CN112606828A - Automatic parking control device and method and vehicle - Google Patents

Automatic parking control device and method and vehicle Download PDF

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Publication number
CN112606828A
CN112606828A CN202011447147.7A CN202011447147A CN112606828A CN 112606828 A CN112606828 A CN 112606828A CN 202011447147 A CN202011447147 A CN 202011447147A CN 112606828 A CN112606828 A CN 112606828A
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China
Prior art keywords
parking
torque
distance
zero
vehicle
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CN202011447147.7A
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Chinese (zh)
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CN112606828B (en
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骆铁平
方强
张焕期
周龙
杨金菊
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses an automatic parking control device, a method and a vehicle, wherein the device comprises: an automatic parking control apparatus comprising: the parking controller is used for receiving an automatic parking request, acquiring environmental data around a vehicle to respond to the automatic parking request, and determining a target distance and a maximum parking speed according to the environmental data; the whole vehicle controller is connected with the parking controller and used for determining the actual parking torque according to the target distance, the maximum parking speed and the set minimum parking distance; and the electronic stability controller is connected with the parking controller and is used for informing the vehicle controller to set the actual parking torque to be zero when the maximum parking speed is determined to be zero or the target distance is less than or equal to zero. The invention can realize the stable braking of the vehicle when encountering obstacles in the parking process.

Description

Automatic parking control device and method and vehicle
Technical Field
The invention relates to the technical field of automatic parking, in particular to an automatic parking control device and method and a vehicle.
Background
In the prior art, in the automatic parking process, the distance control precision is not high, when a vehicle meets an obstacle, the braking is often urgent, and the user experience is not good.
Disclosure of Invention
The invention aims to provide an automatic parking control device, an automatic parking control method and a vehicle, which can realize stable braking of the vehicle when encountering an obstacle in the parking process.
The embodiment of the invention provides the following scheme:
in a first aspect, an embodiment of the present invention provides an automatic parking control device, including:
the parking controller is used for receiving an automatic parking request, acquiring environmental data around a vehicle to respond to the automatic parking request, and determining a target distance and a maximum parking speed according to the environmental data;
the whole vehicle controller is connected with the parking controller and used for determining an actual parking torque according to the target distance, the maximum parking speed and the set minimum parking distance, wherein when the target parking distance is greater than or equal to the minimum parking distance, the actual parking torque is greater than or equal to zero, and when the target parking distance is less than the minimum parking distance, the actual parking torque is less than or equal to zero;
the electronic stability controller is connected with the parking controller and used for informing the whole vehicle controller to set the actual parking torque to be zero and braking the vehicle through a vehicle braking device if the maximum parking speed is determined to be zero or the target distance is less than or equal to zero; and
and the motor controller is connected with the vehicle control unit and used for controlling the motor of the vehicle to operate according to the actual parking torque.
Optionally, the vehicle controller determines a first torque according to the maximum parking speed; determining a second torque according to the difference value between the target distance and the minimum parking distance; determining the smaller of the first torque and the second torque as a third torque; and determining the actual parking torque according to the third torque and the change rate of the third torque.
Optionally, when the target parking distance is greater than the minimum parking distance and the sum of the third torque and the change rate is greater than zero, the actual parking torque is equal to the sum of the third torque and the change rate; and when the target parking distance is larger than the minimum parking distance and the sum of the third torque and the change rate is smaller than zero, the actual parking torque is zero.
Optionally, when the target parking distance is smaller than the minimum parking distance and the sum of the third torque and the change rate of the third torque is smaller than zero, the actual parking torque is equal to the sum of the third torque and the change rate of the third torque; and when the target parking distance is larger than the minimum parking distance and the sum of the third torque and the change rate is smaller than zero, the actual parking torque is zero.
Optionally, when the electronic stability controller determines that the maximum parking vehicle speed is zero or the target distance is zero, setting a brake flag bit of the electronic stability controller to be a preset value, and sending the brake flag bit to the vehicle controller, where the vehicle controller sets the actual parking torque to be zero according to the brake flag bit.
In a second aspect, an embodiment of the present invention provides an automatic parking control method, where the method includes:
receiving an automatic parking request, and acquiring vehicle surrounding environment data to respond to the automatic parking request;
determining a target distance and a maximum parking speed according to the environment data;
determining an actual parking torque according to the target distance, the maximum parking speed and a set minimum parking distance, wherein when the target parking distance is greater than or equal to the minimum parking distance, the actual parking torque is greater than or equal to zero, and when the target parking distance is less than the minimum parking distance, the actual parking torque is less than or equal to zero;
determining that the maximum parking speed is zero or the target distance is less than or equal to zero, setting the actual parking torque to be zero, and braking the vehicle through a vehicle braking device; and
and controlling the vehicle according to the actual parking torque.
Optionally, the determining an actual parking torque according to the target distance, the maximum parking speed, and the set minimum parking distance includes:
determining a first torque according to the maximum parking speed;
determining a second torque according to the difference value between the target distance and the set minimum parking distance;
determining the smaller of the first torque and the second torque as a third torque; and
and determining the actual parking torque according to the third torque and the change rate of the third torque.
Optionally, the determining an actual parking torque according to the third torque and the change rate of the third torque includes:
when the target parking distance is greater than the minimum parking distance and the sum of the third torque and the change rate is greater than zero, the actual parking torque is equal to the sum of the third torque and the change rate; and when the target parking distance is larger than the minimum parking distance and the sum of the third torque and the change rate is smaller than zero, the actual parking torque is zero.
Optionally, the determining an actual parking torque according to the third torque and the change rate of the third torque includes:
if the target parking distance is less than the minimum parking distance and the sum of the third torque and the rate of change of the torque is less than zero, the actual parking torque is equal to the sum of the third torque and the rate of change of the torque; and
and if the target parking distance is smaller than the minimum parking distance and the sum of the third torque and the change rate of the torque is larger than zero, the actual parking torque is zero.
In a third aspect, an embodiment of the present invention provides a vehicle including:
sensing means for sensing surrounding environment data of the vehicle;
a motor;
the automatic parking control device is connected with the sensing device and the motor and used for acquiring the environmental data and controlling the motor to operate.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the embodiment of the invention, by setting the minimum parking distance, when the target parking distance is greater than the minimum parking distance and the vehicle is far away from the obstacle, the actual parking torque sent to the motor controller through the VCU is a positive value, the motor controller controls the motor to rotate forwards to drive the vehicle to move forwards, when the target parking distance is less than or equal to the minimum parking distance and the vehicle is close to the obstacle, the actual parking torque sent to the motor controller through the VCU is a negative value, the motor controller controls the reverse force to the motor to control the vehicle to decelerate, and the vehicle is assisted to brake under the low-speed condition. When the maximum parking speed is zero or the target distance is smaller than or equal to zero and the vehicle reaches an obstacle, the ESC participates in vehicle braking, and the braking stability is ensured under the condition of the VCU and the ESC jointly braking.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a functional block diagram of an automatic parking control apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the automatic parking control apparatus shown in fig. 1 for determining a first torque;
fig. 3 is a schematic diagram of determining a second torque of the automatic parking control apparatus shown in fig. 1;
fig. 4 is a one-dimensional table look-up of a third torque of the automatic parking control apparatus shown in fig. 1;
fig. 5 is a one-dimensional lookup table graph of a third torque of the automatic parking control apparatus shown in fig. 1;
fig. 6 is a flowchart of an automatic parking control method according to an embodiment of the present invention;
fig. 7 is a flowchart of step S3 of the automatic parking control method shown in fig. 6;
fig. 8 is a flowchart of an automatic parking control method according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.
Referring to fig. 1, fig. 1 is a block diagram of an automatic parking control apparatus 10 according to an embodiment of the present invention. The automatic parking control apparatus 10 is applied to the vehicle 100, and performs automatic parking control of the vehicle 100. The vehicle 100 further includes a sensing device 20, a motor 30, and a vehicle braking device 40. The sensing device 20 includes a radar 21, a sensor 22, and a camera 23 disposed on the vehicle 100, and is configured to sense ambient data of the vehicle 100.
The automatic parking control apparatus 10 includes a parking controller 11, a VCU (vehicle control unit) 12, an ESC (electronic stability controller) 13, and a motor controller 14.
The parking controller 11 is configured to receive an automatic parking request, acquire environmental data around the vehicle 100, respond to the automatic parking request, and determine a target distance and a maximum parking speed according to the environmental data. The VCU12 is coupled to the parking controller 10, and the VCU12 is configured to determine an actual parking torque based on the target distance, the maximum parking vehicle speed, and the set minimum parking distance. The ESC13 is coupled to the parking controller 10 and the ESC13 is configured to determine that the maximum parking vehicle speed is zero or the target distance is zero, and to notify the VCU12 to set the actual parking torque to zero and brake the vehicle via the vehicle braking devices 40. The motor controller 14 is connected to the VCU12, and the motor controller 14 is configured to control operation of the electric motor 30 of the vehicle 100 based on the actual parking torque.
Specifically, when the driver needs to automatically park the vehicle 100, the driver may input an automatic parking request through a preset instruction input device, for example, the automatic parking request may be input through a voice input method, or the automatic parking request may be input through a method of triggering a preset button in the cab, and the parking controller 10 receives the automatic parking request and obtains the environmental data around the vehicle 100 through the sensing device. The environment data comprises the distance of obstacles, road conditions and the like, and the obstacles can be moving bodies such as people and animals, and can also be fixed objects such as fences, main bodies, wall surfaces and the like.
In the present embodiment, the target distance is the distance of the obstacle. The maximum parking speed can be the highest speed of automatic parking under the road condition according to the road condition query. In the present embodiment, the maximum parking vehicle speed is 5 km/h. The minimum parking distance is determined by the minimum sensing distance of the radar 21 of the vehicle 100, and in the present embodiment, the minimum parking distance is between 5cm and 20 cm.
In the present embodiment, the VCU12 determines a first torque based on a maximum parking vehicle speed; determining a second torque according to the difference value between the target distance and the minimum parking distance; the VCU12 determining the lesser of the first torque and the second torque as a third torque; and determining the actual parking torque according to the third torque and the change rate of the third torque.
Specifically, referring to fig. 2 and 3, the PID controller 121 of the VCU12 uses the maximum parking vehicle speed as an input signal of the PID (proportional-integral-derivative) controller 121, and outputs a first torque Tq1 after PID calculation. The arithmetic unit 132 of the VCU12 takes the difference between the target distance L and the minimum parking distance Lmin as an input signal of the PID controller 121, and after PID calculation, outputs a signal of the second torque Tq2, and the PID controller 121 compares the magnitudes of the first torque Tq1 and the second torque Tq2, and determines the smaller one of the first torque Tq1 and the second torque Tq2 as the third torque Tq 3.
Further, to prevent the third torque Tq3 from changing too fast or too slow, the VCU12 also performs a limiting process on the rate of change of the third torque.
Specifically, the VCU12 calculates the third torque periodically, for example, the third torque calculated in the current period is Tq3_1, the third torque calculated in the next period is Tq3_2, and the third torque difference Δ T calculated in the two periods is (Tq3_1-Tq3_2), and Δ T is the change rate of the third torque.
In this embodiment, the change rate of the third torque is obtained by a look-up table, and the change rate Δ T of the third torque is obtained by the look-up table with the target distance L as an input. For example, the target distance Ldate [ -20, -10, 0, 10, 20, 30, 40, 50] is set, the rate of change Δ T of the third torque [ -1, -0.5, 0, 0.5, 1, 1.5, 2] is set, and a one-dimensional look-up table map (shown in fig. 4) and a corresponding one-dimensional look-up table map (shown in fig. 5) are generated from the target distance Ldate and the rate of change Δ T of the third torque. As can be seen from fig. 5, the target distance Ldate on the X axis can obtain the rate of change Δ T of the third torque. The above example is only a numerical value exemplified for understanding a one-dimensional look-up table, and is not limited to the above numerical value, and different values may be set according to different vehicle type parameters, and the above numerical value may be obtained by testing a vehicle.
In the present embodiment, when the target parking distance is greater than the minimum parking distance, the vehicle 100 is farther from the obstacle, and the calculated second torque is greater than or equal to zero, and at this time, if the sum of the third torque and the rate of change is greater than zero, the actual parking torque is equal to the sum of the third torque and the rate of change. Specifically, if the third torque is increasing, i.e., Tq3_2> Tq3_1, the rate of change is Δ T by a one-dimensional look-up table, and the VCU12 calculates the actual parking torque as the driving torque Tq _ Drv — Tq3_1+ Δ T; if the third torque is decreasing, Tq3_2< Tq3_1, the VCU12 calculates the resulting drive torque Tq _ Drv to Tq3_1- Δ T and sets the drive torque Tq _ Drv to 0 when the sum of the third torque and the rate of change is less than zero, Tq3_1- Δ T <0, ensuring that the value of the drive torque Tq _ Drv is not negative. At this time, the motor controller 14 controls the motor 30 to rotate in the forward direction according to the actual parking torque, and drives the vehicle 100 forward.
When the target parking distance is smaller than the minimum parking distance, the vehicle 100 is closer to the obstacle, the second torque is calculated to be smaller than zero, and at this time, if the sum of the third torque and the change rate of the third torque is smaller than zero, the actual parking torque is equal to the sum of the third torque and the change rate. Specifically, if the third torque is increasing, i.e., | Tq3_2| > | Tq3_1|, the rate of change is Δ T by one-dimensional table lookup, and the actual parking torque calculated by the VCU12 is the reverse torque Tq _ Brk ═ Tq3_1- Δ T; if the third torque is decreasing, i.e., | Tq3_2| < Tq3_1|, then the VCU12 calculates the reverse torque Tq _ Brk to Tq3_1+ Δ T, and if the sum of the third torque and the rate of change is greater than zero, i.e., Tq3_1+ Δ T >0, then the reverse torque Tq _ Brk to 0, ensures that the value of the reverse torque Tq _ Drv is not a positive number, at which time the actual parking torque is less than or equal to zero, and the motor controller 14 controls the motor 30 to rotate in reverse according to the actual parking torque, controlling the vehicle 100 to decelerate to assist braking of the vehicle 100 at low speeds.
In the process of automatically parking the vehicle 100, the ESC13 obtains the target distance and the maximum parking vehicle speed from the parking controller 11, when the ESC13 determines that the maximum parking vehicle speed is zero or the target distance is less than or equal to zero, the vehicle 100 reaches an obstacle or a parking end, the ESC13 sets a brake flag of the ESC13 to a preset value, for example, a high level, and transmits the brake flag to the VCU12, informs the VCU12 to set an actual parking torque to zero according to the brake flag, and brakes the vehicle through the vehicle braking device 40. The ESC13 participates in vehicle braking, and the ESC13 and the VCU12 jointly brake, thereby ensuring the smoothness of braking. It is to be appreciated that the default value of the brake flag may be low, where the ESC13 is not involved in braking of the vehicle 100.
In another embodiment, the VCU12 sets a voice broadcast function on the vehicle-mounted MP5, when the distance between the vehicle 100 and the obstacle reaches a preset distance, the parking controller 11 sends the distance between the vehicle 100 and the obstacle to the vehicle-mounted MP5 through the radar 21, and the voice broadcast function of the MP5 broadcasts the distance between the vehicle and the obstacle, so that the user can clearly know the distance between the vehicle 100 and the obstacle.
Referring to fig. 6, based on the same inventive concept as the method, the embodiment of the present invention further provides an automatic parking control method, including the following steps:
in step S1, an automatic parking request is received, and vehicle surrounding environment data is acquired in response to the automatic parking request.
Step S2, the target distance and the maximum parking speed are determined based on the environmental data.
And step S3, determining the actual parking torque according to the target distance, the maximum parking speed and the set minimum parking distance. Referring to fig. 7, step S3 includes the following steps:
in step S31, a first torque is determined based on the maximum parking vehicle speed.
In step S32, a second torque is determined based on the difference between the target distance and the set minimum parking distance.
In step S33, the smaller of the first torque and the second torque is determined as the third torque.
In step S34, the actual parking torque is determined based on the third torque and the rate of change of the third torque.
Specifically, if the target parking distance is greater than the minimum parking distance and the sum of the third torque and the rate of change is greater than zero, the actual parking torque is equal to the sum of the third torque and the rate of change; and when the target parking distance is larger than the minimum parking distance and the sum of the third torque and the change rate is smaller than zero, the actual parking torque is zero.
If the target parking distance is smaller than the minimum parking distance and the sum of the third torque and the change rate of the torque is smaller than zero, the actual parking torque is equal to the sum of the third torque and the change rate of the torque; and if the target parking distance is less than the minimum parking distance and the sum of the third torque and the rate of change of the torque is greater than zero, the actual parking torque is zero.
In step S4, it is determined that the maximum parking vehicle speed is zero or the target distance is less than or equal to zero, the actual parking torque is set to zero.
Specifically, when the maximum parking vehicle speed is zero or the target distance is less than or equal to zero, the brake flag of the ESC13 is set to a preset value, and the actual parking torque is set to zero according to the brake flag.
In step S5, the motor operation of the vehicle is controlled based on the actual parking torque.
Referring to fig. 8, in an embodiment, the automatic parking control method includes the following steps:
in step S101, when the driver needs to automatically park the vehicle 100, the driver may input an automatic parking request through a preset instruction input device, and an automatic parking system of the vehicle 100 is activated. The parking controller 11 receives the automatic parking request, acquires environmental data around the vehicle 100 to respond to the automatic parking request, and determines the target distance L and the maximum parking speed V according to the environmental data.
In step S102, the VCU12 receives the target distance L and the maximum parking vehicle speed V from the parking controller 11, and proceeds to step S105, S106, or S110.
In step S103, the ESC13 receives the target distance L and the maximum parking vehicle speed V from the parking controller 11, and proceeds to step S104. It is understood that step S102 and step S103 may be performed simultaneously.
In step S104, when the ESC13 determines that the maximum parking vehicle speed V is zero or the target distance L is less than or equal to zero, the vehicle 100 reaches an obstacle or a parking end, the ESC13 sets a braking flag of the ESC13 to a preset value, for example, 1 (high level), and sends the braking flag to the VCU12, and at this time, the ESC13 brakes the vehicle through the vehicle braking device 40. It will be appreciated that the default value of the brake flag bit may be 0 (low).
In step S105, the VCU12 calculates a first torque Tq1 according to the maximum parking vehicle speed through the PID controller 121.
In step S106, if the target distance L is greater than or equal to the minimum parking distance Lmin, the VCU12 calculates a positive torque Tq2 via the PID controller.
In step S107, the PID controller 121 compares the magnitudes of the first and second torques Tq1 and Tq2, and determines the smaller of the first and second torques Tq1 and Tq2 as the third torque Tq 3.
In step S108, the VCU calculates an actual parking torque as the driving torque Tq _ Drv in conjunction with the torque change rate.
In step S119, the motor controller 14 receives the driving torque Tq _ Drv transmitted from the VCU12, and controls the motor 30 to rotate in the forward direction, and at this time, the vehicle 100 enters a driving state.
In step S110, if the target distance L is less than the minimum parking distance Lmin, the VCU12 calculates a negative torque Tq2 through the PID controller 121.
In step S111, the VCU12 determines whether the braking flag of the ESC13 is 1, and if the braking flag is 1, the process proceeds to step S112, and if the braking flag is not 1, the process proceeds to step S115.
In step S112, the PID controller 121 compares the magnitudes of the first and second torques Tq1 and Tq2, and determines the smaller of the first and second torques Tq1 and Tq2 as the third torque Tq 3.
In step S113, VCU12 calculates a reverse torque Tq _ Drv in conjunction with the rate of change of torque.
In step S114, the motor controller 14 receives the reverse torque Tq _ Drv of the VCU12 to control the motor reverse braking, at which time the vehicle enters a braking state.
In step S115, the VCU12 sets the actual parking torque to zero according to the braking flag, and the vehicle enters a braking state.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
according to the embodiment of the invention, by setting the minimum parking distance, when the target parking distance is greater than the minimum parking distance and the vehicle is far away from the obstacle, the actual parking torque sent to the motor controller 14 through the VCU12 is a positive value, the motor controller 14 controls the motor 30 to rotate forwards to drive the vehicle to move forwards, when the target parking distance is less than or equal to the minimum parking distance and the vehicle is close to the obstacle, the actual parking torque sent to the motor controller 14 through the VCU12 is a negative value, the motor controller 14 controls the reverse force to the motor 30 to control the vehicle 100 to decelerate, and the vehicle 100 is assisted to brake under the low speed condition. When the maximum parking vehicle speed is zero or the target distance is smaller than or equal to zero and the vehicle 100 reaches an obstacle, the ESC13 participates in braking of the vehicle 100, and under the condition of the VCU12 and the ESC13 jointly braking, the braking stability is ensured.
When the vehicle 100 is close to the obstacle during automatic parking, the distance of the obstacle is broadcasted on the MP5 through voice, so that a user can clearly know the distance of the obstacle.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. An automatic parking control apparatus, characterized by comprising:
the parking controller is used for receiving an automatic parking request, acquiring environmental data around a vehicle to respond to the automatic parking request, and determining a target distance and a maximum parking speed according to the environmental data;
the whole vehicle controller is connected with the parking controller and used for determining an actual parking torque according to the target distance, the maximum parking speed and the set minimum parking distance, wherein when the target parking distance is greater than or equal to the minimum parking distance, the actual parking torque is greater than or equal to zero, and when the target parking distance is less than the minimum parking distance, the actual parking torque is less than or equal to zero;
the electronic stability controller is connected with the parking controller and used for informing the whole vehicle controller to set the actual parking torque to be zero and braking the vehicle through a vehicle braking device if the maximum parking speed is determined to be zero or the target distance is less than or equal to zero; and
and the motor controller is connected with the vehicle control unit and used for controlling the motor of the vehicle to operate according to the actual parking torque.
2. The automatic parking control apparatus according to claim 1, wherein the vehicle control unit determines a first torque according to the maximum parking vehicle speed; determining a second torque according to the difference value between the target distance and the minimum parking distance; determining the smaller of the first torque and the second torque as a third torque; and determining the actual parking torque according to the third torque and the change rate of the third torque.
3. The automatic parking control apparatus according to claim 2, wherein when the target parking distance is greater than the minimum parking distance and the sum of the third torque and the rate of change is greater than zero, then the actual parking torque is equal to the sum of the third torque and the rate of change; and when the target parking distance is larger than the minimum parking distance and the sum of the third torque and the change rate is smaller than zero, the actual parking torque is zero.
4. The automatic parking control apparatus according to claim 3, wherein when the target parking distance is less than the minimum parking distance and a sum of the third torque and a rate of change of the third torque is less than zero, the actual parking torque is equal to a sum of the third torque and the rate of change of the torque; and when the target parking distance is larger than the minimum parking distance and the sum of the third torque and the change rate is smaller than zero, the actual parking torque is zero.
5. The automatic parking control apparatus according to claim 3, wherein when the electronic stability controller determines that the maximum parking vehicle speed is zero or the target distance is zero, a brake flag of the electronic stability controller is set to a preset value and is sent to the vehicle control unit, and the vehicle control unit sets the actual parking torque to zero according to the brake flag.
6. An automatic parking control method, characterized by comprising:
receiving an automatic parking request, and acquiring vehicle surrounding environment data to respond to the automatic parking request;
determining a target distance and a maximum parking speed according to the environment data;
determining an actual parking torque according to the target distance, the maximum parking speed and a set minimum parking distance, wherein when the target parking distance is greater than or equal to the minimum parking distance, the actual parking torque is greater than or equal to zero, and when the target parking distance is less than the minimum parking distance, the actual parking torque is less than or equal to zero;
determining that the maximum parking speed is zero or the target distance is less than or equal to zero, setting the actual parking torque to be zero, and braking the vehicle through a vehicle braking device; and
and controlling the vehicle according to the actual parking torque.
7. The automatic parking control method according to claim 6, wherein the determining an actual parking torque based on the target distance, the maximum parking vehicle speed, and a set minimum parking distance comprises:
determining a first torque according to the maximum parking speed;
determining a second torque according to the difference value between the target distance and the set minimum parking distance;
determining the smaller of the first torque and the second torque as a third torque; and
and determining the actual parking torque according to the third torque and the change rate of the third torque.
8. The automatic parking control method according to claim 7, wherein the determining an actual parking torque based on the third torque and a rate of change in the third torque includes:
when the target parking distance is greater than the minimum parking distance and the sum of the third torque and the change rate is greater than zero, the actual parking torque is equal to the sum of the third torque and the change rate; and when the target parking distance is larger than the minimum parking distance and the sum of the third torque and the change rate is smaller than zero, the actual parking torque is zero.
9. The automatic parking control method according to claim 7, wherein the determining an actual parking torque based on the third torque and a rate of change in the third torque includes:
if the target parking distance is less than the minimum parking distance and the sum of the third torque and the rate of change of the torque is less than zero, the actual parking torque is equal to the sum of the third torque and the rate of change of the torque; and
and if the target parking distance is smaller than the minimum parking distance and the sum of the third torque and the change rate of the torque is larger than zero, the actual parking torque is zero.
10. A vehicle, the vehicle comprising:
sensing means for sensing surrounding environment data of the vehicle;
a motor;
and the automatic parking control device is connected with the sensing device and the motor and used for acquiring the environment data and controlling the motor to operate, and the automatic parking control device is the automatic parking control device as claimed in any one of claims 1 to 5.
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