CN114148300A - Automatic parking method - Google Patents
Automatic parking method Download PDFInfo
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- CN114148300A CN114148300A CN202210004893.1A CN202210004893A CN114148300A CN 114148300 A CN114148300 A CN 114148300A CN 202210004893 A CN202210004893 A CN 202210004893A CN 114148300 A CN114148300 A CN 114148300A
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- 230000008859 change Effects 0.000 claims abstract description 98
- 238000004590 computer program Methods 0.000 claims description 38
- 230000006870 function Effects 0.000 claims description 13
- 230000003213 activating effect Effects 0.000 claims description 10
- 230000000977 initiatory effect Effects 0.000 claims description 7
- 206010039203 Road traffic accident Diseases 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
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Classifications
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
Abstract
The present application relates to an automatic parking method. The method comprises the following steps: the method comprises the steps of acquiring information of a brake pedal stroke, a stepping change rate of the brake pedal, an accelerator pedal stroke, a stepping change rate of the accelerator pedal, a motor rotating speed, a gear and an ignition switch gear of an automobile in real time, analyzing the acquired information, and judging whether a driver has the intention of temporary parking, whether the automobile is in a slope slipping state or not, and whether the automobile is in an unmanned slope slipping state or not; if the driver has the intention of temporary parking or the automobile is in a slope slipping state, starting temporary braking; if the temporary braking duration exceeds the preset duration, starting parking braking and removing the temporary braking; if the automobile is in a temporary braking state and a brake pedal or an accelerator pedal is stepped, releasing the temporary braking; and if the automobile is in the unmanned slope slipping state, starting parking brake. The method provided by the invention reduces the operation load of a driver, effectively reduces the probability of traffic accidents and improves the driving safety.
Description
Technical Field
The present application relates to the field of automotive braking technology, and in particular, to an automatic parking method, system, computer device, storage medium, and computer program product.
Background
With the development of automobile brake technology, the safety problem in the automobile running process is also emphasized more and more, and the automobile is provided with an automatic parking function, so that a driver can avoid unnecessary sliding of the automobile under the conditions of not needing to brake for a long time and starting the electronic parking brake.
In the related technology, the automatic parking function of the automobile needs an emergency braking auxiliary system, the emergency braking auxiliary system detects and identifies the front vehicle and various obstacles through a camera or a radar, and a driver is reminded of braking operation by sound and a warning light to avoid collision under the condition that collision is possible. If the driver does not have the deceleration action, the emergency brake auxiliary system can decelerate the vehicle by controlling the original vehicle brake system or the rear-mounted brake component, so that the probability of traffic accidents is effectively reduced. However, the emergency brake assist system can perform service braking only when a vehicle other than the front and various obstacles are recognized, but cannot perform service braking and parking braking when there is no vehicle or obstacle in the front.
Disclosure of Invention
In view of the above, it is necessary to provide an automatic parking method, system, computer device, storage medium and computer program product capable of implementing service braking and parking braking without a vehicle and an obstacle in front.
An automatic parking method, the method comprising:
acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
In one embodiment, braking is applied to a vehicle, comprising:
starting temporary braking, wherein the temporary braking is used for realizing the function of service braking;
and if the time length of the temporary braking exceeds the preset time length, starting the parking braking and removing the temporary braking.
In one embodiment, initiating temporary braking comprises:
the vehicle control unit sends a first preset instruction to a service brake electromagnetic valve, and the service brake electromagnetic valve generates a rear service brake force to realize service parking; the first preset instruction is used for starting the service brake electromagnetic valve.
In one embodiment, activating the parking brake comprises:
sending a second preset instruction to a parking brake electromagnetic valve through the whole vehicle controller, wherein the parking brake electromagnetic valve generates a rear parking brake force to realize parking; wherein the second preset command is for activating the parking brake solenoid valve.
In one embodiment, after the temporary braking is started, the method further comprises the following steps:
and if the automobile is in the state of temporary braking and the preset parameter is not zero, releasing the temporary braking, wherein the preset parameter at least comprises any one of the following four parameters, namely the brake pedal stroke, the stepping change rate of the brake pedal, the stepping stroke of the accelerator pedal and the stepping change rate of the accelerator pedal.
In one embodiment, the method further comprises the following steps:
and if the gear of the ignition switch is an OFF gear, the rotating speed of the motor is not zero and the gear is not a P gear, starting parking braking.
An automatic parking device, the device comprising:
the acquisition module is used for acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
the braking module is used for braking the automobile if a first state or a second state exists; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
A computer program product comprising a computer program which when executed by a processor performs the steps of:
acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
According to the automatic parking method, the automatic parking device, the automatic parking computer, the automatic parking storage medium and the automatic parking computer program product, information of a brake pedal stroke, a stepping change rate of a brake pedal, an accelerator pedal stroke, a stepping change rate of an accelerator pedal, a motor rotating speed, a gear and an ignition switch gear of an automobile is obtained in real time, and the obtained information is analyzed to judge whether a driver has the intention of temporary parking, whether the automobile is in a slope slipping state or not, or whether the automobile is in an unmanned slope slipping state; if the driver has the intention of temporary parking or the automobile is in a slope slipping state, starting temporary braking; if the temporary braking duration exceeds the preset duration, starting parking braking and removing the temporary braking; if the automobile is in a temporary braking state and a brake pedal or an accelerator pedal is stepped, releasing the temporary braking; and if the automobile is in the unmanned slope slipping state, starting parking brake. The method provided by the invention reduces the operation load of a driver, effectively reduces the probability of traffic accidents and improves the driving safety.
Drawings
FIG. 1 is a schematic flow diagram of an automatic park method in one embodiment;
FIG. 2 is a schematic flow chart illustrating braking of an exemplary vehicle;
FIG. 3 is a schematic diagram illustrating the operation of the automatic parking method according to an embodiment;
FIG. 4 is a block diagram showing the construction of an automatic parking apparatus according to an embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application 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 present application and are not intended to limit the present application.
In the description of the present invention, it should be understood that the positional descriptions, such as the directions or positional relationships indicated by upper, lower, front, rear, left, right, etc., are the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
With the development of automobile brake technology, the safety problem in the automobile running process is also emphasized more and more, and the automobile is provided with an automatic parking function, so that a driver can avoid unnecessary sliding of the automobile under the conditions of not needing to brake for a long time and starting the electronic parking brake.
In the related technology, the automatic parking function of the automobile needs an emergency braking auxiliary system, the emergency braking auxiliary system detects and identifies the front vehicle and various obstacles through a camera or a radar, and a driver is reminded of braking operation by sound and a warning light to avoid collision under the condition that collision is possible. If the driver does not have the deceleration action, the emergency brake auxiliary system can decelerate the vehicle by controlling the original vehicle brake system or the rear-mounted brake component, so that the probability of traffic accidents is effectively reduced. However, the emergency brake assist system can perform service braking only when a vehicle other than the front and various obstacles are recognized, but cannot perform service braking and parking braking when there is no vehicle or obstacle in the front. Therefore, a new automatic parking method is urgently needed.
In view of the problems in the related art, referring to fig. 1, an embodiment of the present invention provides an automatic parking method. The method is applied to a server, and an execution subject is taken as an example for explanation, and the method comprises the following steps:
101. acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
102. if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
In step 101, the brake pedal stroke is the distance from the stop position to the end of the depression of the brake pedal. When measuring, a straight ruler is erected between the brake pedal and the cab bottom plate, when the brake pedal is pressed downwards by hand until resistance exists, the reading of the straight ruler is recorded, then the brake pedal is released, the reading of the straight ruler is seen, and the difference of the two readings is the travel of the brake pedal. The depression rate of the brake pedal is a rate of change of the stroke of the brake pedal in a certain period of time. Similarly, the accelerator pedal travel is the distance from the stop position to the end of the pedal stroke. When measuring, a straight ruler is erected between the accelerator pedal and the cab bottom plate, when the accelerator pedal is pressed downwards by hand until resistance exists, the reading of the straight ruler is recorded, then the accelerator pedal is loosened, the reading of the straight ruler is seen, and the difference of the two readings is the travel of the accelerator pedal. The rate of change of depression of the accelerator pedal is a rate of change of the stroke of the accelerator pedal in a certain period of time.
In step 102, it can be determined that the driver has an intention to stop the vehicle temporarily, such as a red light and an emergency brake. In the first state, when the accelerator pedal stroke is zero and the accelerator pedal depression rate is zero, the accelerator pedal is not depressed, the D range belongs to the forward range, the range is used for general road running, and the ON range can switch ON the circuit of the whole vehicle. The automobile can be determined to be in a slope slipping state through the second state, and under the condition of the second state, the brake pedal stroke is zero, the stepping change rate of the brake pedal is zero, the accelerator pedal stroke is zero, and the stepping change rate of the accelerator pedal is zero, so that the brake pedal and the accelerator pedal are not stepped, and the rotating speed of the motor is increased. The P gear is a parking gear and is used for realizing that the automobile can lock an axle through a gear when a ramp is static. When the driver intends to stop the vehicle temporarily or the vehicle is in a state of falling down a slope, the vehicle is braked.
According to the method provided by the embodiment of the invention, the driver can be judged to have the temporary stopping intention or the automobile is in a slope slipping state according to the running state of the automobile, so that braking measures are taken for the automobile, the operation load of the driver is further reduced, and the driving safety is improved.
In combination with the above description of the embodiments, referring to fig. 2, in some embodiments, the embodiment of the present invention does not specifically limit the way of braking the vehicle, including but not limited to:
201. starting temporary braking, wherein the temporary braking is used for realizing the function of service braking;
202. and if the time length of the temporary braking exceeds the preset time length, starting the parking braking and removing the temporary braking.
In step 201, the service brake is a service brake, which decelerates the vehicle or stops the vehicle within the shortest distance, and keeps the vehicle speed stable when driving downhill.
In step 202, the parking brake is a parking gear of a hand brake or an automatic gear, the transmission shaft or the rear wheel is locked, and when the automobile is parked, a resistance is given to the automobile, so that the automobile does not slide.
According to the method provided by the embodiment of the invention, the parking brake is started after the temporary brake with the preset time length is set, so that a driver can be prompted to take braking measures in time for responding to different driving conditions in the preset time length, and the safety of the automobile in the driving process is further ensured.
In combination with the content of the foregoing embodiments, in some embodiments, the embodiment of the present invention does not specifically limit the manner of initiating the temporary braking, which includes but is not limited to:
the vehicle control unit sends a first preset instruction to a service brake electromagnetic valve, and the service brake electromagnetic valve generates a rear service brake force to realize service parking; the first preset instruction is used for starting the service brake electromagnetic valve.
In the above steps, the vehicle control unit can calculate parameters such as motor output torque required for operation according to the operation intention of the driver such as the accelerator pedal position, the gear position, the brake pedal force and the like and the state of charge of the storage battery, so as to coordinate the movement of each power component. And the service brake solenoid valve generates service brake force to control the rear brake cylinder to perform temporary braking, so that service parking is realized. Wherein, the rear brake cylinder is a power source for service braking.
According to the method provided by the embodiment of the invention, the internal brake device of the automobile can be controlled through the vehicle control unit, so that the function of service braking is realized, the operation load of a driver is further reduced, and the normal running of the automobile is ensured.
In combination with the content of the above embodiments, in some embodiments, the embodiment of the present invention does not specifically limit the manner of activating the parking brake, including but not limited to:
sending a second preset instruction to a parking brake electromagnetic valve through the whole vehicle controller, wherein the parking brake electromagnetic valve generates a rear parking brake force to realize parking; wherein the second preset command is for activating the parking brake solenoid valve.
In the above steps, the parking brake solenoid valve generates the rear parking brake force to control the rear brake spring cylinder to perform parking brake, so as to realize parking. Wherein, the rear brake spring cylinder is the power source of parking brake.
According to the method provided by the embodiment of the invention, the internal brake device of the automobile can be controlled through the vehicle control unit, so that the parking brake function is realized, the operation load of a driver is further reduced, and the normal running of the automobile is ensured.
In combination with the content of the foregoing embodiments, in some embodiments, after the temporary braking is started, the method provided by the embodiments of the present invention further includes:
and if the automobile is in the state of temporary braking and the preset parameter is not zero, releasing the temporary braking, wherein the preset parameter at least comprises any one of the following four parameters, namely the brake pedal stroke, the stepping change rate of the brake pedal, the stepping stroke of the accelerator pedal and the stepping change rate of the accelerator pedal.
In the above steps, when the vehicle is in a temporary braking state within a preset time length, if the brake pedal of the vehicle is stepped, it indicates that the driver wants to temporarily stop the vehicle or the vehicle is in a slope slipping state, and at this time, a braking measure is taken, and the temporary braking is released; when the accelerator pedal of the automobile is depressed, it indicates that the driver does not intend to stop the automobile temporarily, and the temporary brake is released.
According to the method provided by the embodiment of the invention, whether the accelerator pedal and the brake pedal are pedaled or not can be judged in the temporary braking state, so that the temporary braking is released according to the pedaled accelerator pedal or brake pedal, the operation flexibility of a driver in the driving process of the automobile is realized, and the driving safety is ensured.
In combination with the content of the foregoing embodiments, in some embodiments, the method provided by the embodiments of the present invention further includes:
and if the gear of the ignition switch is an OFF gear, the rotating speed of the motor is not zero and the gear is not a P gear, starting parking braking.
In the above steps, the OFF gear is the power-OFF gear of the whole vehicle, and the vehicle gear is not in the P gear, which indicates that the vehicle is not parked. Under the condition, if the motor has rotating speed, the automobile is judged to be in an unmanned slope slipping state, and the parking brake is started.
According to the method provided by the embodiment of the invention, the slope slipping state of the automobile in which the automobile is not driven can be judged according to the condition that the gear of the ignition switch of the automobile is OFF, the automobile is not in a parking gear and the rotating speed of the motor is generated, so that parking braking is realized, the automobile can be timely braked under the condition of coping with crisis, the occurrence of dangerous accidents is avoided, and the driving safety of the automobile is ensured.
For convenience of understanding, the overall process of an automatic parking method according to the embodiment of the present invention will be described with reference to the processes of the above embodiment, which are as follows:
referring to fig. 3, the invention provides a working process of an automatic parking method, a vehicle controller collects information of a brake pedal stroke, a stepping change rate of a brake pedal, an accelerator pedal stroke, a stepping change rate of an accelerator pedal, a motor speed, a gear and an ignition switch gear of an automobile, and analyzes the collected information to judge whether a driver has an intention of temporary parking, whether the automobile is in a slope slipping state or not, and whether the automobile is in an unmanned slope slipping state or not; if the driver has the intention of temporary parking or the automobile is in a slope slipping state, starting temporary braking; if the temporary braking duration exceeds the preset duration, starting parking braking and removing the temporary braking; if the automobile is in a temporary braking state and a brake pedal or an accelerator pedal is stepped, releasing the temporary braking; and if the automobile is in the unmanned slope slipping state, starting parking brake.
It should be understood that although the steps in the flowcharts of fig. 1 and 2 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1 and 2 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
It should be noted that the technical solutions described above may be implemented as independent embodiments in actual implementation processes, or may be combined with each other and implemented as combined embodiments. In addition, when the contents of the embodiments of the present invention are described above, the different embodiments are described according to the corresponding sequence only based on the idea of convenience of description, and the execution sequence between the different embodiments is not limited, and the execution sequence of the steps in the embodiments is not limited. Accordingly, in the actual implementation process, if it is necessary to implement multiple embodiments provided by the present invention, the execution sequence provided in the embodiments of the present invention is not necessarily required, but the execution sequence between different embodiments may be arranged according to requirements.
In connection with the contents of the above-described embodiments, in one embodiment, as shown in fig. 4, there is provided an automatic parking device including: an obtaining module 401 and a braking module 402, wherein:
the acquisition module 401 is used for acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
a braking module 402, configured to brake the vehicle if a first state or a second state exists; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
In one embodiment, the braking module 402 is configured to initiate temporary braking, where the temporary braking is configured to implement a service braking function; and if the time length of the temporary braking exceeds the preset time length, starting the parking braking and removing the temporary braking.
In one embodiment, the braking module 402 is configured to send a first preset command to a service braking solenoid valve through the vehicle controller, where the service braking solenoid valve generates a rear service braking force to park a service; the first preset instruction is used for starting the service brake electromagnetic valve.
In one embodiment, the braking module 402 is configured to send a second preset command to a parking brake solenoid valve by the vehicle controller, where the parking brake solenoid valve generates a rear parking braking force to achieve parking; wherein the second preset command is for activating the parking brake solenoid valve.
In one embodiment, after the temporary braking is started, the method further comprises the following steps:
and if the automobile is in the state of temporary braking and the preset parameter is not zero, releasing the temporary braking, wherein the preset parameter at least comprises any one of the following four parameters, namely the brake pedal stroke, the stepping change rate of the brake pedal, the stepping stroke of the accelerator pedal and the stepping change rate of the accelerator pedal.
In one embodiment, further comprising:
and if the gear of the ignition switch is an OFF gear, the rotating speed of the motor is not zero and the gear is not a P gear, starting parking braking.
For a specific definition of an automatic parking device, reference may be made to the above definition of an automatic parking method, which is not described in detail herein. The various modules in an automatic parking device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the preset threshold value. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a power grid monitoring system high-speed memory database access method.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
starting temporary braking, wherein the temporary braking is used for realizing the function of service braking;
and if the time length of the temporary braking exceeds the preset time length, starting the parking braking and removing the temporary braking.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
the vehicle control unit sends a first preset instruction to a service brake electromagnetic valve, and the service brake electromagnetic valve generates a rear service brake force to realize service parking; the first preset instruction is used for starting the service brake electromagnetic valve.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
sending a second preset instruction to a parking brake electromagnetic valve through the whole vehicle controller, wherein the parking brake electromagnetic valve generates a rear parking brake force to realize parking; wherein the second preset command is for activating the parking brake solenoid valve.
In one embodiment, after initiating the temporary braking, the processor when executing the computer program further performs the steps of:
and if the automobile is in the state of temporary braking and the preset parameter is not zero, releasing the temporary braking, wherein the preset parameter at least comprises any one of the following four parameters, namely the brake pedal stroke, the stepping change rate of the brake pedal, the stepping stroke of the accelerator pedal and the stepping change rate of the accelerator pedal.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and if the gear of the ignition switch is an OFF gear, the rotating speed of the motor is not zero and the gear is not a P gear, starting parking braking.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
In one embodiment, the computer program when executed by the processor further performs the steps of:
starting temporary braking, wherein the temporary braking is used for realizing the function of service braking;
and if the time length of the temporary braking exceeds the preset time length, starting the parking braking and removing the temporary braking.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the vehicle control unit sends a first preset instruction to a service brake electromagnetic valve, and the service brake electromagnetic valve generates a rear service brake force to realize service parking; the first preset instruction is used for starting the service brake electromagnetic valve.
In one embodiment, the computer program when executed by the processor further performs the steps of:
sending a second preset instruction to a parking brake electromagnetic valve through the whole vehicle controller, wherein the parking brake electromagnetic valve generates a rear parking brake force to realize parking; wherein the second preset command is for activating the parking brake solenoid valve.
In one embodiment, the computer program when executed by the processor further performs the steps of, after initiating temporary braking:
and if the automobile is in the state of temporary braking and the preset parameter is not zero, releasing the temporary braking, wherein the preset parameter at least comprises any one of the following four parameters, namely the brake pedal stroke, the stepping change rate of the brake pedal, the stepping stroke of the accelerator pedal and the stepping change rate of the accelerator pedal.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and if the gear of the ignition switch is an OFF gear, the rotating speed of the motor is not zero and the gear is not a P gear, starting parking braking.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
In one embodiment, the computer program when executed by the processor further performs the steps of:
starting temporary braking, wherein the temporary braking is used for realizing the function of service braking;
and if the time length of the temporary braking exceeds the preset time length, starting the parking braking and removing the temporary braking.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the vehicle control unit sends a first preset instruction to a service brake electromagnetic valve, and the service brake electromagnetic valve generates a rear service brake force to realize service parking; the first preset instruction is used for starting the service brake electromagnetic valve.
In one embodiment, the computer program when executed by the processor further performs the steps of:
sending a second preset instruction to a parking brake electromagnetic valve through the whole vehicle controller, wherein the parking brake electromagnetic valve generates a rear parking brake force to realize parking; wherein the second preset command is for activating the parking brake solenoid valve.
In one embodiment, the computer program when executed by the processor further performs the steps of, after initiating temporary braking:
and if the automobile is in the state of temporary braking and the preset parameter is not zero, releasing the temporary braking, wherein the preset parameter at least comprises any one of the following four parameters, namely the brake pedal stroke, the stepping change rate of the brake pedal, the stepping stroke of the accelerator pedal and the stepping change rate of the accelerator pedal.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and if the gear of the ignition switch is an OFF gear, the rotating speed of the motor is not zero and the gear is not a P gear, starting parking braking.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. An automatic parking method, characterized in that the method comprises:
acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
if the first state or the second state exists, braking the automobile; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
2. The method of claim 1, wherein said applying brakes to the vehicle comprises:
starting temporary braking, wherein the temporary braking is used for realizing the function of service braking;
and if the time length of the temporary braking exceeds the preset time length, starting the parking braking and removing the temporary braking.
3. The method of claim 2, wherein said initiating temporary braking comprises:
the vehicle control unit sends a first preset instruction to a service brake electromagnetic valve, and the service brake electromagnetic valve generates a rear service brake force to realize service parking; the first preset instruction is used for starting the service brake electromagnetic valve.
4. The method of claim 2, wherein said activating a parking brake comprises:
sending a second preset instruction to a parking brake electromagnetic valve through the whole vehicle controller, wherein the parking brake electromagnetic valve generates a rear parking brake force to realize parking; wherein the second preset command is for activating the parking brake solenoid valve.
5. The method of claim 2, wherein after initiating temporary braking, further comprising:
and if the automobile is in the state of temporary braking and the preset parameter is not zero, releasing the temporary braking, wherein the preset parameter at least comprises any one of the following four parameters, namely the brake pedal stroke, the stepping change rate of the brake pedal, the stepping stroke of the accelerator pedal and the stepping change rate of the accelerator pedal.
6. The method of claim 1, further comprising:
and if the gear of the ignition switch is an OFF gear, the rotating speed of the motor is not zero and the gear is not a P gear, starting parking braking.
7. An automatic parking device, characterized in that the device comprises:
the acquisition module is used for acquiring the travel of a brake pedal, the stepping change rate of the brake pedal, the travel of an accelerator pedal, the stepping change rate of the accelerator pedal, the rotating speed of a motor, a gear and an ignition switch gear of an automobile in real time;
the braking module is used for braking the automobile if a first state or a second state exists; the first state comprises that the travel of the brake pedal is greater than a preset travel, the treading change rate of the brake pedal is smaller than a first preset threshold, the travel of the accelerator pedal is zero, the treading change rate of the accelerator pedal is zero, the rotating speed of the motor is smaller than a second preset threshold, the gear is a D gear, and the gear of the ignition switch is an ON gear; the second state comprises that the travel of the brake pedal is zero, the tread change rate of the brake pedal is zero, the travel of the accelerator pedal is zero, the tread change rate of the accelerator pedal is zero, the rotating speed of the motor is not zero, the gear is not P gear and the gear of the ignition switch is ON gear.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.
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| CN202210004893.1A CN114148300A (en) | 2022-01-04 | 2022-01-04 | Automatic parking method |
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| CN202210004893.1A CN114148300A (en) | 2022-01-04 | 2022-01-04 | Automatic parking method |
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| CN114889573A (en) * | 2022-05-23 | 2022-08-12 | 一汽解放青岛汽车有限公司 | Temporary parking method, device, electronic equipment and storage medium |
| CN116394908A (en) * | 2023-06-06 | 2023-07-07 | 北京易控智驾科技有限公司 | Unmanned vehicle control method, system, electronic device and storage medium |
| CN116605217A (en) * | 2023-04-28 | 2023-08-18 | 绿友集团新能源车辆有限公司 | Novel constant-speed cruising method and system for golf cart |
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Application publication date: 20220308 |