CN112721911A - Parking control method, system, computer device and storage medium - Google Patents
Parking control method, system, computer device and storage medium Download PDFInfo
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- CN112721911A CN112721911A CN201910973257.8A CN201910973257A CN112721911A CN 112721911 A CN112721911 A CN 112721911A CN 201910973257 A CN201910973257 A CN 201910973257A CN 112721911 A CN112721911 A CN 112721911A
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- 230000005484 gravity Effects 0.000 claims description 49
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- 239000000725 suspension Substances 0.000 claims description 11
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
Abstract
The application provides a parking control method, a system, a computer device and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining the maximum static friction force between a ramp and vehicle tires in the initial state according to the initial state of a vehicle, judging whether the maximum static friction force between the ramp and the vehicle tires meets a preset parking condition, if the maximum static friction force does not meet the preset parking condition, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tires meets the preset parking condition, enabling the vehicle to be on ramps with different gradients through a parking control system, adjusting the posture of the vehicle, and changing the maximum static friction force between the ramp and the vehicle tires according to the adjusted posture so as to enable the vehicle to be capable of parking on ramps with different gradients, thereby improving the safety of the vehicle in parking on the ramp.
Description
Technical Field
The present application relates to the field of parking technologies, and in particular, to a parking control method, system, computer device, and storage medium.
Background
With the development of automobile driving assistance technology, multifunctional assistance systems are increasingly arranged in vehicles, vehicles run on roads, and drivers need to flexibly control the starting or stopping of the vehicles in case of emergency, but the realization of the flexible control mode on a slope is a great problem for the drivers.
In the conventional art, the method of determining whether or not parking on a slope is possible depends on the experience of the driver. However, when different vehicles are parked on slopes of different slopes, friction between the slopes and tires of the vehicles may be different, and if there is an error in the determination result of the driver, the vehicles may roll or slide on the slopes, causing an accident, and thus safety of parking the vehicles on the slopes is lowered.
Disclosure of Invention
In view of the above, it is necessary to provide a parking control method, system, computer device and storage medium for solving the above technical problems.
The embodiment of the application provides a parking control method, which is used for hill parking and comprises the following steps:
acquiring the maximum static friction force between the ramp and the tires of the vehicle in the initial state according to the initial state of the vehicle;
determining whether the maximum static friction between the ramp and the vehicle tires meets a preset parking condition, wherein the preset parking condition is used for determining that the vehicle is relatively static on the ramp;
and if the maximum static friction force does not meet the preset parking condition, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
In one embodiment, the determining whether the maximum static friction between the ramp and the vehicle tire satisfies a preset parking condition includes:
and judging whether the maximum static friction force between the ramp and the vehicle tire is larger than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked.
In one embodiment, the method further comprises: if the maximum static friction force between the ramp and the vehicle tire is larger than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked, the vehicle keeps an initial state.
In one embodiment, the method further comprises:
if the maximum static friction force between the ramp and the vehicle tire is smaller than the friction force between the ramp and the vehicle tire when the vehicle is parked, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire in the current state is greater than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked.
In one embodiment, the adjusting the initial state of the vehicle until the current maximum static friction between the slope and the vehicle tire in the current state is greater than or equal to the friction between the slope and the vehicle tire when the vehicle is parked comprises:
if the current first maximum static friction force between the ramp and a first tire of the vehicle is smaller than the first friction force between the ramp and the first tire when the vehicle is parked, and the current second maximum static friction force between the ramp and a second tire of the vehicle is larger than or equal to the second friction force between the ramp and the second tire when the vehicle is parked, increasing the distance between the gravity center position of the vehicle and the plane of the ramp;
if the current second maximum static friction force between the ramp and the second tire is smaller than the second friction force between the ramp and the second tire when the vehicle is parked, and the current first maximum static friction force between the ramp and the first tire is larger than or equal to the first friction force between the ramp and the first tire when the vehicle is parked, reducing the distance between the gravity center position of the vehicle and the ramp plane;
wherein the first tire is a tire of the vehicle located on a lower portion of the slope in a forward direction; the second tire is a tire of the vehicle located on the upper portion of the ramp.
In one embodiment, the adjusting the initial state of the vehicle comprises: adjusting a distance between a position of a center of gravity of the vehicle and the ramp plane.
In one embodiment, the adjusting the distance between the position of the center of gravity of the vehicle and the ramp plane comprises:
adjusting the suspension height of said vehicle, and/or
Adjusting the height of the vehicle tires to adjust the distance between the center of gravity position of the vehicle and the ramp plane.
In one embodiment, the adjusting the initial state of the vehicle until the current maximum static friction between the ramp and the vehicle tire satisfies the preset parking condition comprises:
acquiring an adjustable distance between the gravity center position of the vehicle and the ramp plane, and acquiring the current maximum static friction force between the ramp and the vehicle tire in the current state within the range of the adjustable distance;
judging whether the adjustable distance is smaller than an adjustable maximum distance threshold value;
if the adjustable distance is smaller than the maximum distance threshold value, adjusting the distance between the gravity center position of the vehicle and the ramp plane so that the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
In one embodiment, the adjusting the distance between the gravity center position of the vehicle and the ramp plane so that the current maximum static friction between the ramp and the tires of the vehicle meets the preset parking condition includes:
and adjusting the distance between the gravity center position of the vehicle and the plane of the ramp according to the current maximum static friction force between the ramp and the vehicle tire and the friction force between the ramp and the vehicle tire when the vehicle is parked, so that the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
The embodiment of the application provides a parking control system, parking control system is used for the ramp parking, parking control system includes:
the maximum static friction force obtaining module is used for obtaining the maximum static friction force between the ramp and the vehicle tire in the initial state according to the initial state of the vehicle;
the first judgment module is used for judging whether the maximum static friction force between the ramp and the vehicle tire meets a preset parking condition or not; wherein the preset parking condition is used to determine that the vehicle is relatively stationary on the ramp;
and the adjusting module is used for adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition when the judgment result of the first judging module is negative.
The embodiment of the application provides a computer device, which comprises a memory and a processor, wherein a computer program capable of running on the processor is stored in the memory, and the processor executes the computer program to realize the following steps:
acquiring the maximum static friction force between the ramp and the tires of the vehicle in the initial state according to the initial state of the vehicle;
determining whether the maximum static friction between the ramp and the vehicle tires meets a preset parking condition, wherein the preset parking condition is used for determining that the vehicle is relatively static on the ramp;
and if the maximum static friction force does not meet the preset parking condition, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
An embodiment of the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the following steps:
acquiring the maximum static friction force between the ramp and the tires of the vehicle in the initial state according to the initial state of the vehicle;
determining whether the maximum static friction between the ramp and the vehicle tires meets a preset parking condition, wherein the preset parking condition is used for determining that the vehicle is relatively static on the ramp;
and if the maximum static friction force does not meet the preset parking condition, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
According to the parking control method, the parking control system, the computer device and the storage medium, the vehicle can be arranged on the slopes with different gradients, the initial state of the vehicle can be adjusted, and the maximum static friction between the slope and the tires of the vehicle can be changed according to the adjusted current state, so that the vehicle can be parked on the slopes with different gradients, and the safety of the vehicle during parking on the slope is improved.
Drawings
Fig. 1 is a schematic view of an application scenario of a parking control system according to an embodiment;
FIG. 2 is a flowchart illustrating a parking control method according to an embodiment;
FIG. 3 is a mechanical exploded view of another embodiment of a vehicle positioned on a grade θ ramp;
FIG. 4 is a schematic structural diagram of a parking control system according to an embodiment;
FIG. 5 is an internal block diagram of a computer device, provided in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The parking control method provided by the embodiment can be applied to the parking control system shown in fig. 1. As shown in fig. 1, the parking control system may include a parking control system server and a vehicle. The parking control server CAN receive the current state information of the vehicle collected by the sensor through a Controller Area Network (CAN) bus and send the state information to the vehicle. In addition, the parking control system server can also acquire the current state information of the vehicle through the computer device and send the state information to the vehicle which runs currently. Wherein the parking control system server and the vehicle may communicate via a wireless connection. Optionally, the wireless connection mode may be Wi-Fi, mobile network or bluetooth connection. Alternatively, the sensor may be an optical sensor, an ultrasonic sensor, an infrared sensor, or the like. Alternatively, the vehicle may include a fuel automobile, a hybrid automobile, and the like. The parking control system provided in the vehicle executes the parking control method provided in this embodiment, and the processing procedure of the parking control system will be specifically described in the following embodiments.
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application are further described in detail by the following embodiments in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the invention.
Fig. 2 is a flowchart of a parking control method provided in an embodiment, where the parking control method is used for parking on a slope, and the embodiment relates to a process of how to park a vehicle on a slope road by adjusting state information of the vehicle. As shown in fig. 2, the method includes:
s101, acquiring the maximum static friction force between the ramp and the vehicle tire in the initial state according to the initial state of the vehicle.
Specifically, if the vehicle is traveling at a constant speed on a slope and the driver is about to operate the vehicle to stop on the slope, the attitude of the vehicle may be referred to as the initial state of the vehicle. Wherein the initial state may include a distance H between a position of a center of gravity of the vehicle and a ramp plane before a driver operates the vehicle to stop0The distance H0The measurement may be obtained by a distance sensor provided on the vehicle, and the distance sensor may be an optical sensor, an ultrasonic sensor, an infrared sensor, or the like.
The maximum static friction force between the slope and the tires of the vehicle is obtained based on the dynamic analysis from the initial state of the vehicle. As shown in fig. 3, which is a mechanical exploded view of a vehicle on a slope with a gradient theta, W represents the gravity of the vehicle,
indicating the maximum static friction of the ramp with the vehicle tires located under the ramp,
representing the maximum static friction of the ramp with the vehicle's tires located above the ramp, F1Showing the ramp support force on the vehicle tires located under the ramp, F2Indicating the ramp support force to the vehicle tires located on the upper portion of the ramp,
indicating the friction between the ramp and the vehicle tires located under the ramp when the vehicle is parked,
representing the friction between the ramp and the vehicle tires located on the upper part of the ramp when the vehicle is parked,/1Represents the horizontal distance between the position of the center of gravity of the vehicle and the center of the axis between the tires of the vehicle located under the slope, l2Representing the horizontal distance between the position of the centre of gravity of the vehicle and the centre of the axis between the tires of the vehicle located on the upper part of the ramp, FaShowing the location of the lower part of the rampResultant force of vehicle tires in vertical direction, FbRepresenting the resultant force in the vertical direction of the vehicle tires located on the upper part of the ramp, H0The distance between the gravity center position of the vehicle and the ramp plane is represented, and a set of mechanical formulas (1) can be obtained based on mechanical analysis:
by analyzing the two mechanical formulas, the method obtains
And
wherein the content of the first and second substances,
representing the maximum coefficient of static friction between the ramp and the vehicle tires. Simultaneously, in this embodiment, the size that the vehicle tire that is located the ramp lower part atress all can be the same, and the direction can be the same, and simultaneously, the size that the vehicle tire that is located the ramp upper portion atress all can be the same, and the atress direction can be the same, and that is to say, the size that the vehicle tire that is located the ramp lower part and the vehicle tire that is located the ramp upper portion atress can not be the same, and the atress direction also can not be the same.
It will also be appreciated that the maximum static friction between the ramp and the two vehicle tires located on the upper portion of the ramp may be the same, and the maximum static friction between the ramp and the two vehicle tires located on the lower portion of the ramp may be the same. However, the maximum static friction between the ramp and the two vehicle tires located on the upper portion of the ramp may not be the same as the maximum static friction between the ramp and the two vehicle tires located on the lower portion of the ramp.
S102, judging whether the maximum static friction force between the ramp and the vehicle tire meets a preset parking condition or not; wherein the preset parking condition is used to determine that the vehicle is relatively stationary on the ramp.
Optionally, the step of determining whether the maximum static friction between the slope and the vehicle tire satisfies a preset parking condition in S102 includes: and judging whether the maximum static friction force between the ramp and the vehicle tire is larger than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked.
Specifically, the maximum static friction between the ramp and the tires of the vehicle may be related to a parking environment to be parked, where the parking environment may include one or more of a parking position of the vehicle on the ramp, a weight of the vehicle body, a roughness of the parking position on the ramp, and a roughness of the tires of the vehicle, a gradient of the ramp, and other parameters, and different parking environments may affect the maximum friction between the tires of the vehicle and the ramp, including the maximum static friction, the maximum sliding friction, and the maximum rolling friction. In addition, when the vehicle parks on the slope, the preset parking condition to be satisfied can be characterized in that the vehicle tire positioned at the upper part of the slope and the vehicle tire positioned at the lower part of the slope both satisfy the critical condition when the vehicle is relatively static on the slope.
Further, the parking control system may obtain a frictional force between the ramp and a tire of the vehicle located under the ramp when the vehicle is parked on the ramp
And the friction between the ramp and the vehicle tyre located on the upper part of the ramp
With continued reference to the mechanical analysis diagram for the vehicle shown in fig. 3, based on the mechanical analysis, it can be found that:
by analyzing the above-mentioned group of formula (2), obtain
And
wherein the content of the first and second substances,
and
may be the same, only shown in the figures
And
when the vehicle is ascending and descending on a slope.
In this embodiment, the friction between the ramp and the two vehicle tires located on the upper portion of the ramp
All of which may be the same, the friction between the ramp and the two vehicle tires located below the ramp
All may be the same, but the friction between the ramp and the two vehicle tires located on the upper portion of the ramp
Can be in friction with two vehicle tires positioned on the lower part of the ramp
Are not identical.
Optionally, after the step of determining whether the maximum static friction between the slope and the vehicle tire is greater than or equal to the friction between the slope and the vehicle tire when the vehicle is parked, the method further includes: if the maximum static friction force between the ramp and the vehicle tire is larger than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked, the vehicle keeps an initial state.
It should be noted that if the maximum static friction between the ramp and the vehicle tires located under the ramp is reached
Greater than or equal to the friction between the ramp and the vehicle tires positioned under the ramp when the vehicle is parked on the ramp
And maximum static friction between the ramp and the vehicle tires located on the upper portion of the ramp
Greater than or equal to the friction between the ramp and the vehicle tyre on the upper part of the ramp when the vehicle is parked on the ramp
The vehicle can maintain the current posture without adjusting the initial state of the vehicle, that is, the parking control system can control the current position of the vehicle on the slope to park in the initial state without changing the posture of the vehicle. At this time, the vehicle satisfies the mechanical relation
And is
S103, if the maximum static friction force does not meet the preset parking condition, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
Optionally, after the step of determining whether the maximum static friction between the slope and the vehicle tire is greater than or equal to the friction between the slope and the vehicle tire when the vehicle is parked, the method further includes: if the maximum static friction force between the ramp and the vehicle tire is smaller than the friction force between the ramp and the vehicle tire when the vehicle is parked, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire in the current state is greater than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked. Wherein the adjusting the initial state of the vehicle comprises: adjusting a distance between a position of a center of gravity of the vehicle and the ramp plane.
Specifically, if the maximum static friction between the ramp and the tires of the vehicle located on the lower portion of the ramp and the maximum static friction between the ramp and the tires of the vehicle located on the upper portion of the ramp do not satisfy the predetermined parking condition when the vehicle is parked on the ramp, the parking control system may adjust the initial state (i.e., the initial attitude) of the vehicle until the current maximum static friction between the ramp and the tires of the vehicle located on the lower portion of the ramp in the current state after the adjustment of the vehicle attitude and the current maximum static friction between the ramp and the tires of the vehicle located on the upper portion of the ramp in the current state after the adjustment of the vehicle attitude both satisfy the predetermined parking condition, and the parking control system does not need to adjust the vehicle attitude, and at this time, the vehicle may be parked at the current position on the ramp.
It should be noted that if the vehicle satisfies the mechanical relationship
And is
Or
And is
Or
And is
In the time, the parking control system can change the initial state (namely the initial posture) of the vehicle through an electronic control suspension system installed on the vehicle, and further enables the current maximum static friction force between the ramp and the vehicle tire in the current state to meet the preset parking condition after the vehicle posture is adjusted.
If the vehicle satisfies the mechanical relation in the initial state
And is
When the parking control system is used, the parking control system can output prompt information to warn that the vehicle cannot park on a slope and needs to search for a parking slope with a smaller slope for parking, wherein the prompt information can be output to a driver in the form of voice broadcast and visual images. The visual image can be displayed on a display screen arranged in the vehicle through effects such as texts, icons, pictures, videos and the like. In addition, if the vehicle satisfies the mechanical relation in the initial state
And is
Or
And is
In the process, the parking control system can not output any prompt information and can directly adjust the initial state of the vehicle.
According to the parking control method provided by the embodiment, the parking control system can judge the maximum static friction between the slope and the tires of the vehicle and the magnitude relation of the friction between the slope and the tires of the vehicle when the vehicle parks, so that the vehicle can be on slopes with different gradients, the initial state of the vehicle can be adjusted according to the judgment result, and the maximum static friction between the slope and the tires of the vehicle can be changed according to the adjusted current state, so that the vehicle can park on the slopes with different gradients, the parking capacity of the vehicle on the slope is improved, and the parking safety of the vehicle on the slope is improved.
In another embodiment, the parking control method for adjusting the initial state of the vehicle until the current maximum static friction between the slope and the tires of the vehicle in the current state is greater than or equal to the friction between the slope and the tires of the vehicle when the vehicle is parked may specifically include:
s201, if the current first maximum static friction force between the ramp and a first tire of the vehicle is smaller than the first friction force between the ramp and the first tire when the vehicle is parked, and the current second maximum static friction force between the ramp and a second tire of the vehicle is larger than or equal to the second friction force between the ramp and the second tire when the vehicle is parked, increasing the distance between the gravity center position of the vehicle and the plane of the ramp.
Specifically, if the vehicle is in the initial state, the first maximum static friction force between the ramp and the first tire positioned at the lower part of the ramp
Less than a first friction between the ramp and the first tire when the vehicle is parked
And the second maximum static friction force between the ramp and the second tire positioned at the upper part of the ramp
Less than a second friction between the ramp and a second tire when the vehicle is parked
The parking control system may increase the distance between the position of the center of gravity of the vehicle and the ramp by means of a vehicle-mounted electronically controlled suspension system.
S202, if the current second maximum static friction force between the ramp and the second tire is smaller than the second friction force between the ramp and the second tire when the vehicle is parked, and the current first maximum static friction force between the ramp and the first tire is larger than or equal to the first friction force between the ramp and the first tire when the vehicle is parked, reducing the distance between the gravity center position of the vehicle and the ramp plane. Wherein the first tire is a tire of the vehicle located on a lower portion of the slope in a forward direction; the second tire is a tire of the vehicle located on the upper portion of the ramp.
Specifically, if the vehicle is in the initial state, the second maximum static friction force between the ramp and the second tire positioned on the upper part of the ramp
Less than a second friction between the ramp and a second tire when the vehicle is parked
And the first maximum static friction force between the ramp and the first tire positioned at the lower part of the ramp
Greater than or equal to a first friction force between the slope and the first tire when the vehicle is parked
The parking control system may reduce the distance between the center of gravity position of the vehicle and the ramp plane by means of a vehicle-mounted electronically controlled suspension system.
According to the parking control method provided by the embodiment, the parking control system can change the maximum static friction force between the slope and the tires of the vehicle by adjusting the current state of the vehicle, so that the vehicle can be parked on slopes with different slopes, the capability of parking the vehicle on the slope is improved, and meanwhile the safety of parking the vehicle on the slope is improved.
As one example, the adjusting the distance between the position of the center of gravity of the vehicle and the ramp plane includes:
s301, adjusting the suspension height of the vehicle.
Specifically, the parking control system may adjust the suspension height of the vehicle via an electronically controlled suspension system mounted to the vehicle.
S302, adjusting the height of the vehicle tire to adjust the distance between the gravity center position of the vehicle and the slope plane.
Specifically, the parking control system can adjust the heights of the front wheels and the rear wheels of the vehicle through an electronic control suspension system installed on the vehicle, and further realize the adjustment of the distance between the gravity center position of the vehicle and the plane of the ramp.
According to the parking control method provided by the embodiment, the parking control system can change the maximum static friction force between the ramp and the tires of the vehicle by adjusting the distance between the gravity center position of the vehicle and the plane of the ramp, so that the vehicle can be parked on the ramps with different slopes, the parking capacity of the vehicle on the ramp is improved, and meanwhile, the parking safety of the vehicle on the ramp is improved.
Another embodiment provides a flowchart of a parking control method, wherein the step of adjusting the initial state of the vehicle in S103 until the current maximum static friction between the slope and the tires of the vehicle meets the preset parking condition specifically includes:
and S1031, acquiring an adjustable distance between the gravity center position of the vehicle and the ramp plane, and acquiring the current maximum static friction force between the ramp and the vehicle tire in the current state within the adjustable distance range.
In particular, parking controlThe system can adjust the current state of the vehicle (namely the distance H between the gravity center position of the vehicle and the ramp plane in the current state)1) And an initial state before the vehicle state is adjusted (i.e., a distance H between a position of a center of gravity of the vehicle and a plane of a slope in the initial state of the vehicle)0) And obtaining the adjustable distance delta H between the gravity center position of the vehicle and the ramp plane in the adjusting process.
The friction force obtained by the formula (2) is the friction force between the ramp and the vehicle tire when the vehicle parks on the ramp, and the distance H between the gravity center position of the vehicle after adjustment and the ramp plane can be reversely calculated by the formula (1)1That is, the adjustable distance Δ H between the position of the center of gravity of the vehicle during adjustment and the plane of the ramp is calculated in reverse by substituting the frictional force between the ramp and the tires of the vehicle when the vehicle is parked on the ramp into equation (1).
S1032, judging whether the adjustable distance is smaller than an adjustable maximum distance threshold value.
Note that the maximum distance threshold (i.e., Δ H) may be adjustedmax) It can be characterized as the maximum distance value that the electronic control suspension system installed in the vehicle raises or lowers the vehicle tyre and the difference value of the distance from the central position of the vehicle tyre to the plane of the ramp in the initial state.
Wherein, if Δ H>ΔHmaxWhen the vehicle is parked on the slope, the parking control system outputs prompt information to warn that the vehicle cannot park at the current position on the slope and needs to search for a parking slope with a smaller gradient for parking; if Δ H<＝ΔHmaxAnd when the vehicle is parked, the parking control system does not output any prompt information, and the posture of the vehicle can be automatically adjusted based on the mechanical analysis, so that the maximum static friction between the ramp and the tires of the vehicle meets the preset parking condition.
S1033, if the adjustable distance is smaller than the maximum distance threshold, adjusting the distance between the gravity center position of the vehicle and the plane of the ramp, so that the current maximum static friction force between the ramp and the tires of the vehicle meets the preset parking condition.
Wherein if the vehicle is in the process of adjustmentThe adjusted distance delta H of the middle vehicle body is less than the maximum distance threshold delta H of the adjustable vehicle bodymaxAt this time, the vehicle satisfies the mechanical relation
And is
Or
And is
Meanwhile, if the vehicle satisfies the condition, the parking control system needs to continue adjusting the posture of the vehicle until the vehicle satisfies the mechanical relation
And is
The current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
Optionally, the step of adjusting the distance between the center of gravity position of the vehicle and the ramp plane in S1033 to make the current maximum static friction between the ramp and the tires of the vehicle satisfy the preset parking condition may specifically include: and adjusting the distance between the gravity center position of the vehicle and the plane of the ramp according to the current maximum static friction between the ramp and the tires of the vehicle and the friction between the ramp and the tires of the vehicle when the vehicle is parked, so that the current maximum static friction between the ramp and the tires of the vehicle meets the preset parking condition.
Specifically, the parking control system may determine, according to the current state of the vehicle, a magnitude relationship between a maximum static friction force between the ramp and the vehicle tires located on the lower portion of the ramp, a magnitude relationship between a maximum static friction force between the ramp and the vehicle tires located on the upper portion of the ramp, and a friction force between the ramp and the vehicle tires located on the lower portion of the ramp when the vehicle is parked on the ramp, and a magnitude relationship between a maximum static friction force between the ramp and the vehicle tires located on the upper portion of the ramp, and a magnitude relationship between a friction force between the ramp and the vehicle tires located on the upper portion of the ramp when the vehicle is parked on the ramp, and continuously adjust the distance between the position of the center of gravity of the vehicle and the plane of the ramp according to the determination result, so that the maximum static friction force between the ramp and the vehicle tires located on the lower portion of the, the friction between the vehicle and the tires of the vehicle positioned on the lower portion of the ramp when the vehicle parks on the ramp, the maximum static friction between the tires of the vehicle positioned on the upper portion of the ramp and the friction between the ramp and the tires of the vehicle positioned on the upper portion of the ramp when the vehicle parks on the ramp meet the preset parking condition, and at the moment, the vehicle can park on the current position of the ramp.
In the parking control method provided by the embodiment, the parking control system can firstly judge the maximum static friction force between the slope and the tires of the vehicle, and the magnitude relation of the friction between the slope and the tires of the vehicle when the vehicle parks on the slope, so that the initial state of the vehicle can be adjusted according to the judgment result on the slopes with different slopes, determining the adjustable distance of the vehicle in the adjusting process according to the adjusted current state, judging the adjustable distance and the adjustable maximum distance threshold value for one time, and further confirms whether the posture of the vehicle needs to be continuously adjusted according to the distance judgment result, the process realizes a process of circularly adjusting the posture of the vehicle, so that the vehicle can be parked on slopes with different gradients, the capability of parking the vehicle on the slopes is improved, and meanwhile, the safety of parking the vehicle on the slopes is improved.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
For specific limitations of the parking control system, reference may be made to the above limitations of the parking control method, which are not described herein again. The respective modules in the parking control system of the computer device described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Fig. 4 is a schematic structural diagram of a parking control system according to an embodiment. As shown in fig. 4, the parking control system may include: the device comprises a maximum static friction force obtaining module 11, a first judging module 12 and a first adjusting module 13.
Specifically, the maximum static friction force obtaining module 11 is configured to obtain, according to an initial state of the vehicle, a maximum static friction force between the ramp and a tire of the vehicle in the initial state;
the first judging module 12 is configured to judge whether the maximum static friction between the slope and the tires of the vehicle meets a preset parking condition, where the preset parking condition is used to determine that the vehicle is relatively stationary on the slope;
the first adjusting module 13 is configured to adjust the initial state of the vehicle until the current maximum static friction between the slope and the vehicle tire meets the preset parking condition if the determination result of the first determining module 12 is negative.
Wherein the adjusting the initial state of the vehicle comprises: adjusting a distance between a position of a center of gravity of the vehicle and the ramp plane.
The parking control system provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the first determining module 12 is specifically configured to determine whether the maximum static friction between the slope and the vehicle tire is greater than or equal to a friction between the slope and the vehicle tire when the vehicle is parked.
The parking control system provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the parking control system further comprises: a second judging module and a second adjusting module.
Specifically, the second determining module is configured to, if the determination result of the first determining module 12 is yes, keep the vehicle in the initial state;
the second adjusting module is configured to adjust the initial state of the vehicle until the current maximum static friction between the ramp and the vehicle tire in the current state is greater than or equal to the friction between the ramp and the vehicle tire when the vehicle is parked if the determination result of the first determining module 12 is negative.
The parking control system provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the second adjusting module comprises: a first adjusting unit and a second adjusting unit.
Specifically, the first adjusting unit is configured to increase a distance between a center of gravity position of the vehicle and a plane of the ramp when a current first maximum static friction force between the ramp and a first tire of the vehicle is smaller than a first friction force between the ramp and the first tire when the vehicle is parked and a current second maximum static friction force between the ramp and a second tire of the vehicle is greater than or equal to a second friction force between the ramp and the second tire when the vehicle is parked;
the second adjusting unit is used for reducing the distance between the gravity center position of the vehicle and the ramp plane when the current second maximum static friction force between the ramp and the second tire is smaller than the second friction force between the ramp and the second tire when the vehicle is parked and the current first maximum static friction force between the ramp and the first tire is larger than or equal to the first friction force between the ramp and the first tire when the vehicle is parked;
wherein the first tire is a tire of the vehicle located on a lower portion of the slope in a forward direction; the second tire is a tire of the vehicle located on the upper portion of the ramp.
The parking control system provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the first adjustment module 13 is specifically configured to adjust the suspension height of the vehicle and/or adjust the height of the vehicle tires to adjust the distance between the position of the center of gravity of the vehicle and the ramp plane.
The parking control system provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the first adjusting module 13 includes: a third adjusting unit, a fourth judging unit and a fourth adjusting unit.
Specifically, the third adjusting unit is configured to obtain an adjustable distance between a center of gravity position of the vehicle and a plane of the ramp, and obtain a current maximum static friction force between the ramp and the vehicle tire in a current state within the range of the adjustable distance;
the fourth judging unit is configured to judge whether the adjustable distance is smaller than an adjustable maximum distance threshold;
and the fourth adjusting unit is used for adjusting the distance between the gravity center position of the vehicle and the plane of the ramp if the judgment result of the fourth judging unit is yes, so that the current maximum static friction force between the ramp and the tires of the vehicle meets the preset parking condition.
The fourth adjusting unit is specifically configured to adjust a distance between a center of gravity position of the vehicle and a plane of the ramp according to a current maximum static friction force between the ramp and the vehicle tire and the friction force between the ramp and the vehicle tire when the vehicle is parked, so that the current maximum static friction force between the ramp and the vehicle tire satisfies the preset parking condition.
The parking control system provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, a computer device is provided, the internal structure of which may be as shown in FIG. 5. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a parking control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring the maximum static friction force between the ramp and the tires of the vehicle in the initial state according to the initial state of the vehicle;
determining whether the maximum static friction between the ramp and the vehicle tires meets a preset parking condition, wherein the preset parking condition is used for determining that the vehicle is relatively static on the ramp;
and if the maximum static friction force does not meet the preset parking condition, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
In one embodiment, a storage medium is provided having a computer program stored thereon, the computer program when executed by a processor implementing the steps of:
acquiring the maximum static friction force between the ramp and the tires of the vehicle in the initial state according to the initial state of the vehicle;
determining whether the maximum static friction between the ramp and the vehicle tires meets a preset parking condition, wherein the preset parking condition is used for determining that the vehicle is relatively static on the ramp;
and if the maximum static friction force does not meet the preset parking condition, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in various embodiments that can be tolerated by the present application may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A parking control method for hill parking, the method comprising:
acquiring the maximum static friction force between the ramp and the tires of the vehicle in the initial state according to the initial state of the vehicle;
determining whether the maximum static friction between the ramp and the vehicle tires meets a preset parking condition, wherein the preset parking condition is used for determining that the vehicle is relatively static on the ramp;
and if the maximum static friction force does not meet the preset parking condition, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
2. The method of claim 1, wherein said determining whether the maximum static friction between the ramp and the vehicle tires meets a preset parking condition comprises:
and judging whether the maximum static friction force between the ramp and the vehicle tire is larger than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked.
3. The method of claim 2, further comprising: if the maximum static friction force between the ramp and the vehicle tire is larger than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked, the vehicle keeps an initial state.
4. The method of claim 2, further comprising:
if the maximum static friction force between the ramp and the vehicle tire is smaller than the friction force between the ramp and the vehicle tire when the vehicle is parked, adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire in the current state is greater than or equal to the friction force between the ramp and the vehicle tire when the vehicle is parked.
5. The method of claim 4, wherein the adjusting the initial state of the vehicle until a current maximum static friction between the ramp and the vehicle tires at a current state is greater than or equal to the friction between the ramp and the vehicle tires when the vehicle is parked comprises:
if the current first maximum static friction force between the ramp and a first tire of the vehicle is smaller than the first friction force between the ramp and the first tire when the vehicle is parked, and the current second maximum static friction force between the ramp and a second tire of the vehicle is larger than or equal to the second friction force between the ramp and the second tire when the vehicle is parked, increasing the distance between the gravity center position of the vehicle and the plane of the ramp;
if the current second maximum static friction force between the ramp and the second tire is smaller than the second friction force between the ramp and the second tire when the vehicle is parked, and the current first maximum static friction force between the ramp and the first tire is larger than or equal to the first friction force between the ramp and the first tire when the vehicle is parked, reducing the distance between the gravity center position of the vehicle and the ramp plane;
wherein the first tire is a tire of the vehicle located on a lower portion of the slope in a forward direction; the second tire is a tire of the vehicle located on the upper portion of the ramp.
6. The method of claim 1, wherein the adjusting the initial state of the vehicle comprises: adjusting a distance between a position of a center of gravity of the vehicle and the ramp plane.
7. The method of claim 6, wherein the adjusting the distance between the position of the center of gravity of the vehicle and the ramp plane comprises:
adjusting the suspension height of said vehicle, and/or
Adjusting the height of the vehicle tires to adjust the distance between the center of gravity position of the vehicle and the ramp plane.
8. The method of claim 1, wherein the adjusting the initial state of the vehicle until the current maximum static friction between the ramp and the vehicle tires meets the preset parking condition comprises:
acquiring an adjustable distance between the gravity center position of the vehicle and the ramp plane, and acquiring the current maximum static friction force between the ramp and the vehicle tire in the current state within the range of the adjustable distance;
judging whether the adjustable distance is smaller than an adjustable maximum distance threshold value;
and if the adjustable distance is smaller than the adjustable maximum distance threshold, adjusting the distance between the gravity center position of the vehicle and the ramp plane so as to enable the current maximum static friction force between the ramp and the vehicle tire to meet the preset parking condition.
9. The method of claim 8, wherein the adjusting the distance between the position of the center of gravity of the vehicle and the ramp plane such that the current maximum static friction between the ramp and the vehicle tires meets a preset parking condition comprises:
and adjusting the distance between the gravity center position of the vehicle and the plane of the ramp according to the current maximum static friction force between the ramp and the vehicle tire and the friction force between the ramp and the vehicle tire when the vehicle is parked, so that the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition.
10. A parking control system for hill stopping, the parking control system comprising:
the maximum static friction force obtaining module is used for obtaining the maximum static friction force between the ramp and the vehicle tire in the initial state according to the initial state of the vehicle;
the first judgment module is used for judging whether the maximum static friction force between the ramp and the vehicle tire meets a preset parking condition or not; wherein the preset parking condition is used to determine that the vehicle is relatively stationary on the ramp;
and the adjusting module is used for adjusting the initial state of the vehicle until the current maximum static friction force between the ramp and the vehicle tire meets the preset parking condition when the judgment result of the first judging module is negative.
11. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 9 when executing the computer program.
12. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, realizing the steps of the method according to any one of claims 1 to 9.
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| CN201910973257.8A CN112721911A (en) | 2019-10-14 | 2019-10-14 | Parking control method, system, computer device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910973257.8A CN112721911A (en) | 2019-10-14 | 2019-10-14 | Parking control method, system, computer device and storage medium |
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