CN112744214A - Control system and control method for remote control parking of vehicle and vehicle - Google Patents
Control system and control method for remote control parking of vehicle and vehicle Download PDFInfo
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- CN112744214A CN112744214A CN202110069436.6A CN202110069436A CN112744214A CN 112744214 A CN112744214 A CN 112744214A CN 202110069436 A CN202110069436 A CN 202110069436A CN 112744214 A CN112744214 A CN 112744214A
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The application discloses a control system for remote control parking of a vehicle, which comprises an electronic stability control system of the vehicle body, an electronic parking brake system and a vehicle controller, wherein the vehicle controller is used for judging whether the electronic stability control system of the vehicle body for executing remote control parking is abnormal or not; and the electronic parking brake system is controlled to realize remote control parking of the vehicle under the condition that the electronic stability control system of the vehicle body is abnormal. In the control system of the embodiment of the application, the original controller of the vehicle is used as the redundant unit of the electronic stability control system of the vehicle body, and the electronic parking brake system is controlled to realize remote control parking of the vehicle under the condition that the vehicle controller judges that the electronic stability control system of the vehicle body is abnormal, so that the safety of the parking process is ensured, and the parking experience of a user is improved. Meanwhile, the hardware system setting of the vehicle is simplified, and the production cost is reduced. The application also discloses a control method, a vehicle and a storage medium.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a control system, a control method, a vehicle, and a storage medium for remote parking of a vehicle.
Background
With the continuous development of automobile technology, automobiles gradually become main travel tools for people, and the perfection and improvement of the automatic parking function become problems to be solved increasingly. In the related art, when a Remote Parking Assist (RPA) mode is activated, in order to cope with a case where an Electronic Parking Brake (EPB) cannot be controlled when an Electronic Stability Controller (ESC) of a vehicle body fails, a P-lock or a separate EPB Controller is provided. However, the additional arrangement of the P-stop lock or the EPB controller may lead to an increasingly complex hardware structure of the vehicle, and the upgrade and maintenance of the hardware is inconvenient.
Disclosure of Invention
In view of the above, embodiments of the present application provide a control system, a control method, a vehicle, and a storage medium for remote-controlled parking of a vehicle.
The present application provides a control system for remote controlled parking of a vehicle, the control system comprising: the electronic stability control system of automobile body, electron parking braking system and vehicle controller, vehicle controller is used for:
judging whether an electronic stability control system of the vehicle body for executing remote control parking is abnormal or not; and
and under the condition that the electronic stability control system of the vehicle body is abnormal, controlling the electronic parking brake system to realize remote control parking of the vehicle.
In some embodiments, the vehicle controller is configured to determine that there is an abnormality in the vehicle body electronic stability control system in the event that there is a hardware failure of the non-communication module in the vehicle body electronic stability control system.
In some embodiments, the vehicle controller is configured to:
monitoring an electronic parking brake request of a vehicle advanced driving assistance system under the condition that the vehicle body electronic stability control system has a hardware fault of a non-communication module; and
controlling the electronic parking brake system in response to the electronic parking brake request in a case where the electronic parking brake request is monitored.
In some embodiments, the vehicle controller is configured to:
monitoring a communication message of the vehicle body electronic stability control system; and
and under the condition that the communication message is lost, determining that the electronic stability control system of the vehicle body has communication faults so as to determine that the electronic stability control system of the vehicle body has abnormity.
In some embodiments, the vehicle controller is configured to enter a parking preparation mode before determining whether there is an abnormality in the vehicle body electronic stability control system.
In some embodiments, the vehicle controller is configured to:
judging whether the vehicle is in a remote control parking mode, whether a main driving position is in an unmanned state, whether the electronic parking brake system is in a non-clamping state and whether the vehicle is in a remote power-on state according to vehicle signals; and
and entering the parking preparation mode under the conditions that the vehicle is in the remote control parking mode, the main driving position is in the unmanned state, the electronic parking brake system is in the non-clamping state and the vehicle is in the remote power-on state.
In some embodiments, the vehicle controller is configured to maintain the parking preparation mode if it is determined that the vehicle body electronic stability control system is normal.
The application provides a control method, which is used for a control system for remotely controlling parking of a vehicle, and the control system comprises: the control method comprises the following steps of:
judging whether an electronic stability control system of the vehicle body for executing remote control parking is abnormal or not through a vehicle controller;
and under the condition that the electronic vehicle body stability control system is abnormal, controlling an electronic parking brake system through the vehicle controller to realize remote control parking of the vehicle.
The application provides a vehicle, which comprises the control system for remotely controlling parking of the vehicle.
One or more non-transitory computer-readable storage media storing a computer program that, when executed by one or more processors, implements the control method for a vehicle according to any one of the embodiments described above.
In the control system, the control method, the vehicle and the storage medium for remote control parking of the vehicle according to the embodiment of the application, the original controller of the vehicle is used as the redundancy unit of the ESC, and the EPB is controlled to realize remote control parking of the vehicle under the condition that the ESC is judged to be abnormal by the vehicle controller, so that the safety of the parking process is ensured, and the parking experience of a user is improved. Meanwhile, the hardware system setting of the vehicle is simplified, and the production cost is reduced.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a control system for remotely parking a vehicle according to some embodiments of the present disclosure.
FIG. 2 is a flow chart illustrating a control method according to some embodiments of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
Referring to fig. 1, the present application provides a control system 10 for remotely parking a vehicle, including an ESC, an EPB and a vehicle controller, wherein the vehicle controller is configured to determine whether there is an abnormality in the ESC for performing remote parking; and the EPB is controlled to realize remote control parking of the vehicle under the condition that the ESC is abnormal.
Specifically, the driver may initiate the RPA mode off-board or in-board. When the driver starts the RPA mode in the vehicle, the driver in the vehicle can still control the parking under the condition that the ESC is invalid and the EPB cannot realize the parking function. When the ESC fails, the driver is not in the vehicle, and the driver cannot park the vehicle manually because the driver seat is in an unmanned state, so that a safety accident is likely to occur at this time. In the related art, in order to cope with the case where the ESC fails when the driver starts the RPA mode off-board, a P-gear lock or a separate EPB controller is provided.
The first coping scheme is as follows: in the remote control parking process, the ESC is responsible for executing a parking instruction sent by an Advanced Driving Assistance System (ADAS) to control the EPB to realize parking, and when the ESC fails, the P gear lock controls the P gear locking mechanism to realize parking. The second coping scheme is as follows: in the remote control parking process, the EPB controller is responsible for executing a parking instruction sent by the ADAS and controlling the EPB to realize parking, and when the EPB controller fails, the P gear lock controls the P gear locking mechanism to realize parking. The third coping scheme adopts an independent double-loop EPB controller, the EPB controller internally comprises two sets of control units which respectively control the left EPB caliper and the right EPB caliper to park, and when one set of control unit fails, the other set of control unit is used for parking.
However, in the above solutions, the P-lock or the EPB controller is additionally arranged in the vehicle, which easily causes the hardware structure of the vehicle to be more and more complex, the hardware is inconvenient to upgrade and maintain, and the production cost of the vehicle is increased invisibly.
In the control system 10 for remote-controlled parking of a vehicle according to the embodiment of the present application, an original controller of the vehicle is used as a redundant unit of the ESC, and when the controller of the vehicle determines that the ESC is abnormal, the controller controls the EPB to realize remote-controlled parking of the vehicle, so that the safety of the parking process is ensured, and the parking experience of a user is improved. Meanwhile, the hardware system setting of the vehicle is simplified, and the production cost is reduced.
The vehicle controller serving as the ESC redundancy unit may be any vehicle controller capable of passing a large current on the vehicle, for example, the vehicle controller may be a vehicle controller, or a chassis area controller of the vehicle, and is not limited specifically. The vehicle controller judges whether an ESC used for executing remote control parking is abnormal according to the CAN signal, and controls the EPB to realize remote control parking of the vehicle under the condition that the ESC is abnormal.
In addition, when the vehicle controller judges whether the EPB needs to be controlled to realize remote control parking of the vehicle, whether the ADAS is abnormal or not can be judged at the same time. According to the CAN signal of the vehicle, when the ADAS is detected to be abnormal, the ESC CAN normally control the EPB without taking over the function of controlling the EPB by the ESC through a vehicle controller.
Therefore, the integrity of the judgment logic can be ensured, and the condition that the vehicle controller controls the EPB function of the tube ESC is prevented from being misjudged.
In the embodiment of the application, the whole vehicle controller is used as a redundant unit of the ESC, and the EPB is controlled to realize remote control parking of the vehicle under the condition that the whole vehicle controller judges that the ESC is abnormal, so that the safety of the automatic parking process is ensured.
In certain embodiments, the vehicle controller is configured to determine that an abnormality exists in the ESC in the event that the ESC has a hardware failure of the non-communication module.
Specifically, the fault condition of the ESC can be roughly classified into a hardware fault and a communication fault of the non-communication module. When the ESC has a hardware fault of the non-communication module, the hardware fault occurring in the ESC may be considered to not affect the communication between the ESC and other vehicle control systems, for example, a brake pedal of the vehicle is loose, a sensor of the ESC has a fault, and the like. And under the condition that the ESC has hardware faults of the non-communication module, the vehicle controller judges that the ESC has abnormity and controls the EPB to realize remote control parking of the vehicle.
Therefore, when the ESC is abnormal when the driver starts the RPA mode outside the vehicle, the parking safety can be still ensured, and the parking experience of the user is improved. Meanwhile, the hardware system setting of the vehicle is simplified, and the production cost is reduced.
In some embodiments, the vehicle controller is configured to:
monitoring an electronic parking brake request of a vehicle ADAS under the condition that an ESC has a hardware fault of a non-communication module; and
in the case where the electronic parking brake request is monitored, the EPB is controlled in response to the electronic parking brake request.
Specifically, in the case that the ESC has a hardware failure of the non-communication module, the vehicle controller determines that the ESC has an abnormality, takes over the function of the ESC control EPB, and monitors the electronic parking brake request of the vehicle ADAS. And in the case that the electronic parking brake request is monitored and the ESC does not execute the electronic parking brake request within the preset time, controlling the EPB to respond to the electronic parking brake request to realize remote control parking of the vehicle.
In some embodiments, when the driver starts the RPA mode outside the vehicle, the vehicle controller determines that the ESC for performing remote parking has a hardware fault of the non-communication module according to the vehicle CAN signal, and then takes over the function of the ESC to control the EPB, and monitors the electronic parking brake request of the vehicle ADAS. And in the case that the electronic parking brake request is monitored and the ESC does not execute the electronic parking brake request within the preset time, controlling the EPB to respond to the electronic parking brake request to realize remote control parking of the vehicle.
Therefore, when the ESC is abnormal when the driver starts the RPA mode outside the vehicle, the parking safety can be still ensured, and the parking experience of the user is improved.
The predetermined time for the ESC to respond to the electronic parking brake request may be set according to parameters such as a communication period and vehicle processor performance, and may be, for example, 300 ms, 500 ms, 1000 ms, 1500 ms, and the like, which is not limited specifically.
In some embodiments, the vehicle controller is configured to:
monitoring the communication message of the ESC; and
and under the condition that the communication message is lost, determining that the ESC has communication failure so as to determine that the ESC has abnormity.
Specifically, as described above, the fault condition of the ESC can be roughly classified into a hardware fault and a communication fault of the non-communication module. When the ESC has communication failure, the communication message between the ESC and the ADAS is lost. And under the condition that the communication message of the ESC is lost, the vehicle controller judges that the ESC is abnormal, takes over the function of controlling the EPB by the ESC and monitors the electronic parking braking request of the ADAS of the vehicle. And under the condition that the electronic parking brake request is monitored, controlling the EPB to respond to the electronic parking brake request to realize remote control parking of the vehicle.
In some embodiments, when the driver starts the RPA mode outside the vehicle, and the vehicle control unit monitors that the communication message of the ESC is lost, the vehicle control unit takes over the function of the ESC controlling the EPB and monitors the electronic parking brake request of the vehicle ADAS. And under the condition that the electronic parking brake request is monitored, controlling the EPB to respond to the electronic parking brake request to realize remote control parking of the vehicle.
Therefore, when the ESC is abnormal when the driver starts the RPA mode outside the vehicle, the parking safety can be still ensured, and the parking experience of the user is improved. Meanwhile, the hardware system setting of the vehicle is simplified, and the production cost is reduced.
In some embodiments, the vehicle controller is configured to enter a park ready mode before determining whether the ESC is abnormal.
Specifically, before the vehicle controller judges whether the ESC is abnormal, the vehicle controller interacts with controllers such as ADAS, ESC and a vehicle body control module through a CAN network to judge whether the vehicle needs to enter a parking preparation mode.
Therefore, the vehicle controller can quickly respond when the ESC is abnormal, take over the ESC in time to control the EPB, and control the EPB to respond to the electronic parking braking request under the condition of monitoring the electronic parking braking request, so that the remote control parking of the vehicle is realized, the safety of the parking process is ensured, and the parking experience of a user is improved.
In some embodiments, the vehicle controller is configured to:
judging whether the vehicle is in an RPA mode, whether a main driving position is in an unmanned state, whether an EPB is in a non-clamping state and whether the vehicle is in a remote power-on state through vehicle signals; and
and entering a parking preparation mode under the conditions that the vehicle is in an RPA mode, the main driving position is in an unmanned state, the EPB is in a non-clamping state and the vehicle is in a remote power-on state.
Specifically, the driver may initiate the RPA mode off-board or in-board. When the driver starts the RPA mode in the vehicle, the driver can still control the parking under the condition that the ESC is invalid and the EPB cannot realize the parking function. Therefore, the vehicle controller takes over the ESC condition is met when the vehicle is in RPA mode, the main driver seat is in an unmanned state, and the ESC is failed.
The judgment of whether the main driving position is in the unmanned state can also be confirmed by judging whether the vehicle is in the remote power-on state. When the vehicle is in the remote power-on state, the driver is not in the vehicle, so that whether the main driving position is occupied or not can be further confirmed by judging whether the vehicle is in the remote power-on state or not, and the parking preparation mode is accurately started.
Further, when the EPB is in the clamped state, the vehicle is considered to be in the stationary state. Since the vehicle controller takes over the ESC control EPB to make the EPB execute the parking command, the parking function is realized, if the vehicle is already in the parking state, the EPB does not need to be controlled to execute the parking command. Thus, the EPB is in the unclamped state, which is in accordance with the conditions under which the vehicle controller takes over the ESC.
The vehicle controller enters a park ready mode with the vehicle in the RPA mode, the master operator in the unmanned state, the EPB in the unclamped state, and the vehicle in the remote power-on state. And in the parking preparation mode, the vehicle controller judges whether the ESC is abnormal or not, and controls the EPB to realize remote control parking of the vehicle under the condition that the ESC is abnormal.
When the determination condition is met, the vehicle controller enters the parking preparation mode, and thus the operation load of the vehicle controller as a redundant unit can be reduced.
In some embodiments, the vehicle controller is configured to maintain the park ready mode if the ESC is determined to be normal.
Specifically, the vehicle controller enters the parking preparation mode in a case where the vehicle is in the RPA mode, the master driver seat is in the unmanned state, the EPB is in the unclamped state, and the vehicle is in the remote power-on state. And under the condition that the ESC is judged to be normal according to the CAN signal of the vehicle, the vehicle controller keeps the parking preparation mode and does not take over the function of controlling the EPB by the ESC. And under the condition that the ESC is judged to be abnormal according to the CAN signal of the vehicle, the vehicle controller takes over the function of controlling the EPB by the ESC so as to realize remote control parking of the vehicle.
In some embodiments, the vehicle control unit is selected as a redundant unit of the ESC. When the vehicle is in an RPA mode, the main driving position is in an unmanned state, the EPB is in a non-clamping state and the vehicle is in a remote power-on state, the whole vehicle controller enters a parking preparation mode. And the vehicle control unit judges that the ESC is abnormal according to the CAN signal, and then the parking preparation mode is kept.
In other embodiments, the vehicle control unit is used as a redundant unit of the ESC. When the vehicle is in an RPA mode, the main driving position is in an unmanned state, the EPB is in a non-clamping state and the vehicle is in a remote power-on state, the whole vehicle controller enters a parking preparation mode. And the vehicle control unit judges that the ESC is abnormal according to the CAN signal, and then the vehicle control unit takes over the function of the ESC for controlling the EPB and monitors the electronic parking braking request of the ADAS of the vehicle. And under the condition that the electronic parking brake request is monitored, controlling the EPB to respond to the electronic parking brake request to realize remote control parking of the vehicle.
Therefore, under the condition that the ESC is abnormal, the safety of the remote control parking process can still be ensured, and the parking experience of a user is improved.
Referring to fig. 1 and fig. 2, the present embodiment provides a control method for a control system 10 for remotely parking a vehicle, where the control system 10 includes: ESC, EPB and vehicle controller, the control method includes:
s10: judging whether an ESC used for executing remote control parking is abnormal or not by a vehicle controller;
s20: and in the event of an ESC abnormality, controlling the electronic parking brake system through the vehicle controller to realize remote control parking of the vehicle.
Specifically, the control method according to the embodiment of the present application may be implemented by the control system according to the embodiment of the present application.
According to the control method, the original controller of the vehicle is used as the redundancy unit of the ESC, and the EPB is controlled to realize remote control parking of the vehicle under the condition that the ESC is judged to be abnormal by the vehicle controller, so that the safety of the parking process is ensured, and the parking experience of a user is improved. Meanwhile, the hardware system setting of the vehicle is simplified, and the production cost is reduced.
It should be noted that the control method according to the embodiment of the present application, including all the embodiments of the control system, is not repeated herein, and for related contents, please refer to the explanation of the related parts.
The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media storing a computer program that, when executed by one or more processors, implements the control method of the control system for remotely controlling parking of a vehicle according to any one of the above embodiments.
The embodiment of the application also provides a vehicle. The vehicle includes a memory and one or more processors, one or more programs being stored in the memory and configured to be executed by the one or more processors. The program includes instructions for executing the control method for the control system for remote parking of a vehicle according to any one of the above embodiments.
The processor may be used to provide computational and control capabilities to support the operation of the entire vehicle. The memory of the vehicle provides an environment for the computer readable instructions in the memory to operate.
It will be understood by those of ordinary skill in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware related to instructions of a computer program, which may be stored in one or more non-volatile computer-readable storage media, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.
The above examples 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 (10)
1. A control system for remotely controlled parking of a vehicle, the control system comprising: the electronic stability control system of automobile body, electron parking braking system and vehicle controller, vehicle controller is used for:
judging whether an electronic stability control system of the vehicle body for executing remote control parking is abnormal or not; and
and under the condition that the electronic stability control system of the vehicle body is abnormal, controlling the electronic parking brake system to realize remote control parking of the vehicle.
2. The control system according to claim 1, wherein the vehicle controller is configured to determine that there is an abnormality in the vehicle body electronic stability control system in the case where there is a hardware failure of the non-communication module in the vehicle body electronic stability control system.
3. The control system of claim 2, wherein the vehicle controller is configured to:
monitoring an electronic parking brake request of a vehicle advanced driving assistance system under the condition that the vehicle body electronic stability control system has a hardware fault of a non-communication module; and
controlling the electronic parking brake system in response to the electronic parking brake request in a case where the electronic parking brake request is monitored.
4. The control system of claim 1, wherein the vehicle controller is configured to:
monitoring a communication message of the vehicle body electronic stability control system; and
and under the condition that the communication message is lost, determining that the electronic stability control system of the vehicle body has communication faults so as to determine that the electronic stability control system of the vehicle body has abnormity.
5. The control system of claim 1, wherein the vehicle controller is configured to enter a park preparation mode before determining whether the vehicle body electronic stability control system is abnormal.
6. The control system of claim 5, wherein the vehicle controller is to:
judging whether the vehicle is in a remote control parking mode, whether a main driving position is in an unmanned state, whether the electronic parking brake system is in a non-clamping state and whether the vehicle is in a remote power-on state according to vehicle signals; and
and entering the parking preparation mode under the conditions that the vehicle is in the remote control parking mode, the main driving position is in the unmanned state, the electronic parking brake system is in the non-clamping state and the vehicle is in the remote power-on state.
7. The control system according to claim 5, wherein the vehicle controller is configured to maintain the parking preparation mode in a case where it is determined that the vehicle body electronic stability control system is normal.
8. A control method for a control system for remotely controlling parking of a vehicle, the control system comprising: the control method comprises the following steps of:
judging whether an electronic stability control system of the vehicle body for executing remote control parking is abnormal or not through a vehicle controller;
and under the condition that the electronic vehicle body stability control system is abnormal, controlling an electronic parking brake system through the vehicle controller to realize remote control parking of the vehicle.
9. A vehicle comprising a control system for remotely parking a vehicle according to any one of claims 1 to 7.
10. One or more non-transitory computer-readable storage media storing a computer program, wherein the computer program, when executed by one or more processors, implements the control method for remotely parking a vehicle according to claim 8.
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| CN202110069436.6A CN112744214B (en) | 2021-01-19 | 2021-01-19 | Control system and control method for remote control parking of vehicle and vehicle |
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| CN202110069436.6A CN112744214B (en) | 2021-01-19 | 2021-01-19 | Control system and control method for remote control parking of vehicle and vehicle |
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| CN114212075A (en) * | 2021-11-12 | 2022-03-22 | 江铃汽车股份有限公司 | Unmanned remote control passenger-replacing parking method and system, readable storage medium and vehicle |
| CN115167101A (en) * | 2022-09-07 | 2022-10-11 | 万向钱潮股份公司 | Redundancy control method and redundancy control system for multi-brake system |
| CN115167101B (en) * | 2022-09-07 | 2022-12-27 | 万向钱潮股份公司 | Redundancy control method and redundancy control system for multi-brake system |
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