicle 100's own driving system. In some embodiments, the computer device 40 may be a storage medium built in the vehicle 100, for example, the memory 41, or a storage medium that can be plugged into the vehicle 100 in a pluggable manner, for example, an SD card.
According to the control method and the control device 10, the vehicle 100 and the computer equipment 40, when the vehicle 100 runs with the vehicle, the vehicle 100 is controlled to enter the first parking state or the second parking state only according to the brake pedal signal, the operation is simple, the driver can easily run with the vehicle, the accelerator pedal and the brake pedal do not need to be frequently switched and stepped, the power consumption is low, and meanwhile, the fatigue of the driver during running with the vehicle can be effectively relieved.
Referring to fig. 9, in some embodiments, the control method further includes:
s13: detecting an accelerator pedal signal of the vehicle in a first parking state or a second parking state;
s15: and controlling the vehicle to be switched from the first parking state or the second parking state to the first running state according to the accelerator pedal signal.
The step S13 may be implemented by the detection module 14 and the step S15 may be implemented by the second control module 16. That is, the detection module 14 is configured to detect an accelerator pedal signal of the vehicle in the first parking state or the second parking state; the second control module 16 is configured to control the vehicle to switch from the first parking state or the second parking state to the first driving state based on the accelerator pedal signal.
Specifically, referring to fig. 4, when the vehicle 100 is in the first parking state or the second parking state, and the driver needs to restart the vehicle following for driving, the driver only needs to depress the accelerator pedal, the detection module 14 of the control device 10 in the vehicle 100 detects the accelerator pedal signal, and the second control module 16 can easily control the vehicle 100 to switch from the first parking state or the second parking state to the first driving state. When the driver restarts the car, the driver does not need to frequently step on the brake pedal and the accelerator pedal, so that the operation is simple when the vehicle is switched from the first parking state or the second parking state to the first running state, and the car following of the driver is easier.
Referring to fig. 10, in some embodiments, S12 includes the steps of:
s121: detecting depth information of a first brake pedal signal;
s122: and if the depth information of the first brake pedal signal is greater than the depth threshold value, controlling the vehicle to enter a first parking state.
Steps S121 and S122 may be implemented by the first control module 12, that is, the first control module 12 may be configured to detect depth information of the first brake pedal signal; and if the depth information of the first brake pedal signal is greater than the depth threshold value, controlling the vehicle to enter a first parking state.
It is to be appreciated that in some embodiments, the first control module 12 may be a part of a braking system, that is, the first control module 12 is installed in the braking system, the braking system (including the first control module 12) may detect depth information of the first brake pedal signal (such as a brake pedal depth signal shown in fig. 3), the brake pedal depth signal may be obtained by a brake depth sensor, the brake depth sensor may be installed on a brake pedal, and the brake depth sensor is hard connected to the braking system, that is, the braking system may obtain the depth information of the first brake pedal signal. The braking driving system can judge whether the vehicle needs to be stopped temporarily or continue to drive with the vehicle at a low speed according to the depth information of the first brake pedal signal. For example, when the braking driving system determines that the depth information of the first brake pedal signal exceeds a preset depth threshold, the braking driving system determines that the vehicle needs to be temporarily stopped; when the braking driving system judges that the depth information of the first brake pedal signal is 0 or does not exceed a preset depth threshold value, the braking driving system judges that the vehicle does not need to be temporarily stopped, and the vehicle can continue to follow the vehicle at a low speed.
Specifically, in an example, the depth information includes a depth value of the brake pedal pressed by the driver, that is, a ratio of a depth of the brake pedal pressed by the driver to a total depth of the brake pedal, where the depth value of the brake pedal is 0% based on that the driver does not initially press the brake pedal, and if the total depth of the brake pedal is 5cm, the depth value of the brake pedal is 20% when the driver presses the brake pedal by 1cm, and the depth value of the brake pedal is 40% when the driver presses the brake pedal by 2 cm.
Referring to FIG. 3, the depth threshold may be 20%, and the vehicle is controlled to enter the first parked state when the depth information of the first brake pedal signal is greater than 20%. Specifically, when the first control module 12 in the braking traveling system in the vehicle 100 detects that the depth information of the first brake pedal is, for example, 30%, since 30% is greater than 20%, the braking traveling system converts the depth information into a pressure maintaining digital signal (for example, a pressure maintaining digital signal 1) and sends the pressure maintaining digital signal to the entire vehicle control system, and the entire vehicle control system receives the pressure maintaining digital signal 1, and then can control the torque output of the limiting motor, and control the hydraulic pressure of the vehicle to be a constant value, so that the vehicle is in a stationary pressure maintaining state, that is, a first parking state.
In another example, the depth information is a trunk pressure value of the vehicle after the driver depresses the brake pedal, and the trunk pressure value of the vehicle is larger as the depth of the brake pedal depressed by the driver is deeper. Taking the trunk pressure value of 5MPa as an example of the depth threshold, if the depth information of the second brake pedal signal is 8MPa smaller than the depth threshold (5MPa), the brake driving system converts the depth information of 8MPa into a pressure maintaining digital signal (for example, a pressure maintaining digital signal 1) and sends the pressure maintaining digital signal to the vehicle control system, and the vehicle control system receives the pressure maintaining digital signal 1, and then can control the torque output of the limiting motor, control the hydraulic pressure of the vehicle to be a constant value, so that the vehicle is in a stationary pressure maintaining state from a first parking state (stationary pressure maintaining state), that is, a first parking state.
Referring to fig. 11, in some embodiments, S16 includes the steps of:
s161: judging whether the keeping time of the vehicle in the first parking state is longer than the preset time or not;
s162: and if the holding time is less than or equal to the preset time, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal.
Steps S161 and S162 may be implemented by the second control module 16. That is, the second control module 16 may be configured to determine whether the vehicle is in the first parked state for a holding time greater than a preset time; and if the holding time is less than or equal to the preset time, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal.
Specifically, the second control module 16 may include a timer for detecting a holding time of the first parking state and a judging module for judging whether the holding time is greater than a preset time. When the first parking state is started, the timer starts to count time. When the holding time of the first parking state is less than or equal to the preset time, for example, the preset time range may be [2min, 10min ], for example, 2min, 3min, 4.5min, 5min, 6.5min, 7min, 8min, 9min, 10min, etc., and 5min is taken as an example in fig. 4 and 5, that is, when the holding time calculated by the timer is less than or equal to 5min, the entire vehicle control system may control the vehicle to switch from the first parking state to the first driving state according to the second brake pedal signal of the brake pedal pressed by the driver, for example, the second brake pedal signal is sent when the brake pedal is pressed, that is, the vehicle may continue to drive at a low speed as long as the driver presses the brake pedal within 5min of the holding time.
In certain embodiments, the second control module 16 may be part of a braking roadway system, i.e., the second control module 16 is installed in the braking roadway system. When the determination module of the second control module 16 determines that the holding time of the first parking state is longer than the preset time, please refer to fig. 3 and 4, for example, the preset time is 5min, the braking and driving system determines that the vehicle is not in the temporary parking state (the first parking state), and needs to be switched to the long-term parking state (the second parking state), the braking and driving system sends a parking request to the parking brake system, and the parking brake system performs long-term parking on the vehicle according to the parking request, that is, the vehicle is switched from the first parking state to the second parking state.
Referring to fig. 12, in some embodiments, S16 includes the steps of:
s163: detecting depth information of a second brake pedal signal;
s164: and if the depth information of the second brake pedal signal is less than the depth threshold value, controlling the vehicle to be switched from the first parking state to the first running state.
Steps S163 and S164 may be implemented by the second control module 16, that is, the second control module 16 may be configured to detect depth information of the second brake pedal signal; and if the depth information of the second brake pedal signal is less than the depth threshold value, controlling the vehicle to be switched from the first parking state to the first running state.
It is to be appreciated that in some embodiments, the second control module 16 may be a part of a braking system, i.e., the second control module 16 is installed in the braking system, the braking system (including the second control module 16) may detect depth information of the first brake pedal signal (e.g., the brake pedal depth signal shown in fig. 3), the brake pedal depth signal may be obtained by a brake depth sensor, the brake depth sensor may be installed on a brake pedal, and the brake depth sensor is hard connected to the braking system, i.e., the braking system may obtain depth information of the second brake pedal signal. The braking driving system can judge whether the vehicle needs to be stopped continuously (in a first parking state) or start to start low-speed following driving according to the depth information of the second brake pedal signal. For example, when the braking and driving system determines that the depth information of the second brake pedal signal exceeds a preset depth threshold, the braking and driving system determines that the vehicle needs to be stopped continuously (in a first parking state); when the braking driving system judges that the signal of the second brake pedal does not exceed the preset depth threshold value, the braking driving system judges that the vehicle does not need to be stopped continuously (in the first parking state), and the vehicle can start to start low-speed follow-up driving (namely, switch to the first driving state). That is, when the vehicle is in the first parking state, the user may release the brake pedal after deeply depressing the brake pedal so that the vehicle continues to maintain the first parking state, or release the brake pedal after lightly depressing the brake pedal so that the vehicle starts to switch from the first parking state to the first running state, i.e., the running state of the low-speed following vehicle.
It should be noted that, the depth information of detecting the second brake pedal signal and detecting the second brake pedal signal may be performed simultaneously, or the depth information of detecting the second brake pedal signal may be detected after detecting the brake pedal signal. That is, while the detection module 14 detects the second brake pedal signal, the second control module 16 detects depth information of the second brake pedal signal; after the detection module 14 detects the second brake pedal signal, the second control module 16 detects the depth information of the second brake pedal signal, and the braking system of the vehicle can control the vehicle to switch from the first parking state to the first driving state according to the depth information.
In one example, the depth information is a depth value of the brake pedal pressed by the driver, i.e. a ratio of the depth of the brake pedal pressed by the driver to a total depth of the brake pedal, if the driver does not initially press the brake pedal, the depth value of the brake pedal is 0%, if the total depth of the brake pedal is 5cm, the depth value of the brake pedal is 20% if the driver presses the brake pedal by 1cm, and the depth value of the brake pedal is 40% if the driver presses the brake pedal by 2 cm.
The depth threshold may be 20%, and when the depth information of the second brake pedal signal is greater than 20%, the vehicle is controlled to enter the first parked state. Specifically, referring to fig. 3, when the second control module 16 in the braking system of the vehicle 100 detects that the depth information of the second brake pedal is, for example, 15%, and since 15% is less than 20%, the braking system converts the depth information of 5% into a pressure maintaining digital signal (for example, a pressure maintaining digital signal 0) and sends the pressure maintaining digital signal to the vehicle control system, and the vehicle control system receives the pressure maintaining digital signal 0 and controls the torque output of the motor, so that the vehicle is switched from the first parking state (stationary pressure maintaining state) to the first driving state (low-speed following driving state).
In another example, the depth information is a trunk pressure value of the vehicle after the driver depresses the brake pedal, and the trunk pressure value of the vehicle is larger as the depth of the brake pedal depressed by the driver is deeper. Taking the trunk pressure value of 5MPa as the depth threshold as an example, if the depth information of the second brake pedal signal is 3MPa smaller than the depth threshold (5MPa), the brake driving system converts the depth information of 3MPa into a pressure maintaining digital signal (for example, a pressure maintaining digital signal 0) and sends the pressure maintaining digital signal to the vehicle control system, and the vehicle control system receives the pressure maintaining digital signal 0 and can control the torque output of the motor, so that the vehicle is switched from the first parking state (stationary pressure maintaining state) to the first driving state (low-speed following driving state).
According to the control method, the depth information of the second brake pedal signal is detected, whether the depth information of the second brake pedal signal is smaller than the depth threshold value or not is judged, if the depth information of the second brake pedal signal is smaller than the depth threshold value, the vehicle is controlled to be switched from the first parking state to the first running state, and when the vehicle is controlled to be switched from the first parking state (static pressure maintaining state) to the first running state (low-speed following running state) only by slightly stepping on the brake pedal, the operation is simple, and the following fatigue feeling of the driver can be effectively relieved.
In some embodiments, the vehicle further includes an instrument display system, and the parking brake system may further convert the first parking state or the second parking state of the vehicle into an electrical signal that is transmitted to the instrument display system of the vehicle. The instrument display system is used for displaying the first parking state or the second parking state of the vehicle and prompting the driver to rest, and the driver can close eyes and relax without staring at the front vehicle or stepping on a brake pedal or an accelerator pedal, so that the eye fatigue is relieved.

Claims (8)

1. A control method of a vehicle, characterized by comprising:
controlling the vehicle to enter a first parked state in response to a first brake pedal signal of the vehicle while the vehicle is in a first driving state;
detecting the second brake pedal signal;
when the second brake pedal signal is detected, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal;
when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
2. The control method according to claim 1, characterized by further comprising:
detecting an accelerator pedal signal of the vehicle in the first parking state or the second parking state;
controlling the vehicle to switch from the first parking state or the second parking state to the first driving state according to the accelerator pedal signal.
3. The control method of claim 1, wherein said controlling the vehicle into a first parked state in response to a first brake pedal signal of the vehicle while the vehicle is in a first driving state comprises:
detecting depth information of the first brake pedal signal;
and if the depth information of the first brake pedal signal is greater than a depth threshold value, controlling the vehicle to enter the first parking state.
4. The control method according to claim 1, characterized in that the controlling the vehicle to switch from the first parking state to the first driving state according to the second brake pedal signal when the second brake pedal signal is detected comprises:
judging whether the keeping time of the vehicle in the first parking state is greater than the preset time or not;
and if the holding time is less than or equal to the preset time, controlling the vehicle to be switched from the first parking state to the first running state according to the second brake pedal signal.
5. The control method according to claim 1, characterized in that the controlling the vehicle to switch from the first parking state to the first driving state according to the second brake pedal signal when the second brake pedal signal is detected comprises:
detecting depth information of the second brake pedal signal;
and if the depth information of the second brake pedal signal is smaller than a depth threshold value, controlling the vehicle to be switched from the first parking state to the first running state.
6. A control device of a vehicle, characterized by comprising:
a first control module to control the vehicle to enter a first parked state in response to a first brake pedal signal of the vehicle while the vehicle is in a first driving state;
a detection module to detect the second brake pedal signal;
a second control module for controlling the vehicle to switch from the first parking state to the first driving state based on the second brake pedal signal when the second brake pedal signal is detected; when the second brake pedal signal is not detected and the keeping time of the first parking state is longer than the preset time, controlling the vehicle to be switched from the first parking state to the second parking state.
7. A vehicle, characterized by comprising:
one or more processors, memory; and
one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs comprising instructions for performing the control method of any of claims 1 to 5.
8. A computer device comprising a memory and a processor, characterized in that the memory has stored therein a computer program which, when executed by the processor, implements the control method of any one of claims 1 to 5.
CN202010931242.8A 2020-09-07 2020-09-07 Control method and device, vehicle and computer equipment Pending CN112124098A (en)

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Application publication date: 20201225