CN113561948A - Automatic parking control method and control system - Google Patents
Automatic parking control method and control system Download PDFInfo
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- CN113561948A CN113561948A CN202110950491.6A CN202110950491A CN113561948A CN 113561948 A CN113561948 A CN 113561948A CN 202110950491 A CN202110950491 A CN 202110950491A CN 113561948 A CN113561948 A CN 113561948A
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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
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
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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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
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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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
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- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application discloses an automatic parking control method and a control system, and relates to the technical field of automobile control, wherein the automatic parking control method comprises the following steps: after the automatic parking function is started, when the speed of the whole vehicle is zero and the pressure of a brake loop is not less than a pressure activation threshold value, the automatic parking function is activated; acquiring the gradient of a road where a vehicle is located, and acquiring a driving torque limit value when the vehicle is on an uphill slope and the gradient of the road is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road; and obtaining the opening degree of an accelerator pedal, and taking the smaller value of a torque value corresponding to the opening degree of the accelerator pedal and a driving torque limit value as a driving torque until the opening degree of the accelerator pedal is not less than a parking release opening degree threshold value, and automatically parking and releasing. According to the automatic parking control method and the automatic parking control system, the situation that when the automatic parking is released, a vehicle with overlarge vehicle driving torque jumps forwards can be avoided, the safety risk of collision with a front vehicle can be reduced, and the comfort of vehicle driving can be improved.
Description
Technical Field
The application relates to the technical field of automobile control, in particular to an automatic parking control method and system.
Background
At present, an automatic parking system (AUTO HOLD) is applied as a technology capable of realizing automatic braking during automobile running, so that a driver does not need to brake or pull up a hand brake for a long time when the automobile stops, and the risk of vehicle sliding caused by carelessness of the driver can be avoided under the condition of starting the automatic parking brake.
In the related art, when a driver steps on a brake pedal to decelerate the vehicle until the vehicle stops, an automatic parking system may continuously maintain the hydraulic pressure in a brake circuit unchanged after the driver releases the brake pedal, so as to keep the vehicle stationary and realize automatic parking. When a driver wants to drive the vehicle and leave the vehicle, the driver can realize the automatic release of the parking brake by stepping on the accelerator pedal, so that the driving of the vehicle is realized, and the driving convenience is improved.
However, when the vehicle is running on a congested road and in an automatic parking state, and a driver steps on an accelerator pedal to perform automatic parking release, the driving torque rises too fast, so that when the parking brake of the vehicle is released, the driving torque is too large, the vehicle rushes forward, the safety risk of collision with a front vehicle is increased, and the comfort of the vehicle in the driving process is poor.
Disclosure of Invention
In view of one of the defects in the prior art, an object of the present application is to provide an automatic parking control method and control system, so as to solve the problem in the related art that when a parking brake of a vehicle is released, a driving torque is too large, resulting in a large safety risk of collision with a preceding vehicle.
A first aspect of the present application provides an automatic parking control method, including the steps of:
after the automatic parking function is started, when the speed of the whole vehicle is zero and the pressure of a brake loop is not less than a pressure activation threshold value, the automatic parking function is activated;
acquiring the gradient of a road where a vehicle is located, and acquiring a driving torque limit value when the vehicle is on an uphill slope and the gradient of the road is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road;
and obtaining the opening degree of the accelerator pedal, and taking the smaller value of the torque value corresponding to the opening degree of the accelerator pedal and the driving torque limit value as the driving torque until the opening degree of the accelerator pedal is not less than the parking release opening degree threshold value, and automatically parking and releasing.
In some embodiments, when the vehicle is on an uphill slope and the road slope is not less than the slope threshold, after the accelerator pedal opening is obtained, a torque value corresponding to the accelerator pedal opening is used as the driving torque, and the parking release is performed automatically until the accelerator pedal opening is not less than the parking release opening threshold.
In some embodiments, before the automatic parking function is started, the method further includes:
the driving torque limit value and the parking release opening degree threshold value are preset and stored.
In some embodiments, the torque value corresponding to the accelerator pedal opening is determined by a pre-stored accelerator pedal opening and torque value MAP table.
In some embodiments, the automatic park function described above is activated to maintain brake circuit pressure when the brake pedal is released.
In some embodiments, the automatic parking function is activated under the following conditions: the main driving door is closed, the safety belt state representation is good, and the parking function switch is turned on.
The present application in a second aspect provides an automatic parking control system comprising:
the acquisition module is used for acquiring the speed of the whole vehicle, the gradient of a road where the vehicle is located and the opening degree of an accelerator pedal;
the activation module is used for activating the automatic parking function when the speed of the whole vehicle is zero and the pressure of a brake circuit is not less than a pressure activation threshold value after the automatic parking function is started;
the acquisition module is used for acquiring a driving torque limit value when the vehicle is on an uphill slope and the road gradient is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road after the automatic parking function is activated;
and the parking release module is used for taking the smaller value of the torque value corresponding to the opening degree of the accelerator pedal and the driving torque limit value as the driving torque after acquiring the driving torque limit value, and automatically parking and releasing the vehicle until the opening degree of the accelerator pedal is not smaller than the parking release opening degree threshold value.
In some embodiments, the parking release module is further configured to, when the vehicle is on an uphill slope and a slope of a road is not less than a slope threshold, activate an automatic parking function, and then use a torque value corresponding to an accelerator pedal opening as a driving torque until the accelerator pedal opening is not less than a parking release opening threshold, and release the automatic parking.
In some embodiments, the automatic parking control system further includes a storage module, where the storage module is configured to preset and store a driving torque limit value and a parking release opening threshold value, and is further configured to store an accelerator pedal opening and a torque value MAP table;
and the parking release module is also used for determining a torque value corresponding to the opening degree of the accelerator pedal according to the opening degree of the accelerator pedal and a torque value MAP table lookup.
In some embodiments, the acquisition module comprises:
the vehicle speed sensor is used for acquiring the vehicle speed of the whole vehicle and sending the vehicle speed to the activation module;
the vehicle gradient sensor is used for acquiring the gradient of a road where a vehicle is located and sending the gradient to the acquisition module;
and the accelerator pedal sensor is used for acquiring the opening degree of an accelerator pedal and sending the opening degree to the parking release module.
The beneficial effect that technical scheme that this application provided brought includes:
according to the automatic parking control method and the automatic parking control system, after the automatic parking function is started, when the speed of the whole vehicle is zero and the pressure of a brake loop is not less than a pressure activation threshold value, the automatic parking function is activated; then, acquiring the gradient of a road where the vehicle is located, and acquiring a driving torque limit value when the vehicle is on an uphill slope and the gradient of the road is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road; finally, acquiring the opening degree of an accelerator pedal, and taking the smaller value of a torque value corresponding to the opening degree of the accelerator pedal and a driving torque limit value as a driving torque until the opening degree of the accelerator pedal is not smaller than a parking release opening degree threshold value, and automatically parking and releasing; therefore, after the automatic parking function is activated, whether a driving torque limit value is requested or not can be judged based on the road gradient where the vehicle is located, and after the driving torque limit value is obtained, it is guaranteed that the output driving torque does not exceed the driving torque limit value before the automatic parking is released, so that the situation that the vehicle with overlarge driving torque flees forwards when the automatic parking is released is avoided, the safety risk of collision with the front vehicle is reduced, and the driving comfort of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a first flowchart of an automatic parking control method in an embodiment of the present application.
Fig. 2 is a second flowchart of an automatic parking control method in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the application provides an automatic parking control method, which can solve the problem that the safety risk of collision with a front vehicle is high due to overlarge driving torque when the parking brake of the vehicle is released in the related technology.
As shown in fig. 1, the automatic parking control method according to the embodiment of the present application specifically includes the following steps:
s1, after the automatic parking function is started, when the speed of the whole vehicle is zero and the pressure of a brake loop is not smaller than a pressure activation threshold value, the automatic parking function is activated.
S2, acquiring the gradient of a road where the vehicle is located, and acquiring a driving torque limit value when the vehicle is on an uphill slope and the gradient of the road is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road.
In this embodiment, when the vehicle is on an uphill grade and the road grade is not less than the grade threshold, the drive torque limit need not be obtained.
And S3, acquiring the opening degree of the accelerator pedal, taking the smaller value of the torque value corresponding to the opening degree of the accelerator pedal and the driving torque limit value as driving torque, and automatically parking and releasing until the opening degree of the accelerator pedal is not smaller than a parking release opening degree threshold value, and recovering the starting state of the automatic parking function.
According to the automatic parking control method, after the automatic parking function is started, when the speed of the whole vehicle is zero and the pressure of a brake loop is not less than a pressure activation threshold value, the automatic parking function is activated; then, acquiring the gradient of a road where the vehicle is located, and acquiring a driving torque limit value when the vehicle is on an uphill slope and the gradient of the road is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road; finally, acquiring the opening degree of an accelerator pedal, and taking the smaller value of a torque value corresponding to the opening degree of the accelerator pedal and a driving torque limit value as a driving torque until the opening degree of the accelerator pedal is not smaller than a parking release opening degree threshold value, and automatically parking and releasing; therefore, after the automatic parking function is activated, whether a driving torque limit value is requested or not can be judged based on the road gradient where the vehicle is located, and after the driving torque limit value is obtained, it is guaranteed that the output driving torque does not exceed the driving torque limit value before the automatic parking is released, so that the situation that the vehicle with overlarge driving torque flees forwards when the automatic parking is released is avoided, the safety risk of collision with the front vehicle is reduced, and the driving comfort of the vehicle is improved.
On the basis of the above embodiment, in this embodiment, when the vehicle is on an uphill slope and the road slope is not less than the slope threshold, after the accelerator pedal opening is obtained, the torque value corresponding to the accelerator pedal opening is used as the driving torque, and the parking is automatically released until the accelerator pedal opening is not less than the parking release opening threshold.
The road gradient is used for representing the gradient of a slope, and the percentage gradient is the percentage of the difference between the heights of two points and the distance of the two points, and the calculation formula is as follows: the gradient is (difference in elevation/course) × 100%.
Alternatively, the grade threshold may be selected to be a percentage grade of 4%. The 4% gradient threshold is: the distance is increased or decreased by 4 meters in the vertical direction every 100 meters, and the gradient is expressed by a degree method, that is, tan alpha is 0.04, and the gradient threshold alpha is 2.2906 degrees.
In other embodiments, the grade threshold may be selected as a percentage grade of 5%. The gradient threshold of 5% is: the distance is increased or decreased by 5 meters in the vertical direction every 100 meters, and the gradient is expressed by a degree method, that is, tan alpha is 0.05, and the gradient threshold alpha is 2.8624 degrees.
Further, in step S1, before the automatic parking function is activated, the method further includes:
the driving torque limit value and the parking release opening degree threshold value are preset and stored.
Optionally, the driving torque limit value and the parking release opening degree threshold value may be calibrated according to a complete vehicle bench test.
In this embodiment, the torque value corresponding to the accelerator pedal opening is determined by a pre-stored accelerator pedal opening and torque value MAP table.
In this embodiment, a torque value corresponding to the opening degree of the accelerator pedal is a driver required driving torque, and the opening degree of the accelerator pedal and the driver required torque are in a relationship between the opening degree of the accelerator pedal and a torque value MAP.
In this embodiment, before the automatic parking is released, after the driving torque limit value is obtained, when the accelerator pedal opening is smaller than the parking release opening threshold value, the torque value corresponding to the accelerator pedal opening needs to be compared with the driving torque limit value, and if the torque value corresponding to the accelerator pedal opening is smaller than the driving torque limit value, the torque value corresponding to the accelerator pedal opening is used as the driving torque; and if the torque value corresponding to the opening degree of the accelerator pedal is greater than or equal to the driving torque limit value, driving the vehicle by taking the driving torque limit value as the driving torque until the automatic parking is released. In this embodiment, after the automatic parking is released, the vehicle is driven with a torque value corresponding to the accelerator pedal opening.
On the basis of the above embodiment, in the present embodiment, the automatic parking function is activated to maintain the brake circuit pressure when the brake pedal is released, so as to keep the vehicle stationary, and thus, the automatic parking is realized.
The automatic parking function of the present embodiment includes three states of the automatic parking function being on, the automatic parking function being off, and the automatic parking function being activated.
Specifically, after the automatic parking function is started, in the driving process, a driver steps on a brake pedal to decelerate the vehicle until the vehicle is braked, whether the vehicle is in a static state or not is judged by collecting a vehicle speed signal of the whole vehicle, the pressure of a brake loop is collected, when the pressure of the brake loop reaches a pressure activation threshold value, the automatic parking function is changed from the starting state to an activated state, the brake pedal is released, and the hydraulic pressure in the brake loop is maintained to be static based on the activation of the automatic parking function.
Thus, when the automatic parking function is in an on state, if the brake circuit pressure is less than the pressure activation threshold, the automatic parking function remains in an on and inactive state, at which time the vehicle may continue to idle forward if the driver releases the brake pedal.
In this embodiment, the automatic parking function is activated under the following conditions: the main driving door is closed, the safety belt state representation is good, and the parking function switch is turned on. Therefore, when the main driving door is not closed, or the representation of the safety belt state is not tied, or the parking function switch is not opened, the parking function switch is not opened.
Specifically, after a driver closes a vehicle door, fastens a safety belt and starts the vehicle, if the automatic parking system has no fault, a main driving door signal and a safety belt signal of the vehicle can be collected and judged, and when the main driving door signal of the vehicle is normally closed and the safety belt signal is well represented, and the driver turns ON an automatic parking switch ON a central control screen, the automatic parking function is started.
In this embodiment, the automatic parking switch is an automatic parking soft switch ON the central control panel, and when the automatic parking soft switch is turned ON, it indicates that the automatic parking function is turned ON; and when the automatic parking soft switch is set to be OFF, the automatic parking function is turned OFF.
As shown in fig. 2, the automatic parking control method according to the embodiment of the present application specifically includes the following steps:
A1. and judging whether the condition of starting the automatic parking function is met, if so, turning to A2, and otherwise, turning to A1. Wherein, the automatic parking function is started under the following conditions: the main driving door is closed, the safety belt state representation is good, and the parking function switch is turned on.
A2. And judging whether the condition of activating the automatic parking function is met, if so, turning to A3, and otherwise, turning to A2. The conditions for activating the automatic parking function are as follows: the speed of the whole vehicle is zero and the pressure of the brake circuit is not less than the pressure activation threshold value.
A3. And judging whether the current vehicle is on an uphill slope, if so, turning to A4, and otherwise, turning to A7.
A4. And judging whether the gradient of the road where the current vehicle is located is smaller than a gradient threshold value, if so, turning to A7, and otherwise, turning to A5.
A5. Acquiring the opening degree of an accelerator pedal, and taking a torque value corresponding to the opening degree of the accelerator pedal as a driving torque;
A6. and judging whether the opening of the accelerator pedal is greater than or equal to the parking release opening threshold, if so, turning to A10, and otherwise, turning to A5.
A7. Acquiring a driving torque limit value;
A8. acquiring the opening degree of an accelerator pedal, and taking the smaller value of a torque value corresponding to the opening degree of the accelerator pedal and a driving torque limit value as a driving torque;
A9. and judging whether the opening of the accelerator pedal is greater than or equal to the parking release opening threshold, if so, turning to A10, and otherwise, turning to A8.
A10. And releasing automatic parking, and driving the vehicle away.
In this embodiment, after the automatic parking is released, the vehicle may be driven with a torque value corresponding to the accelerator pedal opening.
The embodiment of the application further provides an automatic parking control system which comprises an acquisition module, an activation module, an acquisition module and a parking release module.
The acquisition module is used for acquiring the speed of the whole vehicle, the gradient of a road where the vehicle is located and the opening degree of an accelerator pedal.
Specifically, the acquisition module is used for sending the acquired vehicle speed of the whole vehicle to the activation module so that the activation module can judge whether the condition of activating the automatic parking function is met; the acquisition module is also used for sending the acquired road gradient of the vehicle to the acquisition module so as to facilitate the acquisition module to judge whether the driving torque limit value needs to be acquired; the acquisition module is further used for sending the acquired accelerator pedal opening degree to the parking release module, so that the parking release module drives the vehicle by taking the smaller value of the torque value corresponding to the accelerator pedal opening degree and the driving torque limit value as the driving torque, and judges whether the vehicle is automatically parked and released.
The activation module is used for activating the automatic parking function when the speed of the whole vehicle is zero and the pressure of a brake circuit is not less than a pressure activation threshold value after the automatic parking function is started.
In this embodiment, the activation module includes a first judgment sub-module and an activation sub-module. The first judgment submodule is used for judging whether the speed of the whole vehicle is zero or not and whether the pressure of a brake circuit is not less than a pressure activation threshold or not; and when the first judgment submodule judges that the speed of the whole vehicle is zero and the pressure of the brake circuit is not less than the pressure activation threshold value, the activation submodule is used for activating the automatic parking function.
After the activation module activates the automatic parking function, the acquisition module is used for acquiring the driving torque limit value when the vehicle is on an uphill slope and the road gradient is smaller than the gradient threshold value, or the vehicle is on a downhill slope or a flat road.
In this embodiment, the obtaining module includes a second determining submodule and an obtaining submodule. The second judgment submodule is used for judging whether the current vehicle is on an uphill slope, a downhill slope or a flat road, and judging whether the road gradient is smaller than a gradient threshold value when the vehicle is on the uphill slope.
When the second judgment submodule judges that the vehicle is in an uphill road condition and the road gradient is smaller than the gradient threshold value and judges that the vehicle is in a downhill road condition or a level road condition, the acquisition submodule is used for acquiring the driving torque limit value and sending the acquired driving torque limit value to the parking release module.
After the acquisition module acquires the driving torque limit value, the parking release module is used for taking the smaller value of the torque value corresponding to the opening degree of the accelerator pedal and the driving torque limit value as the driving torque, and when the opening degree of the accelerator pedal is not smaller than the parking release opening degree threshold value, the parking release module automatically releases parking, and the vehicle can drive away smoothly.
On the basis of the above embodiment, in this embodiment, when the vehicle is on an uphill slope and the slope of the road is not less than the slope threshold, after the activation module activates the automatic parking function, the parking release module is further configured to, after obtaining the accelerator pedal opening, use a torque value corresponding to the accelerator pedal opening as the driving torque until the accelerator pedal opening is not less than the parking release opening threshold, release the automatic parking.
On the basis of the above embodiment, in this embodiment, the automatic parking control system further includes a storage module, where the storage module is configured to preset and store a driving torque limit value and a parking release opening threshold value, and the storage module is further configured to store an accelerator pedal opening and a torque value MAP table.
Optionally, the storage module includes a first storage submodule and a second storage submodule. The first storage submodule can be arranged in the automatic parking system and is used for presetting and storing a driving torque limit value and a parking release opening degree threshold value.
The second storage submodule may be disposed in a vehicle control unit vcu (vehicle control unit), and the second storage submodule is configured to store an accelerator pedal opening degree and torque value MAP table, so that the parking release module may search for a torque value corresponding to the accelerator pedal opening degree.
And the parking release module is also used for determining a torque value corresponding to the opening degree of the accelerator pedal according to the opening degree of the accelerator pedal and a torque value MAP table lookup.
Optionally, the parking release module may include a first release submodule and a second release submodule.
The first release submodule can be arranged in the automatic parking system and used for sending the driving torque limit value to the second release submodule after the acquisition module acquires the driving torque limit value. The first releasing submodule is also used for automatically releasing parking when the opening of the accelerator pedal is not smaller than a parking releasing opening threshold value, so that the vehicle can drive away smoothly.
The second release submodule can be arranged in the VCU of the vehicle controller and is used for acquiring a torque value corresponding to the opening degree of the accelerator pedal after receiving the driving torque limit value sent by the first release submodule, then comparing the driving torque limit value with the torque value corresponding to the opening degree of the accelerator pedal, and taking the smaller value of the torque value corresponding to the opening degree of the accelerator pedal and the driving torque limit value as the driving torque to drive the vehicle until the automatic parking is released and the automatic parking function is recovered to the opening state. And the second release submodule is also used for determining a torque value corresponding to the opening degree of the accelerator pedal according to the opening degree of the accelerator pedal and a torque value MAP table lookup.
Specifically, after the second release submodule acquires the driving torque limit value and compares the torque value corresponding to the opening degree of the accelerator pedal with the driving torque limit value, if the torque value corresponding to the opening degree of the accelerator pedal is smaller than the driving torque limit value, the second release submodule drives the vehicle by using the torque value corresponding to the opening degree of the accelerator pedal as the driving torque until the opening degree of the accelerator pedal is not smaller than the parking release opening degree threshold value, and automatic parking release is performed; and if the torque value corresponding to the opening degree of the accelerator pedal is greater than or equal to the driving torque limit value, the second release submodule drives the vehicle by taking the driving torque limit value as the driving torque until the opening degree of the accelerator pedal is not less than the parking release opening degree threshold value, and parking is automatically released.
When the vehicle is on an uphill slope and the road slope is not smaller than the slope threshold value, after the activation module activates the automatic parking function, the second release submodule can also be used for taking a torque value corresponding to the opening degree of the accelerator pedal as a driving torque after the opening degree of the accelerator pedal is obtained, and the automatic parking function is recovered to the starting state until the automatic parking is released.
On the basis of the above embodiment, in this embodiment, the acquisition module includes a vehicle speed sensor, a vehicle gradient sensor, and an accelerator pedal sensor.
The vehicle speed sensor is used for collecting the vehicle speed of the whole vehicle and sending the collected vehicle speed of the whole vehicle to the activation module.
Alternatively, the output signal of the vehicle speed sensor in the present embodiment may be a magnetoelectric ac signal or a hall digital signal. In other embodiments, the output signal of the vehicle speed sensor may also be an optoelectronic digital signal.
The whole vehicle gradient sensor is used for collecting the gradient of a road where a vehicle is located and sending the collected gradient of the road to the acquisition module.
The accelerator pedal sensor is used for acquiring the opening degree of an accelerator pedal of a vehicle and sending the acquired opening degree of the accelerator pedal to the parking release module.
In this embodiment, after the vehicle is braked and stopped and the automatic parking function is activated, the obtaining module determines whether the road gradient is less than 4% based on the road gradient sensed and collected by the vehicle gradient sensor, and obtains the driving torque limit value if the road gradient is less than 4%. The acquisition module does not acquire the drive torque limit when the road grade is greater than or equal to 4%.
The automatic parking control system of the embodiment is applicable to the above automatic parking control methods, and considering that when a vehicle runs on a gentle uphill, flat ground or downhill, if a congestion condition or other conditions close to an obstacle are met, a driver wants to move the vehicle at a slow and low speed, a smaller driving torque limit value can be requested after the automatic parking function is activated, and based on the driving torque limit value, it is ensured that the output driving torque does not exceed the driving torque limit value before the automatic parking is released. Due to the limitation of the driving torque limit value, the vehicle with overlarge driving torque can be prevented from moving forward when the automatic parking is released.
Preferably, an embodiment of the present application further provides an electronic device for automatic parking control, where the electronic device includes a processor and a memory, and the processor executes codes in the memory to implement the following automatic parking control method:
after the automatic parking function is started, when the speed of the whole vehicle is zero and the pressure of a brake loop is not less than a pressure activation threshold value, the automatic parking function is activated;
acquiring the gradient of a road where a vehicle is located, and acquiring a driving torque limit value when the vehicle is on an uphill slope and the gradient of the road is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road;
and obtaining the opening degree of the accelerator pedal, and taking the smaller value of the torque value corresponding to the opening degree of the accelerator pedal and the driving torque limit value as the driving torque until the opening degree of the accelerator pedal is not less than the parking release opening degree threshold value, and automatically parking and releasing.
Optionally, the processor executing the code in the memory may further implement an automatic parking control method as follows:
and when the vehicle is on an uphill slope and the road slope is not less than the slope threshold value, acquiring the opening degree of an accelerator pedal, and then taking a torque value corresponding to the opening degree of the accelerator pedal as a driving torque until the opening degree of the accelerator pedal is not less than the parking release opening degree threshold value, and automatically parking and releasing.
Optionally, the processor executing the code in the memory may further implement an automatic parking control method as follows:
the method further comprises the steps of presetting and storing a driving torque limit value and a parking releasing opening threshold value before the automatic parking function is started.
Optionally, the processor executing the code in the memory may further implement an automatic parking control method as follows:
and determining a torque value corresponding to the opening degree of the accelerator pedal through a prestored accelerator pedal opening degree and torque value MAP table, namely determining the torque value corresponding to the opening degree of the accelerator pedal through the prestored accelerator pedal opening degree and torque value MAP table.
Optionally, the processor executing the code in the memory may further implement an automatic parking control method as follows:
the automatic park function described above is activated to maintain brake circuit pressure when the brake pedal is released.
Optionally, the processor executing the code in the memory may further implement an automatic parking control method as follows:
and when the condition that the automatic parking function is started is met, starting the automatic parking function. Wherein, the above-mentioned automatic parking function opens the condition for: the main driving door is closed, the safety belt state representation is good, and the parking function switch is turned on.
Preferably, the processor executing the code in the memory may also implement other steps in the aforementioned automatic parking control method.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present application and are presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic parking control method characterized by comprising the steps of:
after the automatic parking function is started, when the speed of the whole vehicle is zero and the pressure of a brake loop is not less than a pressure activation threshold value, the automatic parking function is activated;
acquiring the gradient of a road where a vehicle is located, and acquiring a driving torque limit value when the vehicle is on an uphill slope and the gradient of the road is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road;
and obtaining the opening degree of an accelerator pedal, and taking the smaller value of a torque value corresponding to the opening degree of the accelerator pedal and a driving torque limit value as a driving torque until the opening degree of the accelerator pedal is not less than a parking release opening degree threshold value, and automatically parking and releasing.
2. The automatic parking control method according to claim 1, characterized in that: and when the vehicle is on an uphill slope and the road slope is not less than the slope threshold value, after the opening degree of the accelerator pedal is obtained, a torque value corresponding to the opening degree of the accelerator pedal is used as a driving torque, and the parking is automatically released until the opening degree of the accelerator pedal is not less than the parking release opening degree threshold value.
3. The automatic parking control method according to claim 1, before the automatic parking function is turned on, further comprising:
the driving torque limit value and the parking release opening degree threshold value are preset and stored.
4. The automatic parking control method according to claim 1, characterized in that: and the torque value corresponding to the opening degree of the accelerator pedal is determined by a prestored accelerator pedal opening degree and torque value MAP table look-up table.
5. The automatic parking control method according to claim 1, characterized in that: the automatic park function is activated to maintain brake circuit pressure when the brake pedal is released.
6. The automatic parking control method according to claim 1, characterized in that the conditions under which the automatic parking function is activated are: the main driving door is closed, the safety belt state representation is good, and the parking function switch is turned on.
7. An automatic parking control system, characterized in that it comprises:
the acquisition module is used for acquiring the speed of the whole vehicle, the gradient of a road where the vehicle is located and the opening degree of an accelerator pedal;
the activation module is used for activating the automatic parking function when the speed of the whole vehicle is zero and the pressure of a brake circuit is not less than a pressure activation threshold value after the automatic parking function is started;
the acquisition module is used for acquiring a driving torque limit value when the vehicle is on an uphill slope and the road gradient is smaller than a gradient threshold value or the vehicle is on a downhill slope or a flat road after the automatic parking function is activated;
and the parking release module is used for taking the smaller value of the torque value corresponding to the opening degree of the accelerator pedal and the driving torque limit value as the driving torque after acquiring the driving torque limit value, and automatically parking and releasing the vehicle until the opening degree of the accelerator pedal is not less than the parking release opening degree threshold value.
8. The automatic parking control system according to claim 7, characterized in that: the parking releasing module is further used for activating an automatic parking function when the vehicle is on an uphill slope and the road slope is not smaller than a slope threshold value, and then taking a torque value corresponding to the opening degree of the accelerator pedal as a driving torque until the opening degree of the accelerator pedal is not smaller than a parking releasing opening degree threshold value, and releasing automatic parking.
9. The automatic parking control system according to claim 7, characterized in that: the automatic parking control system further comprises a storage module, wherein the storage module is used for presetting and storing a driving torque limit value and a parking release opening threshold value and is also used for storing an accelerator pedal opening and a torque value MAP table;
and the parking release module is also used for determining a torque value corresponding to the opening degree of the accelerator pedal according to the opening degree of the accelerator pedal and a torque value MAP table.
10. The automatic park control system of claim 7, wherein the acquisition module comprises:
the vehicle speed sensor is used for collecting the vehicle speed of the whole vehicle and sending the vehicle speed to the activation module;
the vehicle gradient sensor is used for acquiring the gradient of a road where a vehicle is located and sending the gradient to the acquisition module;
and the accelerator pedal sensor is used for acquiring the opening degree of an accelerator pedal and sending the opening degree to the parking release module.
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| CN202110950491.6A CN113561948B (en) | 2021-08-18 | 2021-08-18 | Automatic parking control method and control system |
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| CN202110950491.6A CN113561948B (en) | 2021-08-18 | 2021-08-18 | Automatic parking control method and control system |
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