CN112824171A - Automatic parking control method and device and vehicle - Google Patents
Automatic parking control method and device and vehicle Download PDFInfo
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- CN112824171A CN112824171A CN201911150729.6A CN201911150729A CN112824171A CN 112824171 A CN112824171 A CN 112824171A CN 201911150729 A CN201911150729 A CN 201911150729A CN 112824171 A CN112824171 A CN 112824171A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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Abstract
The disclosure relates to a control method and a control device for automatic parking and a vehicle, and relates to the field of vehicle control, wherein the method comprises the following steps: if the gear of the vehicle is not the parking gear and the vehicle is in a static state, determining whether the vehicle meets a preset parking condition, if so, determining the state of a parking device of the vehicle, if the state of the parking device is a normal state, unloading the torque of a motor of the vehicle, and after the torque unloading of the motor is finished, switching the gear to the parking gear so as to park the vehicle by the parking device. This openly can be when the driver forgets to switch the fender position of vehicle to the parking fender, automatic with the fender position of vehicle switch to the parking fender, ensure that the vehicle is in the parking state, prevent that the vehicle from taking place the swift current car, realize simply, improved the degree of safety of vehicle.
Description
Technical Field
The disclosure relates to the field of vehicle control, in particular to a control method and device for automatic parking and a vehicle.
Background
With the increasing automobile keeping quantity and the continuous development of automobile control technology in China, the safety requirements of people on automobiles are higher and higher. When the driver leaves the vehicle, the driver needs to manually switch the shift range of the vehicle to the parking range (i.e., P range) to ensure that the vehicle is in the parking state. In practical situations, a driver may forget to switch a gear of a vehicle to a parking gear, so that the vehicle slips, and potential safety hazards exist.
Disclosure of Invention
The invention aims to provide a control method and device for automatic parking and a vehicle, and aims to solve the problem that in the prior art, a driver forgets to switch a gear of the vehicle to a parking gear, and potential safety hazards exist.
In order to achieve the above object, according to a first aspect of embodiments of the present disclosure, there is provided a control method of automatic parking, the method including:
if the gear of the vehicle is not the parking gear and the vehicle is in a static state, determining whether the vehicle meets a preset parking condition;
if the vehicle is determined to meet the parking condition, determining the state of a parking device of the vehicle;
if the state of the parking device is a normal state, unloading the torque of a motor of the vehicle;
and after the torque unloading of the motor is finished, switching the gear to a parking gear so as to park the parking device.
Optionally, after the unloading the torque of the electric machine of the vehicle, the method further comprises:
after a first preset time, acquiring the torque of the motor, and if the torque is smaller than or equal to a preset torque threshold, determining that the torque unloading of the motor is finished;
and if the torque is larger than the preset torque threshold value, switching the gear to a neutral gear, and sending prompt information, wherein the prompt information is used for prompting that the gear is not switched to a parking gear.
Optionally, after the shifting the gear to the parking gear, the method further comprises:
and after a second preset time, if the gear is not the parking gear, switching the gear to the neutral gear, and sending prompt information, wherein the prompt information is used for prompting that the gear is not switched to the parking gear.
Optionally, the method further comprises:
and if the state of the parking device is an abnormal state, switching the gear to a neutral gear, and sending prompt information, wherein the prompt information is used for prompting that the gear is not switched to a parking gear.
Optionally, the determining whether the vehicle meets a preset parking condition includes:
if the power mode of the vehicle is switched from the ON mode to the OFF mode, determining that the vehicle meets the parking condition;
if the power mode of the vehicle is the Ready mode and the target door of the vehicle is in an open state, determining that the vehicle meets the parking condition;
and if the power supply mode of the vehicle is the ON mode and the vehicle is connected with the charging equipment, determining that the vehicle meets the parking condition.
According to a second aspect of the embodiments of the present disclosure, there is provided a control device of automatic parking, the device including:
the determining module is used for determining whether the vehicle meets a preset parking condition or not if the gear of the vehicle is not a parking gear and the vehicle is in a static state;
the determining module is further configured to determine a state of a parking device of the vehicle if it is determined that the vehicle meets the parking condition;
the unloading module is used for unloading the torque of a motor of the vehicle if the state of the parking device is a normal state;
and the control module is used for switching the gear to a parking gear after the torque unloading of the motor is finished so as to enable the parking device to park.
Optionally, the determining module is further configured to, after the torque of the motor of the vehicle is unloaded, obtain the torque of the motor after a first preset time, and if the torque is smaller than or equal to a preset torque threshold, determine that the unloading of the torque of the motor is completed;
the control module is further configured to switch the gear to a neutral gear and send a prompt message if the torque is greater than the preset torque threshold, wherein the prompt message is used for prompting that the gear is not switched to a parking gear.
Optionally, the control module is further configured to switch the gear to the neutral gear and send a prompt message after a second preset time after the gear is switched to the parking gear and if the gear is not the parking gear, where the prompt message is used to prompt that the gear is not switched to the parking gear.
Optionally, the control module is further configured to switch the shift position to a neutral position and send a prompt message if the state of the parking device is an abnormal state, where the prompt message is used to prompt that the shift position is not switched to a parking position.
Optionally, the determining module is configured to:
if the power mode of the vehicle is switched from the ON mode to the OFF mode, determining that the vehicle meets the parking condition;
if the power mode of the vehicle is the Ready mode and the target door of the vehicle is in an open state, determining that the vehicle meets the parking condition;
and if the power supply mode of the vehicle is the ON mode and the vehicle is connected with the charging equipment, determining that the vehicle meets the parking condition.
According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle provided with a controller for executing the steps of the control method for automatic parking according to the first aspect.
According to the technical scheme, the gear of the vehicle is not the parking gear, when the vehicle is in a static state, whether the vehicle meets the preset parking condition is determined, when the vehicle meets the parking condition is determined, the state of the parking device of the vehicle is determined, if the state of the parking device is a normal state, the torque of the motor of the vehicle is unloaded, and after the torque unloading of the motor is completed, the gear is switched to the parking gear, so that the parking device can park. This openly can be when the driver forgets to switch the fender position of vehicle to the parking fender, automatic with the fender position of vehicle switch to the parking fender, ensure that the vehicle is in the parking state, prevent that the vehicle from taking place the swift current car, realize simply, improved the degree of safety of vehicle.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a control method for automatic parking according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating another control method for automatic parking according to an exemplary embodiment;
FIG. 3 is a flow chart illustrating another control method for automatic parking according to an exemplary embodiment;
FIG. 4 is a flow chart illustrating yet another control method for automatic parking according to an exemplary embodiment;
FIG. 5 is a block diagram illustrating an automatic park control apparatus according to an exemplary embodiment;
FIG. 6 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Before introducing the control method, device and vehicle for automatic parking provided by the present disclosure, an application scenario related to various embodiments of the present disclosure is first introduced. The application scenario includes a Vehicle provided with a VCU (Vehicle Control Unit, chinese) for controlling the gears of the Vehicle to switch. The vehicle may be an automobile, which is not limited to a conventional automobile, a pure electric automobile or a hybrid automobile, but may also be applicable to other types of motor vehicles or non-motor vehicles.
Fig. 1 is a flowchart illustrating a control method of automatic parking according to an exemplary embodiment. As shown in fig. 1, the method comprises the steps of:
And 102, if the vehicle is determined to meet the parking condition, determining the state of a parking device of the vehicle.
For example, when the vehicle is in a stationary state, if the driver does not shift the gear of the vehicle to the parking gear, the vehicle is likely to roll. In order to avoid the vehicle from slipping, the VCU may determine whether the vehicle satisfies a preset parking condition when the gear of the vehicle is any one of a reverse gear (i.e., R gear), a neutral gear (i.e., N gear), and a forward gear (i.e., D gear) and the vehicle is in a stationary state. The parking condition is a condition which is required to be met by the vehicle when the vehicle needs to be automatically parked according to the actual scene that the vehicle possibly slides. If the vehicle is determined to meet the parking condition, and the state of the parking device of the vehicle is determined through the VCU, the parking device can lock the motor of the vehicle (the parking device can lock the motor of the vehicle, for example, the parking device can mechanically lock an output shaft of a transmission of the vehicle), and therefore the vehicle can be parked.
For example, the actual scene of vehicle slipping can be divided into the following cases:
1) when the driver unlocks the vehicle (at the moment, the power mode of the vehicle is switched from the ON mode to the OFF mode), the preset condition can be set to be that if the power mode of the vehicle is switched from the ON mode to the OFF mode, the vehicle is determined to meet the parking condition. The ON mode is a low-voltage power-ON mode, when the power mode is the ON mode, the power supply of a low-voltage electric appliance in the vehicle is in an ON state, the OFF mode is a power-OFF mode, and when the power mode is the OFF mode, the power supply of the vehicle is in an OFF state.
2) After the driver starts the engine (at this time, the power mode of the vehicle is Ready mode), the door on the driving position side is opened, and the preset condition may be set to be that if the power mode of the vehicle is Ready mode and the target door of the vehicle is in an open state, it is determined that the vehicle meets the parking condition, where the Ready mode is a high-voltage power-on mode, and when the power mode is Ready mode, the high-voltage circuit of the vehicle is turned on, and the target door may be the door on the driving position side or another door on the vehicle.
3) When the driver stops the vehicle and charges the vehicle through the charging device by using an alternating current or direct current charging wire (at this time, the power mode of the vehicle is an ON mode), the preset condition may be set to be that if the power mode of the vehicle is the ON mode, and the vehicle is connected with the charging device, it is determined that the vehicle meets the parking condition, and the charging device may be an alternating current charging pile, for example.
4) When the power mode of the vehicle is switched from the OFF mode to the ON mode during the running of the vehicle (the switching of the power mode from the OFF mode to the ON mode may occur only when an abnormality occurs in the vehicle), the preset condition may be set to determine that the vehicle satisfies the parking condition if the vehicle is in a running state and the power mode of the vehicle is switched from the OFF mode to the ON mode.
And 103, unloading the torque of the motor of the vehicle if the state of the parking device is a normal state.
And 104, switching the gear to the parking gear after the torque unloading of the motor is finished so as to park the parking device.
Specifically, if the state of the parking device is a normal state, the parking device can operate normally at this time. When the torque output from the motor of the vehicle is large, the vehicle may move again, and if the shift position of the vehicle is directly switched to the parking position at this time, the parking device may be damaged. In order to avoid damage to the parking device, after determining that the state of the parking device is a normal state, torque unloading (i.e., reducing the torque output by the motor below a certain threshold) is performed by controlling the motor through the VCU. After the torque unloading of the motor is finished, the gear of the vehicle is controlled to be switched to a parking gear through the VCU, and the motor of the vehicle is locked by the parking device, so that the vehicle is parked.
In summary, according to the present disclosure, when the shift position of the vehicle is not the parking position and the vehicle is in the stationary state, it is determined whether the vehicle meets a preset parking condition, when it is determined that the vehicle meets the parking condition, a state of a parking device of the vehicle is determined, if the state of the parking device is a normal state, a torque of a motor of the vehicle is unloaded, and after the torque unloading of the motor is completed, the shift position is switched to the parking position, so that the parking device parks the vehicle. This openly can be when the driver forgets to switch the fender position of vehicle to the parking fender, automatic with the fender position of vehicle switch to the parking fender, ensure that the vehicle is in the parking state, prevent that the vehicle from taking place the swift current car, realize simply, improved the degree of safety of vehicle.
Fig. 2 is a flowchart illustrating another control method of automatic parking according to an exemplary embodiment. As shown in fig. 2, after step 103, the method further comprises:
and 105, after the first preset time, acquiring the torque of the motor, and if the torque is smaller than or equal to a preset torque threshold, determining that the torque unloading of the motor is finished.
And 106, if the torque is larger than a preset torque threshold value, switching the gear to the neutral gear, and sending a prompt message, wherein the prompt message is used for prompting that the gear is not switched to the parking gear.
For example, in order to ensure that the torque of the motor can be successfully unloaded, the VCU may obtain the torque of the motor after a first preset time, and determine a magnitude relationship between the torque of the motor and a preset torque threshold, where if the torque of the motor is less than or equal to the preset torque threshold, it is indicated that the unloading of the torque of the motor is completed within the first preset time. If the torque is larger than the preset torque threshold, it is indicated that the torque of the motor is not successfully unloaded within the first preset time, the gear of the vehicle can be controlled to be switched to the neutral gear through the VCU, and a prompt message for prompting a driver that the gear of the vehicle is not switched to the parking gear is sent. The manner of sending the prompt information may be to control a speaker of the vehicle to send an audio prompt, or to control a lamp of the vehicle to flash in a preset manner (for example, to control the lamp to flash in a preset frequency), or to display the audio prompt on a central control display screen of the vehicle in an image manner. Further, when the VCU determines that the torque of the motor is greater than the preset torque threshold, the VCU may repeatedly execute the steps 102 to 106 in a first preset period, and if the torque of the motor is unloaded in the first preset period, the VCU may control the shift position of the vehicle to be switched to the parking position, and the parking device locks the motor of the vehicle, so that the vehicle is parked. If the torque of the motor is still not successfully unloaded in the first preset period, the gear of the vehicle can be controlled to be switched to the neutral gear through the VCU, and prompt information is sent.
Fig. 3 is a flow chart illustrating another control method of automatic parking according to an exemplary embodiment. As shown in fig. 3, after step 104, the method further comprises the steps of:
and step 107, after a second preset time, if the gear is not the parking gear, switching the gear to the neutral gear, and sending a prompt message, wherein the prompt message is used for prompting that the gear is not switched to the parking gear.
In one scenario, during the process that the VCU controls the gear of the vehicle to be switched to the parking gear, a situation that the gear is not successfully switched may occur, and in order to avoid that the driver mistakenly believes that the vehicle has been successfully parked, whether the gear of the vehicle is switched to the parking gear may be detected by the VCU after a second preset time. If the gear of the vehicle is the parking gear, the VCU does not perform any operation, and if the gear of the vehicle is not the parking gear, the VCU can control the gear of the vehicle to be switched to the neutral gear and send a prompt message for prompting a driver that the gear of the vehicle is not switched to the parking gear. The manner of sending the prompt information may be to control a speaker of the vehicle to send an audio prompt, or to control a lamp of the vehicle to flash in a preset manner (for example, to control the lamp to flash in a preset frequency), or to display the audio prompt on a central control display screen of the vehicle in an image manner.
Fig. 4 is a flowchart illustrating still another control method of automatic parking according to an exemplary embodiment. As shown in fig. 4, the method further comprises the steps of:
and step 108, if the state of the parking device is an abnormal state, switching the gear to the neutral gear, and sending a prompt message, wherein the prompt message is used for prompting that the gear is not switched to the parking gear.
In another scenario, if the state of the parking device is an abnormal state, it is indicated that the parking device cannot work normally, that is, the parking device cannot park the vehicle, the VCU may control the gear of the vehicle to switch to the neutral gear, and send a prompt message for prompting the driver that the gear of the vehicle is not switched to the parking gear. The manner of sending the prompt information may be to control a speaker of the vehicle to send an audio prompt, or to control a lamp of the vehicle to flash in a preset manner (for example, to control the lamp to flash in a preset frequency), or to display the audio prompt on a central control display screen of the vehicle in an image manner. Further, when the VCU determines that the state of the parking device is an abnormal state, the step 102 may be repeatedly executed by the VCU in a second preset period, and if the VCU detects that the state of the parking device is a normal state in the second preset period, the VCU may control the motor to unload the torque, and after the torque unloading of the motor is completed, the VCU may control the gear of the vehicle to be switched to the parking gear. If the VCU detects that the state of the parking device is always an abnormal state in a second preset period, the VCU can control the gear of the vehicle to be switched to the neutral gear and send prompt information.
It should be noted that the prompt information may be displayed in a form of sound, light, or image all the time, or may be stopped being displayed after a preset condition is met. For example, the VCU may further detect whether the driver manually switches the shift range of the vehicle to the parking range, and stop displaying the prompt message if it is detected that the driver manually switches the shift range of the vehicle to the parking range.
In summary, according to the present disclosure, when the shift position of the vehicle is not the parking position and the vehicle is in the stationary state, it is determined whether the vehicle meets a preset parking condition, when it is determined that the vehicle meets the parking condition, a state of a parking device of the vehicle is determined, if the state of the parking device is a normal state, a torque of a motor of the vehicle is unloaded, and after the torque unloading of the motor is completed, the shift position is switched to the parking position, so that the parking device parks the vehicle. This openly can be when the driver forgets to switch the fender position of vehicle to the parking fender, automatic with the fender position of vehicle switch to the parking fender, ensure that the vehicle is in the parking state, prevent that the vehicle from taking place the swift current car, realize simply, improved the degree of safety of vehicle.
Fig. 5 is a block diagram illustrating a control apparatus for automatic parking according to an exemplary embodiment. As shown in fig. 5, the apparatus 200 includes:
the determining module 201 is configured to determine whether the vehicle meets a preset parking condition if the shift position of the vehicle is not the parking position and the vehicle is in a stationary state.
The determining module 201 is further configured to determine a state of a parking device of the vehicle if it is determined that the vehicle meets the parking condition.
And the unloading module 202 is used for unloading the torque of the motor of the vehicle if the state of the parking device is a normal state.
And the control module 203 is used for switching the gear to the parking gear after the torque unloading of the motor is finished so as to enable the parking device to park.
Optionally, the determining module 201 is further configured to, after the torque of the motor of the vehicle is unloaded, obtain the torque of the motor after a first preset time, and determine that the unloading of the torque of the motor is completed if the torque is less than or equal to a preset torque threshold.
The control module 203 is further configured to switch the gear to the neutral gear and send a prompt message if the torque is greater than the preset torque threshold, where the prompt message is used to prompt that the gear is not switched to the parking gear.
Optionally, the control module 203 is further configured to switch the shift position to the neutral position after the shift position is switched to the parking position and after a second preset time, and send a prompt message for prompting that the shift position is not switched to the parking position if the shift position is not the parking position.
Optionally, the control module 203 is further configured to switch the shift position to the neutral position and send a prompt message if the state of the parking device is an abnormal state, where the prompt message is used to prompt that the shift position is not switched to the parking position.
Optionally, the determining module 201 is configured to:
and if the power mode of the vehicle is switched from the ON mode to the OFF mode, determining that the vehicle meets the parking condition.
And if the power mode of the vehicle is the Ready mode and the target door of the vehicle is in an open state, determining that the vehicle meets the parking condition.
And if the power supply mode of the vehicle is the ON mode and the vehicle is connected with the charging equipment, determining that the vehicle meets the parking condition.
With regard to the control apparatus for automatic parking in the above-described embodiment, the specific manner in which the respective modules perform operations has been described in detail in the embodiment related to the method, and will not be elaborated upon here.
In summary, according to the present disclosure, when the shift position of the vehicle is not the parking position and the vehicle is in the stationary state, it is determined whether the vehicle meets a preset parking condition, when it is determined that the vehicle meets the parking condition, a state of a parking device of the vehicle is determined, if the state of the parking device is a normal state, a torque of a motor of the vehicle is unloaded, and after the torque unloading of the motor is completed, the shift position is switched to the parking position, so that the parking device parks the vehicle. This openly can be when the driver forgets to switch the fender position of vehicle to the parking fender, automatic with the fender position of vehicle switch to the parking fender, ensure that the vehicle is in the parking state, prevent that the vehicle from taking place the swift current car, realize simply, improved the degree of safety of vehicle.
The present disclosure also relates to a vehicle, as shown in fig. 6, the vehicle 300 is provided with a controller 301, and the controller 301 is configured to execute the steps of any one of the above-mentioned control methods for automatic parking.
With regard to the vehicle 300 in the above-described embodiment, the specific manner in which the controller 301 performs the operation has been described in detail in the embodiment related to the control method of automatic parking, and will not be explained in detail here.
In summary, according to the present disclosure, when the shift position of the vehicle is not the parking position and the vehicle is in the stationary state, it is determined whether the vehicle meets a preset parking condition, when it is determined that the vehicle meets the parking condition, a state of a parking device of the vehicle is determined, if the state of the parking device is a normal state, a torque of a motor of the vehicle is unloaded, and after the torque unloading of the motor is completed, the shift position is switched to the parking position, so that the parking device parks the vehicle. This openly can be when the driver forgets to switch the fender position of vehicle to the parking fender, automatic with the fender position of vehicle switch to the parking fender, ensure that the vehicle is in the parking state, prevent that the vehicle from taking place the swift current car, realize simply, improved the degree of safety of vehicle.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A control method of automatic parking, characterized in that the method comprises:
if the gear of the vehicle is not the parking gear and the vehicle is in a static state, determining whether the vehicle meets a preset parking condition;
if the vehicle is determined to meet the parking condition, determining the state of a parking device of the vehicle;
if the state of the parking device is a normal state, unloading the torque of a motor of the vehicle;
and after the torque unloading of the motor is finished, switching the gear to a parking gear so as to park the parking device.
2. The method of claim 1, wherein after the unloading torque of the electric machine of the vehicle, the method further comprises:
after a first preset time, acquiring the torque of the motor, and if the torque is smaller than or equal to a preset torque threshold, determining that the torque unloading of the motor is finished;
and if the torque is larger than the preset torque threshold value, switching the gear to a neutral gear, and sending prompt information, wherein the prompt information is used for prompting that the gear is not switched to a parking gear.
3. The method of claim 1, wherein after the shifting the gear into park, the method further comprises:
and after a second preset time, if the gear is not the parking gear, switching the gear to the neutral gear, and sending prompt information, wherein the prompt information is used for prompting that the gear is not switched to the parking gear.
4. The method of claim 1, further comprising:
and if the state of the parking device is an abnormal state, switching the gear to a neutral gear, and sending prompt information, wherein the prompt information is used for prompting that the gear is not switched to a parking gear.
5. The method of any of claims 1-4, wherein the determining whether the vehicle satisfies a preset parking condition comprises:
if the power mode of the vehicle is switched from the ON mode to the OFF mode, determining that the vehicle meets the parking condition;
if the power mode of the vehicle is the Ready mode and the target door of the vehicle is in an open state, determining that the vehicle meets the parking condition;
and if the power supply mode of the vehicle is the ON mode and the vehicle is connected with the charging equipment, determining that the vehicle meets the parking condition.
6. A control device for automatic parking, characterized in that the device comprises:
the determining module is used for determining whether the vehicle meets a preset parking condition or not if the gear of the vehicle is not a parking gear and the vehicle is in a static state;
the determining module is further configured to determine a state of a parking device of the vehicle if it is determined that the vehicle meets the parking condition;
the unloading module is used for unloading the torque of a motor of the vehicle if the state of the parking device is a normal state;
and the control module is used for switching the gear to a parking gear after the torque unloading of the motor is finished so as to enable the parking device to park.
7. The apparatus of claim 6, wherein the determining module is further configured to obtain the torque of the motor after a first preset time after the unloading of the torque of the motor of the vehicle, and determine that the unloading of the torque of the motor is completed if the torque is less than or equal to a preset torque threshold;
the control module is further configured to switch the gear to a neutral gear and send a prompt message if the torque is greater than the preset torque threshold, wherein the prompt message is used for prompting that the gear is not switched to a parking gear.
8. The device according to claim 6, wherein the control module is further configured to, after a second preset time after the shift position is switched to the parking position, switch the shift position to the neutral position if the shift position is not the parking position, and send a prompt message, where the prompt message is used to prompt that the shift position is not switched to the parking position.
9. The apparatus of any of claims 6-8, wherein the means for determining is configured to:
if the power mode of the vehicle is switched from the ON mode to the OFF mode, determining that the vehicle meets the parking condition;
if the power mode of the vehicle is the Ready mode and the target door of the vehicle is in an open state, determining that the vehicle meets the parking condition;
and if the power supply mode of the vehicle is the ON mode and the vehicle is connected with the charging equipment, determining that the vehicle meets the parking condition.
10. A vehicle, characterized in that a controller for executing the steps of the control method for automatic parking according to any one of claims 1-5 is provided on the vehicle.
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| CN201911150729.6A CN112824171A (en) | 2019-11-21 | 2019-11-21 | Automatic parking control method and device and vehicle |
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| CN201911150729.6A CN112824171A (en) | 2019-11-21 | 2019-11-21 | Automatic parking control method and device and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114576351A (en) * | 2021-06-25 | 2022-06-03 | 长城汽车股份有限公司 | Control method and device for gear of gearbox and vehicle |
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