CN114368382A - Control method, control device, storage medium and vehicle for automatic parking - Google Patents
Control method, control device, storage medium and vehicle for automatic parking Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
Abstract
The present disclosure relates to a control method, a control device, a storage medium, and a vehicle for automatic parking, the control method including: under the condition of receiving an automatic parking request of a vehicle, acquiring a current target vehicle speed and a current actual vehicle speed of the vehicle; judging whether the current target vehicle speed is greater than the current actual vehicle speed; determining a target power output torque under the condition that the current target vehicle speed is greater than the current actual vehicle speed, and controlling the vehicle according to the target power output torque; and under the condition that the current target vehicle speed is less than the current actual vehicle speed, determining a target wheel end braking torque, and controlling the vehicle according to the target wheel end braking torque, so that the problem of unsmooth or even pause and contusion of the vehicle caused by simultaneous action of the wheel end braking torque and the power output torque in the related technology is solved.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a control method, a control device, a storage medium, and a vehicle for automatic parking.
Background
Modern automobiles are developing towards automation and intellectualization, and one function configuration of the modern automobiles gradually becomes the standard configuration of the modern automobiles, namely automatic parking. The automatic parking technology is semi-automatic parking at the beginning, and can be completed only by human intervention, such as the driver is required to switch a forward gear and a reverse gear to complete the forward and reverse direction switching of the vehicle. Then, the parking technology is gradually developed into full-automatic parking, and the parking of the vehicle can be finished without human participation as long as the parking function is activated.
In the related art, during full-automatic parking, a vehicle performs gear shift control, wheel end braking torque control, and power output torque (e.g., output torque of a clutch) control according to the actual operation of the vehicle during the process, so as to realize forward and reverse direction switching and vehicle movement during vehicle parking. In the control process, the condition that both the wheel end braking torque and the power output torque have positive values can be involved, under the working condition, the wheel end braking torque and the power output torque act simultaneously, but the directions of the action of the wheel end braking torque and the action of the power output torque are opposite, so that the two torques can generate a 'stronger' condition, and once the control is not good, the phenomenon of unsmooth or even jerk can be generated in the vehicle moving process, so that the driving experience is influenced.
Disclosure of Invention
The invention aims to provide a control method, a control device, a storage medium and a vehicle for automatic parking, which solve the problem of unsmooth and even jerk of the vehicle caused by the simultaneous action of wheel end braking torque and power output torque in the related art.
In order to achieve the above object, the present disclosure provides, in a first aspect, a control method for automatic parking, the control method including:
under the condition of receiving an automatic parking request of a vehicle, acquiring a current target vehicle speed and a current actual vehicle speed of the vehicle;
judging whether the current target vehicle speed is greater than the current actual vehicle speed;
determining a target power output torque under the condition that the current target vehicle speed is greater than the current actual vehicle speed, and controlling the vehicle according to the target power output torque;
and under the condition that the current target vehicle speed is less than the current actual vehicle speed, determining a target wheel end braking torque, and controlling the vehicle according to the target wheel end braking torque.
Optionally, the determining the target power output torque when the current target vehicle speed is greater than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining the target power output torque of the clutch in a proportional-integral control mode according to the difference value between the current target vehicle speed and the current actual vehicle speed, and a preset first torque calibration parameter and a second torque calibration parameter, wherein the first torque calibration parameter is a proportional term parameter in proportional-integral control, and the second torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the determining the target power output torque when the current target vehicle speed is greater than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining a target power output torque of the hydraulic torque converter in a proportional-integral control mode according to a difference value between the current target vehicle speed and the current actual vehicle speed, and a preset third torque calibration parameter and a preset fourth torque calibration parameter, wherein the third torque calibration parameter is a proportional term parameter in proportional-integral control, and the fourth torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the determining the target power output torque in the case that the current target vehicle speed is greater than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining the target power output torque of the motor in a proportional integral control mode according to the difference value between the current target vehicle speed and the current actual vehicle speed, and a preset fifth torque calibration parameter and a preset sixth torque calibration parameter, wherein the fifth torque calibration parameter is a proportional term parameter in proportional integral control, and the sixth torque calibration parameter is an integral term parameter in proportional integral control.
Optionally, the determining a target wheel-end braking torque in the case that the current target vehicle speed is less than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is less than the current actual vehicle speed, determining the braking torque of a target wheel end in a proportional integral control mode according to the difference value between the current actual vehicle speed and the current target vehicle speed, and a preset seventh torque calibration parameter and an eighth torque calibration parameter, wherein the seventh torque calibration parameter is a proportional term parameter in proportional integral control, and the eighth torque calibration parameter is an integral term parameter in proportional integral control.
Optionally, the current target vehicle speed is determined according to a distance between the current position of the vehicle and the target parking position, and a preset corresponding relationship, where the corresponding relationship includes a plurality of preset position distances and a vehicle speed corresponding to each preset position distance.
In a second aspect, the present disclosure provides a control device for automatic parking, the control device including:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the current target speed and the current actual speed of a vehicle under the condition of receiving an automatic parking request of the vehicle;
the judging module is used for judging whether the current target vehicle speed is greater than the current actual vehicle speed;
the first control module is used for determining a target power output torque under the condition that the current target vehicle speed is greater than the current actual vehicle speed, and controlling the vehicle according to the target power output torque;
and the second control module is used for determining the target wheel end braking torque under the condition that the current target vehicle speed is less than the current actual vehicle speed, and controlling the vehicle according to the target wheel end braking torque.
Optionally, the first control module includes a first determining submodule, configured to determine a target power output torque of the clutch in a proportional-integral control manner according to a difference between the current target vehicle speed and the current actual vehicle speed, and a preset first torque calibration parameter and a second torque calibration parameter when the current driving state of the vehicle is fuel driving, the transmission is a dual-clutch transmission, and the current target vehicle speed is greater than the current actual vehicle speed, where the first torque calibration parameter is a proportional term parameter in proportional-integral control, and the second torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the first control module includes a second determining submodule, configured to determine a target power output torque of the torque converter in a proportional-integral control manner according to a difference between a current target vehicle speed and a current actual vehicle speed, and a preset third torque calibration parameter and a preset fourth torque calibration parameter when the current driving state of the vehicle is fuel driving, the transmission is an automatic transmission, and the current target vehicle speed is greater than the current actual vehicle speed, where the third torque calibration parameter is a proportional term parameter in proportional-integral control, and the fourth torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the first control module includes a third determining submodule, configured to determine a target power output torque of the motor in a proportional-integral control manner according to a difference between the current target vehicle speed and the current actual vehicle speed, and a preset fifth torque calibration parameter and a sixth torque calibration parameter when the current driving state of the vehicle is electric driving and the current target vehicle speed is greater than the current actual vehicle speed, where the fifth torque calibration parameter is a proportional term parameter in proportional-integral control, and the sixth torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the second control module includes a fourth determining submodule, configured to determine, according to a difference between the current actual vehicle speed and the current target vehicle speed and a preset seventh torque calibration parameter and an eighth torque calibration parameter, a braking torque at a target wheel end in a proportional-integral control manner when the current target vehicle speed is less than the current actual vehicle speed, where the seventh torque calibration parameter is a proportional term parameter in proportional-integral control, and the eighth torque calibration parameter is an integral term parameter in proportional-integral control.
In a third aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program that, when being executed by a processor, implements the steps of the control method for automatic parking described in the first aspect above.
In a third aspect, the present disclosure provides a vehicle including the control device for automatic parking as described in the second aspect above.
Through the technical scheme, in the automatic parking process, one torque is determined from the power output torque and the wheel end braking torque to control the vehicle based on the magnitude relation between the current target vehicle speed and the current actual vehicle speed, so that the problem that the vehicle is unsmooth or even in a pause state due to the fact that the wheel end braking torque and the power output torque act simultaneously in the related technology is solved, and the driving experience and the driving quality are improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart illustrating a control method for automatic parking according to an exemplary embodiment.
Fig. 2 is another flowchart illustrating a control method for automatic parking according to an exemplary embodiment.
Fig. 3 is a block diagram illustrating a control apparatus for automatic parking according to an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart illustrating a control method for automatic parking, which may be applied to a control unit of a vehicle, for example, as shown in fig. 1, according to an exemplary embodiment, and which includes the steps of:
in step S11, in the case where an automatic parking request of the vehicle is received, the current target vehicle speed and the current actual vehicle speed of the vehicle are acquired.
In step S12, it is determined whether the current target vehicle speed is greater than the current actual vehicle speed.
In step S13, a target power output torque is determined, and the vehicle is controlled according to the target power output torque.
In step S14, a target wheel-end braking torque is determined, and the vehicle is controlled in accordance with the target wheel-end braking torque.
In the automatic parking process, a control unit determines a target power output torque under the condition that the current target vehicle speed is greater than the current actual vehicle speed based on the magnitude relation between the current target vehicle speed and the current actual vehicle speed, and only controls the vehicle according to the target power torque under the condition to provide power demand for the vehicle without generating wheel end braking torque; determining the braking torque of a target wheel end under the condition that the current target vehicle speed is less than the current actual vehicle speed; in this case, the vehicle is controlled only by the target wheel-end braking torque, and the vehicle is decelerated without generating the power output torque. In the whole automatic parking process, only one control parameter is controlled at the same time, the problem that the vehicle is unsmooth or even bumped due to the fact that the wheel end braking torque and the power output torque act simultaneously in the related technology is solved, and driving experience is improved.
When the current target vehicle speed and the current actual vehicle speed are equal, it is not necessary to determine the power torque and the wheel end torque, and it is not necessary to change the current operating state of the vehicle.
It can be understood that, in the case that the current target vehicle speed is greater than the current actual vehicle speed, the target power output torque is determined, and the target wheel-end braking torque may be zero; in the case where the current target vehicle speed is less than the current actual vehicle speed, the target wheel end braking torque is determined, and the target power output torque may be zero.
Alternatively, the automatic parking request may be transmitted by an in-vehicle terminal of the vehicle. Accordingly, when the driver drives the vehicle to the vicinity of the parking space, the automatic parking function key on the vehicle-mounted terminal can be clicked, and at the moment, the vehicle-mounted terminal is triggered to send an automatic parking request to the processor.
Alternatively, the automatic parking request may be transmitted by the mobile terminal of the driver. Correspondingly, the mobile terminal is provided with an application program for sending an automatic parking request, when a driver drives a vehicle to a place near a parking space, the application program on the mobile terminal can be opened, an automatic parking function key on the application program is clicked, and at the moment, the mobile terminal is triggered to send the automatic parking request to the processor.
Alternatively, the current target vehicle speed of the vehicle may be determined according to the distance between the current position of the vehicle and the target parking position, and a preset corresponding relationship. The corresponding relation comprises a plurality of preset position intervals and a vehicle speed corresponding to each preset position interval. The current position of the vehicle and the target parking position can be measured in real time through the distance sensor. In practical applications, the target parking position may be a solid white line around the parking space.
It will be appreciated that the farther the vehicle's current location is spaced from the target parking location, the greater the corresponding vehicle speed.
Optionally, under the condition that the corresponding relationship includes a plurality of preset position distances and a vehicle speed corresponding to each preset position distance, the numerical value related in the corresponding relationship may be obtained through interpolation operation.
Alternatively, the current actual vehicle speed of the vehicle may be measured in real time by speed sensors provided at the wheel ends.
Alternatively, the current target vehicle speed may be determined in real time by an APA (automatic Parking Assist) of the vehicle. Correspondingly, the full-automatic parking main control unit obtains the current position and the target parking position of the vehicle, calculates the distance between the current position and the target parking position according to the current position and the target parking position, searches a preset distance corresponding to the distance in a preset corresponding relation, and determines the vehicle speed corresponding to the preset distance as the current target vehicle speed.
It will be appreciated that the type of drive for the vehicle will be different, the means by which the vehicle is driven will be different and the type of target power output torque determined will be different. The vehicle comprises a fuel drive and an electric drive, and when the vehicle is driven by the fuel, the types of target power output torques corresponding to different gearboxes are different; when the vehicle is driven by electricity, the motor provides driving force for the vehicle. The above step S13 will be further described below with respect to different driving types of vehicles and different gearboxes, specifically:
in the disclosure, negative feedback may be formed between the control unit and a driving power device (e.g., a motor, a clutch, etc.) of the vehicle, a target vehicle speed of the vehicle is a control object of the negative feedback, an actual vehicle speed is an output quantity of the negative feedback, and a target power output torque of the driving power device is an adjustment quantity of the negative feedback, so that the target power output torque is adjusted, and the actual vehicle speed of the vehicle can approach the target vehicle speed continuously. Specifically, a proportional integral adjustment mode may be adopted to obtain a target power output torque (which is capable of reducing the difference between the current target vehicle speed and the current actual vehicle speed of the vehicle) through proportional integral calculation based on the difference between the current target vehicle speed and the current actual vehicle speed of the vehicle.
Accordingly, in one possible embodiment, the determining the target power output torque in the case where the current target vehicle speed is greater than the current actual vehicle speed comprises:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining the target power output torque of the clutch in a proportional-integral control mode according to the difference value between the current target vehicle speed and the current actual vehicle speed, and the preset first torque calibration parameter and second torque calibration parameter.
The first torque calibration parameter is a proportional term parameter in proportional-integral control, and the second torque calibration parameter is an integral term parameter in proportional-integral control. The first torque calibration parameter and the second torque calibration parameter are obtained by simulation. The first torque calibration parameter and the second torque calibration parameter are different for different vehicles.
It should be noted that, according to the difference between the current target vehicle speed and the current actual vehicle speed and the proportional term parameter (first torque calibration parameter), the proportional term torque of the clutch may be obtained, and according to the difference between the current target vehicle speed and the current actual vehicle speed and the integral term parameter (second torque calibration parameter), the integral term torque of the clutch may be obtained, and the sum of the proportional term torque and the integral term torque is the target power output torque of the clutch.
In one possible embodiment, the determining the target power output torque in the case where the current target vehicle speed is greater than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining the target power output torque of the hydraulic torque converter in a proportional-integral control mode according to the difference value between the current target vehicle speed and the current actual vehicle speed, and the preset third torque calibration parameter and the preset fourth torque calibration parameter.
The third torque calibration parameter is a proportional term parameter in proportional-integral control, and the fourth torque calibration parameter is an integral term parameter in proportional-integral control. And the third torque calibration parameter and the fourth torque calibration parameter are obtained by simulation. The third torque calibration parameter and the fourth torque calibration parameter are different for different vehicles.
It should be noted that, according to the difference between the current target vehicle speed and the current actual vehicle speed and the proportional term parameter (third torque calibration parameter), the proportional term torque of the torque converter can be obtained, and according to the difference between the current target vehicle speed and the current actual vehicle speed and the integral term parameter (fourth torque calibration parameter), the integral term torque of the torque converter can be obtained, and the sum of the proportional term torque and the integral term torque is the target power output torque of the torque converter.
In one possible embodiment, the determining the target power output torque in the case where the current target vehicle speed is greater than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining the target power output torque of the motor in a proportional-integral control mode according to the difference value between the current target vehicle speed and the current actual vehicle speed, and the preset fifth torque calibration parameter and the preset sixth torque calibration parameter.
The fifth torque calibration parameter is a proportional term parameter in proportional-integral control, and the sixth torque calibration parameter is an integral term parameter in proportional-integral control. And the fifth torque calibration parameter and the sixth torque calibration parameter are obtained by simulation. The fifth torque calibration parameter and the sixth torque calibration parameter are different for different vehicles.
It should be noted that, according to the difference between the current target vehicle speed and the current actual vehicle speed and the proportional term parameter (fifth torque calibration parameter), the proportional term torque of the motor can be obtained, and according to the difference between the current target vehicle speed and the current actual vehicle speed and the integral term parameter (sixth torque calibration parameter), the integral term torque of the motor can be obtained, and the sum of the proportional term torque and the integral term torque is the target power output torque of the motor.
In the disclosure, negative feedback can be formed between the control unit and the wheel end brake, the target vehicle speed of the vehicle is a control object of the negative feedback, the actual vehicle speed is an output quantity of the negative feedback, and the target wheel end braking torque is an adjustment quantity of the negative feedback, so that the target wheel end braking torque is adjusted, and the actual vehicle speed of the vehicle can be continuously close to the target vehicle speed. Specifically, a proportional-integral adjustment mode may be adopted, and a target wheel-end braking torque is obtained through proportional-integral calculation based on a difference value between a current actual vehicle speed and a current target vehicle speed of the vehicle (the target wheel-end braking torque can reduce the difference value between the current target vehicle speed and the current actual vehicle speed of the vehicle).
Therefore, in one possible embodiment, determining the target wheel-end braking torque in the case where the current target vehicle speed is less than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is less than the current actual vehicle speed, determining the braking torque of the target wheel end in a proportional-integral control mode according to the difference value between the current actual vehicle speed and the current target vehicle speed, and the preset seventh torque calibration parameter and the eighth torque calibration parameter.
The seventh torque calibration parameter is a proportional term parameter in proportional-integral control, and the eighth torque calibration parameter is an integral term parameter in proportional-integral control.
And the seventh torque calibration parameter and the eighth torque calibration parameter are obtained by simulation. The seventh torque calibration parameter and the eighth torque calibration parameter are different for different vehicles. It should be noted that, according to the difference between the current actual vehicle speed and the current target vehicle speed and the proportional term parameter (seventh torque calibration parameter), the proportional term torque at the wheel end can be obtained, and according to the difference between the current actual vehicle speed and the current target vehicle speed and the integral term parameter (eighth torque calibration parameter), the integral term torque at the wheel end can be obtained, and the sum of the proportional term torque and the integral term torque is the target wheel end braking torque.
Fig. 2 is another flowchart illustrating a control method for automatic parking according to an exemplary embodiment, as shown in fig. 2, including the steps of:
in step S21, when the automatic parking request of the vehicle is received, it is determined whether the vehicle satisfies the parking condition.
In step S22, in a case where it is determined that the vehicle satisfies a parking condition including that the current actual vehicle speed of the vehicle is lower than a preset vehicle speed value, a current actual vehicle speed and a current target vehicle speed of the vehicle are acquired.
In step S23, it is determined whether the current target vehicle speed is greater than the current actual vehicle speed.
In step S24, a target power output torque is determined, and the vehicle is controlled according to the target power output torque.
In step S25, a target wheel-end braking torque is determined, and the vehicle is controlled in accordance with the target wheel-end braking torque.
In the present disclosure, in consideration of the fact that there is a possibility that the automatic parking request is erroneously triggered, the influence on normal driving is caused because the control unit starts the automatic parking process when receiving the automatic parking request. Therefore, under the condition that an automatic parking request of the vehicle is received, whether the vehicle meets a parking condition is judged, and under the condition that the parking condition is met, a control process of automatic parking is started, namely the control unit controls only one control parameter (wheel end braking torque or power output torque) at the same time based on the magnitude relation between the current target vehicle speed and the current actual vehicle speed, the problem that the vehicle is unsmooth or even frustrated due to the fact that the wheel end braking torque and the power output torque act simultaneously in the related technology is solved, and driving experience is improved.
Alternatively, the parking condition may be, for example, that the current actual vehicle speed of the vehicle is lower than a preset vehicle speed value.
Alternatively, the parking condition may be, for example, whether the environment in which the vehicle is located is a preset environment. It is understood that the preset environment may be a parking lot. Accordingly, the image pickup device provided on the vehicle may detect an environment in which the vehicle is located, classify the environment through the neural network, determine whether the environment is a preset environment, and in the case where it is determined that the environment is the preset environment, determine that the vehicle satisfies the parking condition.
Optionally, in order to improve the accuracy of whether the vehicle meets the parking condition, in an actual implementation process, it may be further determined that the vehicle meets the parking condition under the condition that the current actual vehicle speed of the vehicle is lower than a preset vehicle speed value and the environment where the vehicle is located is a preset environment, and then the control unit controls the vehicle based on the magnitude relationship between the current target vehicle speed and the current actual vehicle speed.
The preset vehicle speed value can be set according to actual conditions. For example, the preset vehicle speed value may be 10 km/h. The present disclosure is not limited thereto.
Step S23 is similar to the step S12 in fig. 1, and the present disclosure is not repeated herein.
Step S24 is similar to the step S13 in fig. 1, and the present disclosure is not repeated herein.
Step S25 is similar to the step S14 in fig. 1, and the present disclosure is not repeated herein.
Based on the same inventive concept, the present disclosure also provides a control device for automatic parking, please refer to fig. 3, fig. 3 is a structural diagram illustrating a control device for automatic parking according to an exemplary embodiment, and the control device 300 includes an obtaining module 301, a judging module 302, a first control module 303 and a second control module 304.
The obtaining module 301 is configured to obtain a current target vehicle speed and a current actual vehicle speed of a vehicle when an automatic parking request of the vehicle is received.
The determining module 302 is configured to determine whether the current target vehicle speed is greater than the current actual vehicle speed.
The first control module 303 is configured to determine a target power output torque and control the vehicle according to the target power output torque when the current target vehicle speed is greater than the current actual vehicle speed.
The second control module 304 is configured to determine a target wheel end braking torque and control the vehicle according to the target wheel end braking torque when the current target vehicle speed is less than the current actual vehicle speed.
Optionally, the first control module 303 includes a first determining submodule, configured to determine a target power output torque of the clutch in a proportional-integral control manner according to a difference between the current target vehicle speed and the current actual vehicle speed, and a preset first torque calibration parameter and a second torque calibration parameter when the current driving state of the vehicle is fuel driving, the transmission is a dual-clutch transmission, and the current target vehicle speed is greater than the current actual vehicle speed, where the first torque calibration parameter is a proportional term parameter in proportional-integral control, and the second torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the first control module 303 includes a second determining submodule, configured to determine a target power output torque of the torque converter in a proportional-integral control manner according to a difference between the current target vehicle speed and the current actual vehicle speed, and a preset third torque calibration parameter and a preset fourth torque calibration parameter when the current driving state of the vehicle is fuel driving, the transmission is an automatic transmission, and the current target vehicle speed is greater than the current actual vehicle speed, where the third torque calibration parameter is a proportional term parameter in proportional-integral control, and the fourth torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the first control module 303 includes a third determining submodule, configured to determine a target power output torque of the motor in a proportional-integral control manner according to a difference between the current target vehicle speed and the current actual vehicle speed and a preset fifth torque calibration parameter and a sixth torque calibration parameter when the current driving state of the vehicle is electric driving and the current target vehicle speed is greater than the current actual vehicle speed, where the fifth torque calibration parameter is a proportional term parameter in proportional-integral control, and the sixth torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the second control module 304 includes a fourth determining submodule, configured to determine a target wheel end braking torque in a proportional-integral control manner according to a difference between the current actual vehicle speed and the current target vehicle speed and a preset seventh torque calibration parameter and an eighth torque calibration parameter when the current target vehicle speed is less than the current actual vehicle speed, where the seventh torque calibration parameter is a proportional term parameter in proportional-integral control, and the eighth torque calibration parameter is an integral term parameter in proportional-integral control.
Optionally, the current target vehicle speed is determined according to a distance between the current position of the vehicle and the target parking position, and a preset corresponding relationship, where the corresponding relationship includes a plurality of preset position distances and a vehicle speed corresponding to each preset position distance.
Optionally, the obtaining module 301 includes a determining sub-module and a obtaining sub-module.
The judgment submodule is used for judging whether the vehicle meets a parking condition or not under the condition that an automatic parking request of the vehicle is received.
The obtaining submodule is used for obtaining the current actual speed and the current target speed of the vehicle under the condition that the vehicle is determined to meet a parking condition, wherein the parking condition comprises that the current actual speed of the vehicle is lower than a preset speed value.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Based on the same inventive concept, the present disclosure also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the control method for automatic parking provided by the present disclosure.
Based on the same inventive concept, the present disclosure also discloses a vehicle, which includes the control device for automatic parking provided by the embodiment of the present disclosure. The vehicle can determine one torque from the power output torque and the wheel end braking torque to control the vehicle based on the magnitude relation between the current target vehicle speed and the current actual vehicle speed after receiving the automatic parking request, the problem that the vehicle is unsmooth or even in a pause state due to the fact that the wheel end braking torque and the power output torque act simultaneously in the related technology is solved, and the vehicle driving experience and the driving quality are improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (13)
1. A control method for automatic parking, characterized by comprising:
under the condition of receiving an automatic parking request of a vehicle, acquiring a current target vehicle speed and a current actual vehicle speed of the vehicle;
judging whether the current target vehicle speed is greater than the current actual vehicle speed;
determining a target power output torque under the condition that the current target vehicle speed is greater than the current actual vehicle speed, and controlling the vehicle according to the target power output torque;
and under the condition that the current target vehicle speed is less than the current actual vehicle speed, determining a target wheel end braking torque, and controlling the vehicle according to the target wheel end braking torque.
2. The control method according to claim 1, wherein the current driving state of the vehicle is fuel-powered and the transmission is a dual clutch transmission, and accordingly, the determining the target power output torque in the case where the current target vehicle speed is greater than the current actual vehicle speed comprises:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining the target power output torque of the clutch in a proportional-integral control mode according to the difference value between the current target vehicle speed and the current actual vehicle speed, and a preset first torque calibration parameter and a second torque calibration parameter, wherein the first torque calibration parameter is a proportional term parameter in proportional-integral control, and the second torque calibration parameter is an integral term parameter in proportional-integral control.
3. The control method according to claim 1, wherein the current driving state of the vehicle is fuel-powered and the transmission is an automatic transmission, and accordingly, the determining the target power output torque in the case where the current target vehicle speed is greater than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining a target power output torque of the hydraulic torque converter in a proportional-integral control mode according to a difference value between the current target vehicle speed and the current actual vehicle speed, and a preset third torque calibration parameter and a preset fourth torque calibration parameter, wherein the third torque calibration parameter is a proportional term parameter in proportional-integral control, and the fourth torque calibration parameter is an integral term parameter in proportional-integral control.
4. The control method according to claim 1, wherein the current driving state of the vehicle is electric drive, and accordingly, the determining a target power output torque in the case where the current target vehicle speed is greater than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is greater than the current actual vehicle speed, determining the target power output torque of the motor in a proportional integral control mode according to the difference value between the current target vehicle speed and the current actual vehicle speed, and a preset fifth torque calibration parameter and a preset sixth torque calibration parameter, wherein the fifth torque calibration parameter is a proportional term parameter in proportional integral control, and the sixth torque calibration parameter is an integral term parameter in proportional integral control.
5. The control method according to any one of claims 2-4, wherein the determining a target wheel-end braking torque in the case where the current target vehicle speed is less than the current actual vehicle speed includes:
and under the condition that the current target vehicle speed is less than the current actual vehicle speed, determining the braking torque of a target wheel end in a proportional integral control mode according to the difference value between the current actual vehicle speed and the current target vehicle speed, and a preset seventh torque calibration parameter and an eighth torque calibration parameter, wherein the seventh torque calibration parameter is a proportional term parameter in proportional integral control, and the eighth torque calibration parameter is an integral term parameter in proportional integral control.
6. The control method according to claim 5, wherein the current target vehicle speed is determined based on a distance between the current position of the vehicle and a target parking position, and a preset correspondence relationship, wherein the correspondence relationship includes a plurality of preset position distances and a vehicle speed corresponding to each preset position distance.
7. A control device for automatic parking, characterized by comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the current target speed and the current actual speed of a vehicle under the condition of receiving an automatic parking request of the vehicle;
the judging module is used for judging whether the current target vehicle speed is greater than the current actual vehicle speed;
the first control module is used for determining a target power output torque under the condition that the current target vehicle speed is greater than the current actual vehicle speed, and controlling the vehicle according to the target power output torque;
and the second control module is used for determining the target wheel end braking torque under the condition that the current target vehicle speed is less than the current actual vehicle speed, and controlling the vehicle according to the target wheel end braking torque.
8. The control device according to claim 7, wherein the first control module comprises a first determining submodule, configured to determine the target power output torque of the clutch through a proportional-integral control manner according to a difference between the current target vehicle speed and the current actual vehicle speed, and a preset first torque calibration parameter and a second torque calibration parameter when the current driving state of the vehicle is fuel-driven, the transmission is a dual-clutch transmission, and the current target vehicle speed is greater than the current actual vehicle speed, wherein the first torque calibration parameter is a proportional term parameter in proportional-integral control, and the second torque calibration parameter is an integral term parameter in proportional-integral control.
9. The control device according to claim 7, wherein the first control module comprises a second determination submodule, and the second determination submodule is used for determining the target power output torque of the hydraulic torque converter in a proportional-integral control mode according to the difference value between the current target vehicle speed and the current actual vehicle speed, and a preset third torque calibration parameter and a preset fourth torque calibration parameter under the condition that the current driving state of the vehicle is fuel-driven, the transmission is an automatic transmission, and the current target vehicle speed is greater than the current actual vehicle speed, wherein the third torque calibration parameter is a proportional term parameter in proportional-integral control, and the fourth torque calibration parameter is an integral term parameter in proportional-integral control.
10. The control device according to claim 7, wherein the first control module includes a third determining submodule, configured to determine a target power output torque of the motor through a proportional-integral control manner according to a difference between the current target vehicle speed and the current actual vehicle speed and preset fifth and sixth torque calibration parameters when the current driving state of the vehicle is electric driving and the current target vehicle speed is greater than the current actual vehicle speed, wherein the fifth torque calibration parameter is a proportional term parameter in proportional-integral control, and the sixth torque calibration parameter is an integral term parameter in proportional-integral control.
11. The control device according to any one of claims 8 to 10, wherein the second control module includes a fourth determination sub-module, configured to determine a target wheel end braking torque in a proportional-integral control manner according to a difference between the current actual vehicle speed and the current target vehicle speed and a preset seventh torque calibration parameter and an eighth torque calibration parameter when the current target vehicle speed is less than the current actual vehicle speed, wherein the seventh torque calibration parameter is a proportional term parameter in proportional-integral control, and the eighth torque calibration parameter is an integral term parameter in proportional-integral control.
12. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the control method for automatic parking according to any one of claims 1 to 6.
13. A vehicle characterized by comprising the control device for automatic parking according to any one of claims 7 to 11.
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| CN202011098148.5A CN114368382A (en) | 2020-10-14 | 2020-10-14 | Control method, control device, storage medium and vehicle for automatic parking |
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| KR20160087668A (en) * | 2015-01-14 | 2016-07-22 | 현대자동차주식회사 | Apparatus and Method for Torque Controlling of Electronic Vehicle |
| CN108622083A (en) * | 2017-03-15 | 2018-10-09 | 本田技研工业株式会社 | Parking assist apparatus |
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