CN112224207B - Vehicle control method and device, control equipment and automobile - Google Patents
Vehicle control method and device, control equipment and automobile Download PDFInfo
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- CN112224207B CN112224207B CN201910573824.0A CN201910573824A CN112224207B CN 112224207 B CN112224207 B CN 112224207B CN 201910573824 A CN201910573824 A CN 201910573824A CN 112224207 B CN112224207 B CN 112224207B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000009193 crawling Effects 0.000 claims abstract description 37
- 230000004913 activation Effects 0.000 claims abstract description 31
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 230000007774 longterm Effects 0.000 claims description 39
- 238000004590 computer program Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
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- Automation & Control Theory (AREA)
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- Regulating Braking Force (AREA)
Abstract
The invention provides a vehicle control method, a vehicle control device, control equipment and an automobile, wherein the control method comprises the following steps: when the vehicle is started, controlling the vehicle to enter a crawling mode and monitoring the stroke of a push rod of a master cylinder; when the stroke of the master cylinder push rod changes and the vehicle speed is reduced to 0, acquiring a current first time and a first stroke of the master cylinder push rod and continuously monitoring the stroke of the master cylinder push rod; when the stroke of the master cylinder push rod is smaller than the first stroke, controlling the vehicle to run; when the stroke of a push rod of the master cylinder is greater than the first stroke, judging whether the vehicle meets a short-term parking activation condition, and controlling the vehicle to exit a crawling mode and enter a short-term parking mode when the short-term parking activation condition is met; the short-term parking activation conditions include at least: the accelerator pedal is not stepped on; the current vehicle speed is 0; the time interval between the current moment and the first moment is greater than a preset first time length threshold; the stroke of the master cylinder push rod between the current time and the first time is larger than 0. According to the scheme, modes such as creeping and the like can be achieved only by the brake pedal, and the operation is simple.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a vehicle control method, a vehicle control device, vehicle control equipment and an automobile.
Background
In order to adapt to urban conditions with congestion, the vehicle is usually provided with a crawling control function, namely, the vehicle can keep a certain constant speed to run under the state that an accelerator pedal is not stepped on, and the speed of the vehicle can be controlled by stepping on or releasing a brake pedal.
At present, vehicles mainly control the on and off of a crawling function through a crawling switch, and the crawling switch has the following defects: the crawling switch is generally arranged on a central control entertainment screen, the setting steps are complex, and the setting conditions are harsh (the crawling switch can be set only after certain conditions are met).
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a vehicle control device, control equipment and an automobile, and aims to solve the problem that a crawling function switch in the prior art is complex in setting.
In order to solve the technical problems, the invention adopts the following technical scheme:
according to an aspect of the present invention, there is provided a vehicle control method including:
when the vehicle is started, controlling the vehicle to enter a crawling mode and monitoring the stroke of a push rod of a master cylinder;
when the stroke of the master cylinder push rod changes and the vehicle speed is reduced to 0, acquiring the current first time and the first stroke of the master cylinder push rod and continuously monitoring the stroke of the master cylinder push rod;
when the stroke of the master cylinder push rod is smaller than the first stroke, controlling the vehicle to run;
when the stroke of the master cylinder push rod is larger than the first stroke, judging whether the vehicle meets a short-term parking activation condition, and controlling the vehicle to exit the crawling mode and enter a short-term parking mode when the short-term parking activation condition is met;
wherein the short-term parking activation condition includes at least:
the accelerator pedal is not stepped on;
the current vehicle speed is 0;
the time interval between the current moment and the first moment is greater than a preset first time length threshold;
and the stroke of the master cylinder push rod between the current moment and the first moment is larger than 0.
Optionally, the short-term parking activation condition further comprises:
the long-term parking execution unit EPB and the hill hold system HHC are not activated.
Optionally, the method further comprises:
under the short-term parking mode, acquiring a second stroke of a master cylinder push rod at a position where a brake pedal stays when not stepped, and continuously monitoring the stroke of the master cylinder push rod;
and when the stroke of the master cylinder push rod is larger than the second stroke, or the driving torque of the vehicle is larger than the braking torque, controlling the vehicle to exit the short-term parking mode and enter the crawling mode.
Optionally, the method further comprises:
under the short-term parking mode, acquiring a second moment when the short-term parking mode is activated, and continuously monitoring the stroke of a push rod of the master cylinder;
and when the stroke of the master cylinder push rod is greater than or equal to a preset third stroke, judging whether the time interval between the current moment and the second moment meets the condition that the time interval is greater than a preset second duration threshold, and if so, controlling the vehicle to exit the short-term parking mode and enter the long-term parking mode.
Optionally, the method further comprises:
and in the long-term parking mode, when the driving torque of the vehicle is larger than the braking torque, controlling the vehicle to exit the long-term parking mode.
According to another aspect of the present invention, there is provided a vehicle control apparatus including:
the first control unit is used for controlling the vehicle to enter a crawling mode and monitoring the stroke of a push rod of the master cylinder when the vehicle is started;
the first receiving unit is used for acquiring the current first time and the first stroke of the master cylinder push rod and continuously monitoring the stroke of the master cylinder push rod when the stroke of the master cylinder push rod changes and the vehicle speed is reduced to 0;
the second control unit is used for controlling the vehicle to run when the stroke of the master cylinder push rod is smaller than the first stroke;
the third control unit is used for judging whether the vehicle meets a short-term parking activation condition or not when the stroke of the master cylinder push rod is larger than the first stroke, and controlling the vehicle to exit the crawling mode and enter the short-term parking mode when the short-term parking activation condition is met;
wherein the short-term parking activation condition includes at least:
the accelerator pedal is not stepped on;
the current vehicle speed is 0;
the time interval between the current moment and the first moment is greater than a preset first time length threshold;
and the stroke of the master cylinder push rod between the current moment and the first moment is larger than 0.
Optionally, the short-term parking activation condition further comprises:
the long-term parking execution unit EPB and the hill hold system HHC are not activated.
Optionally, the method further comprises:
the second receiving unit is used for acquiring a second stroke of a master cylinder push rod at a position where a brake pedal stays when not stepped in the short-term parking mode, and continuously monitoring the stroke of the master cylinder push rod;
and the fourth control unit is used for controlling the vehicle to exit the short-term parking mode and enter the crawling mode when the stroke of the master cylinder push rod is larger than the second stroke or the driving torque of the vehicle is larger than the braking torque.
Optionally, the method further comprises:
the third receiving unit is used for acquiring a second moment when the short-term parking mode is activated in the short-term parking mode and continuously monitoring the stroke of the master cylinder push rod;
and the fifth control unit is used for judging whether the time interval between the current moment and the second moment meets the condition that the time interval is greater than a preset second duration threshold or not when the stroke of the master cylinder push rod is greater than or equal to a preset third stroke, and controlling the vehicle to exit the short-term parking mode and enter the long-term parking mode if the time interval meets the condition that the time interval is greater than the preset second duration threshold.
Optionally, the method further comprises:
a sixth control unit for controlling the vehicle to exit the long-term parking mode when a driving torque of the vehicle is greater than a braking torque in the long-term parking mode.
According to another aspect of the present invention, there is provided a control apparatus comprising a memory, a processor, and a program stored on the memory and executable on the processor; the processor implements the control method as described above when executing the program.
According to another aspect of the present invention, there is provided an automobile including the control apparatus as described above.
According to another aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the vehicle control method as described above.
The invention has the beneficial effects that:
according to the scheme, a user can enter the creeping, short-term parking and long-term parking modes only by the brake pedal. A crawling switch and an automatic parking switch are omitted, the operation is simpler, the driving convenience is improved, and the driving fatigue is relieved.
Drawings
FIG. 1 is a schematic diagram of a vehicle control method provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a vehicle control apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a creep mode of a vehicle control method according to an embodiment of the present invention;
FIG. 4 is a view showing one of schematic diagrams of parking mode switching of a vehicle control method according to an embodiment of the present invention;
FIG. 5 is a second schematic diagram illustrating a parking mode switching of a vehicle control method according to an embodiment of the present invention;
FIG. 6 is a third schematic diagram illustrating a parking mode switching in a vehicle control method according to an embodiment of the present invention;
FIG. 7 is a fourth diagram illustrating a parking mode switching in the vehicle control method according to the embodiment of the present invention;
fig. 8 is a functional schematic diagram of a vehicle control method according to an embodiment of the present invention.
Description of reference numerals:
201-a first control unit; 202-a first receiving unit; 203-a second control unit; 204-a third control unit; 205-a second receiving unit; 206-a fourth control unit; 207-a third receiving unit; 208-a fifth control unit; 209-sixth control unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides a vehicle control method, a device, control equipment and an automobile, aiming at the problem of complex setting of a crawling function switch in the prior art.
As shown in fig. 1, one embodiment of the present invention provides a vehicle control method, including:
s11: when the vehicle is started, controlling the vehicle to enter a crawling mode and monitoring the stroke of a push rod of a master cylinder;
s12: when the stroke of the master cylinder push rod changes and the vehicle speed is reduced to 0, acquiring the current first time and the first stroke of the master cylinder push rod and continuously monitoring the stroke of the master cylinder push rod;
s13: when the stroke of the master cylinder push rod is smaller than the first stroke, controlling the vehicle to run;
s14: when the stroke of the master cylinder push rod is larger than the first stroke, judging whether the vehicle meets a short-term parking activation condition, and controlling the vehicle to exit the crawling mode and enter a short-term parking mode when the short-term parking activation condition is met;
specifically, as shown in fig. 3, which illustrates a vehicle control method according to an embodiment of the present invention, the vehicle is started, i.e., the creep mode is automatically activated; when the brake pedal is pressed down during the running of the vehicle, the stroke of the master cylinder push rod is gradually increased, the vehicle speed is gradually reduced to 0, namely the vehicle stops running at the position of the A point in the figure, and the stroke n1 of the master cylinder push rod is the first stroke.
When the stroke of the master cylinder push rod is changed and is less than n1, controlling the vehicle to run;
and when the stroke of the master cylinder push rod is changed and is larger than n1, judging whether the vehicle meets the short-term parking activation condition.
Wherein the short-term parking activation condition includes at least:
the accelerator pedal is not stepped on;
the current vehicle speed is 0;
the time interval between the current moment and the first moment is greater than a preset first time length threshold;
and the stroke of the master cylinder push rod between the current moment and the first moment is larger than 0.
Specifically, the short-term parking mode of the embodiment of the present invention is a parking mode realized by a hydraulic parking execution unit (eboost). The realization of short-term parking mode on whole car can utilize hydraulic pressure parking execution unit (Ebooster) to replace traditional vacuum pump and booster, cancels automatic parking switch, and the user need not manual switching, just can get into short-term parking mode through trampling brake pedal, prevents to swift current car.
It should be noted that the short-term parking mode is not only applicable to a flat road condition, but also applicable to a gradient condition with a gradient less than 20%, and the short-term parking mode can be maintained for at least five minutes after being activated.
According to at least one embodiment of the present invention, the short-term parking activation condition may further include:
neither the long-term parking execution unit (EPB) nor the hill hold system (HHC) is activated.
Specifically, as shown in fig. 4-5, during the running of the vehicle, the vehicle speed gradually decreases after the brake pedal is depressed until the vehicle stops, and point a in the figure is the vehicle stop point. At this time, the stroke of the master cylinder push rod is n1, when it is monitored that the stroke of the master cylinder push rod is changed and the stroke of the master cylinder push rod is greater than n1, for example, at a point B in the figure, the stroke of the master cylinder push rod is n2, and when n2> n1, it is determined whether the vehicle satisfies a short-term parking activation condition:
the accelerator pedal is not stepped on;
the current vehicle speed is 0;
the time interval between the current time and the first time is greater than a preset first time threshold, that is, the time elapsed from the point a to the point B is greater than the first time threshold, and the first time threshold may be set according to a specific vehicle, and may be set to 1 second, for example;
the stroke of the master cylinder push rod between the current moment and the first moment is larger than 0, namely the stroke of the master cylinder push rod cannot be smaller than 0 in the process from the point A to the point B; for example, point M in fig. 5 represents the lowest point of the master cylinder push rod stroke during this process, and its value is greater than 0.
In the process from the point a to the point B, the change of the master cylinder push rod stroke corresponds to the expression on the brake pedal, and the brake pedal may be released and then stepped on at the original stepping position, or may be stepped on after the original stepping position is maintained for a certain time, or may be stepped on directly at the original stepping position, so that the master cylinder push rod stroke at the point B is greater than the master cylinder push rod stroke at the point a.
According to at least one embodiment of the invention, in the short-term parking mode, the second stroke of the master cylinder push rod at the position where the brake pedal is not stepped can be acquired, and the master cylinder push rod stroke is continuously monitored.
It should be noted that, as shown in fig. 4-5, in the short-term parking mode, after the brake pedal is released, the brake pedal stays at a proper position according to the current gradient of the vehicle, as shown in H in the figure, and usually, the stroke (assumed as the second stroke) of the master cylinder push rod at the staying position is smaller than or equal to the stroke of the master cylinder push rod when the short-term parking mode is entered. The position of the H-point brake pedal is in a sinking state relative to the original point of the brake pedal, and the original point of the brake pedal refers to the position of the brake pedal in a free state that the brake pedal is not stepped when the vehicle is flamed out or in running; the sinking size of the H-point brake pedal can be different according to different gradients.
And when the stroke of the master cylinder push rod is larger than the second stroke, or the driving torque of the vehicle is larger than the braking torque, controlling the vehicle to exit the short-term parking mode and enter the crawling mode.
Specifically, for example, at the point L in the figure, the master cylinder push rod stroke at the point L is larger than the master cylinder push rod stroke at the point H in the short-term parking mode, and the vehicle exits the short-term parking mode.
According to at least one embodiment of the invention, in the short-term parking mode, a second moment when the short-term parking mode is activated can be acquired, and the master cylinder push rod stroke is continuously monitored;
and when the stroke of the master cylinder push rod is greater than or equal to a preset third stroke, judging whether the time interval between the current moment and the second moment meets the condition that the time interval is greater than a preset second duration threshold, and if so, controlling the vehicle to exit the short-term parking mode and enter the long-term parking mode.
Specifically, the third stroke is a preset stroke value, and the size of the third stroke is close to the maximum stroke value of the master cylinder push rod; when the master cylinder push rod stroke of the vehicle is monitored to be larger than or equal to a third stroke, judging whether the time difference between the current time and the time of reaching the point B is larger than a preset second duration threshold or not according to the position of the point C shown in FIGS. 6-7; the second duration threshold may be set according to a specific vehicle, and may be set to a certain value within 500-1000 milliseconds, for example; and if the time difference is greater than the second duration threshold, controlling the vehicle to exit the short-term parking mode and enter a long-term parking mode.
It should be noted that the long-term parking mode may be implemented based on a long-term parking execution unit (EPB) of the vehicle, and after the long-term parking mode is activated, a hydraulic brake system of the vehicle starts to release pressure, and a brake pedal returns to a home position.
According to at least one embodiment of the invention, in the long-term parking mode, when the driving torque of the vehicle is greater than the braking torque, the vehicle is controlled to exit the long-term parking mode.
As shown in fig. 8, which shows a functional schematic diagram of a vehicle control method provided by an embodiment of the present invention, an accelerator pedal, a brake pedal, a gearshift, and the like provide control signal inputs, and a vehicle state is controlled by a torque control execution unit (MCU), a hydraulic parking execution unit (eboover), a long-term parking execution unit (EPB), and the like.
In the embodiment of the invention, the crawling switch and the automatic parking switch are cancelled, a user can enter the starting and the closing of the crawling mode, the short-term parking mode and the long-term parking mode of the vehicle only through the treading operation of the brake pedal, the operation is simple and flexible, the driving convenience is improved, and the driving fatigue is relieved.
As shown in fig. 2, an embodiment of the present invention further provides a vehicle control apparatus, including:
the first control unit 201 is used for controlling the vehicle to enter a creeping mode and monitoring the stroke of a push rod of a master cylinder when the vehicle is started;
the first receiving unit 202 is configured to, when the stroke of the master cylinder push rod changes and the vehicle speed decreases to 0, obtain a current first time and a first stroke of the master cylinder push rod and continue to monitor the stroke of the master cylinder push rod;
a second control unit 203 for controlling the vehicle to travel when the master cylinder push rod stroke is smaller than the first stroke;
a third control unit 204, configured to determine whether the vehicle meets a short-term parking activation condition when the stroke of the master cylinder push rod is greater than the first stroke, and control the vehicle to exit the crawling mode and enter the short-term parking mode when the short-term parking activation condition is met;
specifically, as shown in fig. 3, which illustrates a vehicle control method according to an embodiment of the present invention, the vehicle is started, i.e., the creep mode is automatically activated; when the brake pedal is pressed down during the running of the vehicle, the stroke of the master cylinder push rod is gradually increased, the vehicle speed is gradually reduced to 0, namely the vehicle stops running at the position of the A point in the figure, and the stroke n1 of the master cylinder push rod is the first stroke.
When the stroke of the master cylinder push rod is changed and is less than n1, controlling the vehicle to run;
and when the stroke of the master cylinder push rod is changed and is larger than n1, judging whether the vehicle meets the short-term parking activation condition.
Wherein the short-term parking activation condition includes at least:
the accelerator pedal is not stepped on;
the current vehicle speed is 0;
the time interval between the current moment and the first moment is greater than a preset first time length threshold;
and the stroke of the master cylinder push rod between the current moment and the first moment is larger than 0.
Specifically, the short-term parking mode of the embodiment of the present invention is a parking mode realized by a hydraulic parking execution unit (eboost). The realization of short-term parking mode on whole car can utilize hydraulic pressure parking execution unit (Ebooster) to replace traditional vacuum pump and booster, cancels automatic parking switch, and the user need not manual switching, just can get into short-term parking mode through trampling brake pedal, prevents to swift current car.
It should be noted that the short-term parking mode is not only applicable to a flat road condition, but also applicable to a gradient condition with a gradient less than 20%, and the short-term parking mode can be maintained for at least five minutes after being activated.
According to at least one embodiment of the present invention, the short-term parking activation condition may further include:
neither the long-term parking execution unit (EPB) nor the hill hold system (HHC) is activated.
Specifically, as shown in fig. 4-5, during the running of the vehicle, the vehicle speed gradually decreases after the brake pedal is depressed until the vehicle stops, and point a in the figure is the vehicle stop point. At this time, the stroke of the master cylinder push rod is n1, when it is monitored that the stroke of the master cylinder push rod is changed and the stroke of the master cylinder push rod is greater than n1, for example, at a point B in the figure, the stroke of the master cylinder push rod is n2, and when n2> n1, it is determined whether the vehicle satisfies a short-term parking activation condition:
the accelerator pedal is not stepped on;
the current vehicle speed is 0;
the time interval between the current time and the first time is greater than a preset first time threshold, that is, the time elapsed from the point a to the point B is greater than the first time threshold, and the first time threshold may be set according to a specific vehicle, and may be set to 1 second, for example;
the stroke of the master cylinder push rod between the current moment and the first moment is larger than 0, namely the stroke of the master cylinder push rod cannot be smaller than 0 in the process from the point A to the point B; for example, point M in fig. 5 represents the lowest point of the master cylinder push rod stroke during this process, and its value is greater than 0.
In the process from the point a to the point B, the change of the master cylinder push rod stroke corresponds to the expression on the brake pedal, and the brake pedal may be released and then stepped on at the original stepping position, or may be stepped on after the original stepping position is maintained for a certain time, or may be stepped on directly at the original stepping position, so that the master cylinder push rod stroke at the point B is greater than the master cylinder push rod stroke at the point a.
According to at least one embodiment of the present invention, the control apparatus of the embodiment of the present invention further includes:
and a second receiving unit 205, configured to, in the short-term parking mode, obtain a second stroke of the master cylinder push rod at a position where the brake pedal is not stepped, and continue to monitor the master cylinder push rod stroke.
It should be noted that, as shown in fig. 4-5, in the short-term parking mode, after the brake pedal is released, the brake pedal stays at a proper position according to the current gradient of the vehicle, as shown in H in the figure, and usually, the stroke (assumed as the second stroke) of the master cylinder push rod at the staying position is smaller than or equal to the stroke of the master cylinder push rod when the short-term parking mode is entered. The position of the H-point brake pedal is in a sinking state relative to the original point of the brake pedal, and the original point of the brake pedal refers to the position of the brake pedal in a free state that the brake pedal is not stepped when the vehicle is flamed out or in running; the sinking size of the H-point brake pedal can be different according to different gradients.
A fourth control unit 206 for controlling the vehicle to exit the short term parking mode and enter the creeping mode when the master cylinder push rod stroke is greater than the second stroke or the driving torque of the vehicle is greater than the braking torque.
Specifically, for example, at the point L in the figure, the master cylinder push rod stroke at the point L is larger than the master cylinder push rod stroke at the point H in the short-term parking mode, and the vehicle exits the short-term parking mode.
According to at least one embodiment of the present invention, the control apparatus of the embodiment of the present invention further includes:
the third receiving unit 207 is configured to, in the short-term parking mode, acquire a second time when the short-term parking mode is activated, and continue to monitor the master cylinder push rod stroke;
and the fifth control unit 208 is configured to, when the stroke of the master cylinder push rod is greater than or equal to a preset third stroke, determine whether a time interval between the current time and the second time meets a condition that the time interval is greater than a preset second duration threshold, and if so, control the vehicle to exit the short-term parking mode and enter the long-term parking mode.
Specifically, the third stroke is a preset stroke value, and the size of the third stroke is close to the maximum stroke value of the master cylinder push rod; when the master cylinder push rod stroke of the vehicle is monitored to be larger than or equal to a third stroke, judging whether the time difference between the current time and the time of reaching the point B is larger than a preset second duration threshold or not according to the position of the point C shown in FIGS. 6-7; the second duration threshold may be set according to a specific vehicle, and may be set to a certain value within 500-1000 milliseconds, for example; and if the time difference is greater than the second duration threshold, controlling the vehicle to exit the short-term parking mode and enter a long-term parking mode.
It should be noted that the long-term parking mode may be implemented based on a long-term parking execution unit EPB of the vehicle, and after the long-term parking mode is activated, a hydraulic brake system of the vehicle starts to release pressure, and a brake pedal returns to a home position.
According to at least one embodiment of the present invention, the control apparatus of the embodiment of the present invention further includes:
a sixth control unit 209 for controlling the vehicle to exit the long-term parking mode when the driving torque of the vehicle is greater than the braking torque in the long-term parking mode.
In the embodiment of the invention, the crawling switch and the automatic parking switch are cancelled, a user can enter the starting and the closing of the crawling mode, the short-term parking mode and the long-term parking mode of the vehicle only through the treading operation of the brake pedal, the operation is simple and flexible, the driving convenience is improved, and the driving fatigue is relieved.
The embodiment of the invention also provides control equipment, which comprises a memory, a processor and a program which is stored on the memory and can be operated on the processor; the processor implements the control method as described above when executing the program.
In the embodiment of the invention, the crawling switch and the automatic parking switch are cancelled, a user can enter the starting and the closing of the crawling mode, the short-term parking mode and the long-term parking mode of the vehicle only through the treading operation of the brake pedal, the operation is simple and flexible, the driving convenience is improved, and the driving fatigue is relieved.
The embodiment of the invention also provides an automobile which comprises the control device.
In the embodiment of the invention, the crawling switch and the automatic parking switch are cancelled, a user can enter the starting and the closing of the crawling mode, the short-term parking mode and the long-term parking mode of the vehicle only through the treading operation of the brake pedal, the operation is simple and flexible, the driving convenience is improved, and the driving fatigue is relieved.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the vehicle control method as described above.
In the embodiment of the invention, the crawling switch and the automatic parking switch are cancelled, a user can enter the starting and the closing of the crawling mode, the short-term parking mode and the long-term parking mode of the vehicle only through the treading operation of the brake pedal, the operation is simple and flexible, the driving convenience is improved, and the driving fatigue is relieved.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (13)
1. A vehicle control method characterized by comprising:
when the vehicle is started, controlling the vehicle to enter a crawling mode and monitoring the stroke of a push rod of a master cylinder;
when the stroke of the master cylinder push rod changes and the vehicle speed is reduced to 0, acquiring the current first time and the first stroke of the master cylinder push rod, and continuously monitoring the stroke of the master cylinder push rod;
when the stroke of the master cylinder push rod is smaller than the first stroke, controlling the vehicle to run;
when the stroke of the master cylinder push rod is larger than the first stroke, judging whether the vehicle meets a short-term parking activation condition, and controlling the vehicle to exit the crawling mode and enter a short-term parking mode when the short-term parking activation condition is met;
wherein the short-term parking activation condition includes at least:
the accelerator pedal is not stepped on;
the current vehicle speed is 0;
the time interval between the current moment and the first moment is greater than a preset first time length threshold;
and the stroke of the master cylinder push rod between the current moment and the first moment is larger than 0.
2. The control method according to claim 1, wherein the short-term parking activation condition further includes:
the long-term parking execution unit EPB and the hill hold system HHC are not activated.
3. The control method according to claim 1, characterized by further comprising:
under the short-term parking mode, acquiring a second stroke of a master cylinder push rod at a position where a brake pedal stays when not stepped, and continuously monitoring the stroke of the master cylinder push rod;
and when the stroke of the master cylinder push rod is larger than the second stroke, or the driving torque of the vehicle is larger than the braking torque, controlling the vehicle to exit the short-term parking mode and enter the crawling mode.
4. The control method according to claim 3, characterized by further comprising:
under the short-term parking mode, acquiring a second moment when the short-term parking mode is activated, and continuously monitoring the stroke of a push rod of the master cylinder;
and when the stroke of the master cylinder push rod is greater than or equal to a preset third stroke, judging whether the time interval between the current moment and the second moment meets the condition that the time interval is greater than a preset second duration threshold, and if so, controlling the vehicle to exit the short-term parking mode and enter the long-term parking mode.
5. The control method according to claim 4, characterized by further comprising:
and in the long-term parking mode, when the driving torque of the vehicle is larger than the braking torque, controlling the vehicle to exit the long-term parking mode.
6. A vehicle control apparatus characterized by comprising:
the first control unit is used for controlling the vehicle to enter a crawling mode and monitoring the stroke of a push rod of the master cylinder when the vehicle is started;
the first receiving unit is used for acquiring the current first time and the first stroke of the master cylinder push rod when the stroke of the master cylinder push rod changes and the vehicle speed is reduced to 0, and continuously monitoring the stroke of the master cylinder push rod;
the second control unit is used for controlling the vehicle to run when the stroke of the master cylinder push rod is smaller than the first stroke;
the third control unit is used for judging whether the vehicle meets a short-term parking activation condition or not when the stroke of the master cylinder push rod is larger than the first stroke, and controlling the vehicle to exit the crawling mode and enter the short-term parking mode when the short-term parking activation condition is met;
wherein the short-term parking activation condition includes at least:
the accelerator pedal is not stepped on;
the current vehicle speed is 0;
the time interval between the current moment and the first moment is greater than a preset first time length threshold;
and the stroke of the master cylinder push rod between the current moment and the first moment is larger than 0.
7. The control apparatus of claim 6, wherein the short-term parking activation condition further comprises:
the long-term parking execution unit EPB and the hill hold system HHC are not activated.
8. The control device according to claim 6, characterized by further comprising:
the second receiving unit is used for acquiring a second stroke of a master cylinder push rod at a position where a brake pedal stays when not stepped in the short-term parking mode, and continuously monitoring the stroke of the master cylinder push rod;
and the fourth control unit is used for controlling the vehicle to exit the short-term parking mode and enter the crawling mode when the stroke of the master cylinder push rod is larger than the second stroke or the driving torque of the vehicle is larger than the braking torque.
9. The control device according to claim 8, characterized by further comprising:
the third receiving unit is used for acquiring a second moment when the short-term parking mode is activated in the short-term parking mode and continuously monitoring the stroke of the master cylinder push rod;
and the fifth control unit is used for judging whether the time interval between the current moment and the second moment meets the condition that the time interval is greater than a preset second duration threshold or not when the stroke of the master cylinder push rod is greater than or equal to a preset third stroke, and controlling the vehicle to exit the short-term parking mode and enter the long-term parking mode if the time interval meets the condition that the time interval is greater than the preset second duration threshold.
10. The control device according to claim 9, characterized by further comprising:
a sixth control unit for controlling the vehicle to exit the long-term parking mode when a driving torque of the vehicle is greater than a braking torque in the long-term parking mode.
11. A control device comprising a memory, a processor, and a program stored on the memory and executable on the processor; characterized in that the processor implements the control method according to any one of claims 1 to 5 when executing the program.
12. A vehicle, characterized by comprising the control device of any one of claims 6 to 10.
13. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the vehicle control method according to any one of claims 1 to 5.
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| CN201910573824.0A CN112224207B (en) | 2019-06-28 | 2019-06-28 | Vehicle control method and device, control equipment and automobile |
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| CN201910573824.0A CN112224207B (en) | 2019-06-28 | 2019-06-28 | Vehicle control method and device, control equipment and automobile |
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| CN112224207A CN112224207A (en) | 2021-01-15 |
| CN112224207B true CN112224207B (en) | 2021-11-23 |
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| DE102010040726A1 (en) * | 2010-09-14 | 2012-03-15 | Robert Bosch Gmbh | Method for controlling a brake system of a motor vehicle and brake system for a motor vehicle |
| US9682705B2 (en) * | 2015-08-13 | 2017-06-20 | Ford Global Technologies, Llc | Vehicle having ACC stop and go with braking auto-hold to increase engine autostop availability |
| CN206288000U (en) * | 2016-10-12 | 2017-06-30 | 蔚来汽车有限公司 | Automatic parking control system, automatic parking system and vehicle |
| CN207257649U (en) * | 2017-09-15 | 2018-04-20 | 南京金龙客车制造有限公司 | A kind of interim automatic parking system of electric motor coach |
| CN108128296A (en) * | 2017-12-26 | 2018-06-08 | 芜湖伯特利汽车安全系统股份有限公司 | Intelligence applied to motor vehicle keeps the control method of function |
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