CN114513743B - Electric vehicle parking method and related device - Google Patents
Electric vehicle parking method and related device Download PDFInfo
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- CN114513743B CN114513743B CN202011285023.3A CN202011285023A CN114513743B CN 114513743 B CN114513743 B CN 114513743B CN 202011285023 A CN202011285023 A CN 202011285023A CN 114513743 B CN114513743 B CN 114513743B
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- 230000002441 reversible effect Effects 0.000 claims description 5
- 238000011065 in-situ storage Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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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
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses an electric vehicle parking method and a related device, when a vehicle controller receives a parking instruction and the longitude and latitude of the current position, the vehicle controller calculates the output torque required by parking according to the difference value of the longitude and latitude of the target position included in the instruction, and sends the output torque to a power vehicle system so as to start the electric vehicle, and when the difference value is smaller than a threshold value, the vehicle controller sends a deceleration instruction to an electronic control braking system so as to slow down the electric vehicle. After the electric vehicle is parked, if the difference is smaller than the parking threshold, the electric vehicle is parked successfully. Therefore, the whole vehicle controller automatically controls the electric vehicle to start and decelerate according to the difference value between the longitude and latitude of the current position and the longitude and latitude of the target position, so that the electric vehicle is parked in place, the operator is prevented from operating fatigue, and meanwhile, the electric vehicle is charged after the parking in place is successful, and the problem that the operator is injured due to the deviation of the parking position can be avoided.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method and a related device for parking an electric vehicle in place.
Background
In the face of the increasingly serious problems of energy shortage and environmental deterioration, clean, pollution-free and zero-emission pure electric vehicles gradually enter the field of view of people, and accordingly, the construction of infrastructure such as a charging and replacing station for serving large-scale electric vehicles is also promoted. At present, the service objects of domestic charging and changing stations in China are mainly group users such as buses, taxis and public service buses.
Taking an electric bus as an example, in urban working conditions, the electric bus has inherent characteristics, such as relatively fixed road conditions, relatively fixed running time and the like, so that a plurality of buses are in a gap in the operation process, and a quick charging station is erected by using the station gap to supplement electric energy. The conventional supplementary electric energy that fills soon of top collector bow charge and two electric pile charges soon of charging that adopts. The quick charging mode of the pantograph does not occupy social road resources, is convenient to operate, has high charging current, and supports the use advantages of high-voltage charging and the like, and is a common charging mode.
However, the quick charging of the pantograph has the defect that the requirements on the longitudinal positioning and the transverse positioning of the parking of a driver are high, and physical limiting or positioning marking lines are generally adopted. In the case of parking in the drive position, the driving operation request of the driver is relatively high, and the driver is likely to feel tired. And if the parking position is inaccurate, the charging failure can affect the normal replenishment of the electric energy. Even the top pantograph and the pantograph are barely lapped due to the deviation of the parking position, and can be charged barely, but the electric arc is pulled to cause great risk of hurting people and vehicles.
Disclosure of Invention
In order to solve the problems, the application provides an electric vehicle parking method and a related device, which are used for automatically controlling the electric vehicle to park to a charging position for charging, avoiding fatigue of a driver in operation and ensuring safety of the vehicle and personnel.
The application provides a method for parking an electric vehicle in place, which is applied to a whole vehicle controller and comprises the following steps:
Receiving an in-place parking instruction and the longitude and latitude of the current position, wherein the in-place parking instruction comprises the longitude and latitude of the target position, and the longitude and latitude of the current position are detected in real time by a real-time dynamic positioning system;
calculating the output torque required by parking in place according to a difference value, wherein the difference value is calculated in real time according to the difference value between the longitude and latitude of the current position and the longitude and latitude of the target position;
transmitting the output torque to a powertrain system to cause the powertrain system to control an electric vehicle launch;
when the difference is smaller than a threshold value, a deceleration instruction is sent to an electronic control braking system so that the electronic control braking system controls the electric vehicle to decelerate;
and after the electric vehicle is parked, if the difference value meets a parking threshold, the electric vehicle is parked successfully in the parking place.
Optionally, when the difference is smaller than the threshold, the step of sending the deceleration command to the electronically controlled brake system includes:
When the difference is less than a first threshold, sending a first deceleration command to the electronically controlled brake system;
When the difference is less than a second threshold, sending a second deceleration command to the electronically controlled brake system; wherein the first threshold is greater than the second threshold and the first deceleration is less than the second deceleration.
Optionally, after the electric vehicle starts, the method further includes:
And adjusting the output torque, and sending the output torque to the power assembly system so that the power assembly system controls the electric vehicle to run at a constant speed.
Optionally, before the sending the output torque to the powertrain system, the method further includes:
Transmitting the system state of the electric vehicle to a terminal device so that the terminal device judges whether the system state meets a starting condition;
when receiving an instruction that the system state meets the starting condition, transmitting the output torque to a power assembly system; wherein the system state includes whether the difference satisfies a parking threshold.
Optionally, the method further comprises:
If the difference value does not meet the parking threshold value, controlling the electric vehicle to reverse;
And after the electric vehicle is parked, executing the steps of receiving the parking instruction and the longitude and latitude of the current position.
Optionally, the method further comprises:
And after receiving the emergency braking instruction, sending the emergency braking instruction to an electronic control braking system so that the electronic control braking system controls the electric vehicle to brake.
Optionally, the whole vehicle controller communicates with the terminal device through an interface.
The second aspect of the present application provides an electric vehicle parking apparatus, applied to a vehicle controller, the apparatus comprising: the device comprises a receiving unit, a calculating unit, a first transmitting unit, a second transmitting unit and a judging unit;
the receiving unit is used for receiving an in-place parking instruction and the longitude and latitude of the current position, wherein the in-place parking instruction comprises the longitude and latitude of the target position, and the longitude and latitude of the current position are detected in real time by the real-time dynamic positioning system;
The calculating unit is used for calculating the output torque required by the parking in place according to the difference value, wherein the difference value is calculated in real time according to the difference value between the longitude and latitude of the current position and the longitude and latitude of the target position;
the first transmitting unit is used for transmitting the output torque to a power assembly system so that the power assembly system controls the electric vehicle to start;
the second sending unit is used for sending a deceleration instruction to an electronic control braking system when the difference value is smaller than a threshold value so that the electronic control braking system controls the electric vehicle to decelerate;
and the judging unit is used for judging that the electric vehicle is successfully parked in the parking place if the difference value meets the parking threshold after the electric vehicle is parked.
A third aspect of the application provides an apparatus for in-situ parking of an electric vehicle, the apparatus comprising a processor and a memory:
The memory is used for storing a computer program and transmitting the computer program to the processor;
The processor is configured to perform the method according to any of the preceding aspects according to instructions in the computer program.
A fourth aspect of the present application provides a computer readable storage medium storing a computer program for performing the method according to any one of the preceding first aspects.
Compared with the prior art, the technical scheme of the application has the advantages that:
The application provides a parking method of an electric vehicle, which is characterized in that after a vehicle controller receives a parking instruction and the longitude and latitude of a current position, an output torque required by parking is calculated according to the difference value of the longitude and latitude of a target position included in the instruction, the output torque is sent to a power vehicle system so as to enable the electric vehicle to start, the difference value between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is gradually reduced along with the running of the electric vehicle, and when the difference value is smaller than a threshold value, the vehicle controller sends a deceleration instruction to an electronic control braking system so as to enable the electric vehicle to be decelerated. When the electric vehicle is parked, if the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is smaller than the parking threshold, the electric vehicle is parked successfully in the parking place, and charging can be started. Therefore, the whole vehicle controller controls the output torque according to the difference value change of the longitude and latitude of the current position and the longitude and latitude of the target position, and automatically controls the starting and the decelerating of the electric vehicle, so that the electric vehicle is parked in place, the operator is prevented from operating fatigue, and the electric vehicle is charged after the parking in place is successfully stopped, so that the problem of hurting the vehicle due to the deviation of the parking position can be avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an electric vehicle parking system according to the present application;
fig. 2 is a flowchart of a method for parking an electric vehicle according to an embodiment of the present application;
Fig. 3 is a schematic diagram of a speed of parking an electric vehicle according to an embodiment of the present application;
Fig. 4 is a schematic diagram of an electric vehicle parking device according to an embodiment of the present application;
fig. 5 is a block diagram of an apparatus for parking an electric vehicle according to an embodiment of the present application;
fig. 6 is a schematic diagram of a computer readable storage medium according to an embodiment of the present application.
Detailed Description
In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a schematic diagram of an electric vehicle parking system provided by the present application, in the figure, the system includes a vehicle controller (Vehicle Control Unit, VCU) 101, a Real-time kinematic (Real-TIME KINEMATIC, RTK) positioning system 102, a powertrain (Powertrain, PT) system 103, an electronically controlled brake system (Electronically Breaking system, EBS) 104, an interface 105, and a terminal device 106. The function of each module is described separately below in connection with fig. 2.
In order to reduce the position error of the electric vehicle, the embodiment of the application adopts the RTK positioning system to collect the longitude and latitude of the current position of the electric vehicle in real time, and sends the collected longitude and latitude of the current position of the electric vehicle to the VCU101, so that the VCU101 can control the speed of the electric vehicle. The RTK positioning system 102 corresponds to the "eye" of the electric vehicle for sensing the current position of the electric vehicle.
The PT system 103 and the EBS104 receive and execute the instruction sent by the VCU101, thereby realizing the in-place parking of the electric vehicle.
The interface 105 is configured to send an instruction of the terminal device 106 to the VCU101, and is beneficial to iterating and developing functions of a product by means of the interface, and embodiments of the present application are not particularly limited to the type of the interface, for example, the interface 105 may be a CAN-WIFI.
The terminal device 106 may be a smart phone, a desktop computer, a notebook computer, a tablet computer, a smart speaker, a smart watch, etc., but is not limited thereto, and the notebook computer is illustrated in fig. 1. The user can set the position of a charging station, which is the target position for the in-parking of the electric vehicle, via the terminal device 106.
The modules are connected through a CAN bus, and a VN tool 1630 of the CAN bus tool Vickey company CAN be used as an analog gateway and carried on an electric vehicle for communication so as to realize data interaction.
For convenience in explaining the function of the VCU101, the following description is made with reference to fig. 2. Referring to fig. 2, the flow chart of an electric vehicle parking method according to an embodiment of the present application is shown. The method shown in fig. 2 is applied to a vehicle controller, and the method includes:
s201: and receiving an instruction of parking in position and the longitude and latitude of the current position.
The VCU101 receives, through the interface 105, an in-position parking instruction sent by the terminal device 106, where the in-position parking instruction includes a position where the electric vehicle needs to enter a charging station for charging, that is, a longitude and latitude of a target position. The longitude and latitude of the target location may be added, deleted, modified, etc. by the terminal device 106.
For example, when the interface 105 is a CAN-WIFI interface, the terminal device 106 sends the instruction for parking to the CAN-WIFI interface through a WIFI signal, and then sends the instruction for parking to the VCU101 through a CAN bus. Thus, the driver can send out the parking instruction by remote operation without the need to use the electric vehicle.
The VCU101 not only receives the parking instruction, but also receives the longitude and latitude of the current position of the electric vehicle sent by the RTK positioning system 102 through the CAN bus. The longitude and latitude of the current position of the electric vehicle are detected by the RTK positioning system 102 in real time, and the longitude and latitude of the current position are changed along with the change of the position of the electric vehicle.
S202: and calculating the output torque required by the in-position parking according to the difference value.
The VCU101 calculates, in real time, a difference between the longitude and latitude of the current position and the longitude and latitude of the target position after receiving the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position, so as to determine the distance between the electric vehicle and the target position.
It is understood that the electric vehicle realizes running of the electric vehicle by controlling the torque of the motor, and in order to be able to park the vehicle at the target position, the output torque required for parking at the position may be calculated according to the difference between the longitude and latitude of the current position and the longitude and latitude of the target position.
S203: the output torque is sent to a powertrain system to cause the powertrain system to control electric vehicle launch.
The VCU101 transmits the calculated output torque to the PT system 103, and the PT system 103 includes a motor, and controls the torque of the motor according to the output torque, thereby realizing the running of the electric vehicle.
The electric vehicle is to be parked, and the electric vehicle is subjected to two phases, namely a start-up phase and a deceleration phase, wherein the deceleration phase is described in the following S204, and the start-up phase of the electric vehicle is described below.
The electric vehicle is started in two stages, namely a start stage and an acceleration stage, respectively, as described below.
In the starting stage, the output torque can be obtained through calculation according to the difference value, and can be adjusted according to the weight of the electric vehicle, so that the starting of the electric vehicle is smoother, the component loss of the electric vehicle is reduced, and the service time of the electric vehicle is prolonged.
In the acceleration stage, after the motor is gradually accelerated, the rotating speed rises, and the electric vehicle does not have a transmission, so that the output torque of the motor is directly expressed as acceleration, and the speed of the electric vehicle gradually increases along with the increase of the acceleration.
S204: and when the difference value is smaller than a threshold value, a deceleration instruction is sent to an electronic control braking system so that the electronic control braking system controls the electric vehicle to decelerate.
As the electric vehicle travels, the electric vehicle gets closer to the target position, i.e. the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position gets smaller, and when the difference is smaller than the threshold value, the electric vehicle enters a deceleration stage at this time, and can be controlled to decelerate, and a deceleration instruction is sent to the EBS104, so that the EBS104 controls the electric vehicle to decelerate.
In order to improve the accuracy of the in-place parking of the electric vehicle, the electric vehicle can be controlled to decelerate through two deceleration stages, namely a primary deceleration stage and a secondary deceleration stage, and it is understood that the electric vehicle is continuously approaching to the target position in the process of realizing the in-place parking, so that the speed of the electric vehicle can be adjusted through the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position. The following description will be made separately.
When it is detected that the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is smaller than the first threshold, at this time, the electric vehicle enters a first-level deceleration region, and the VCU101 sends a first deceleration instruction to the EBS104, so that the EBS104 controls the electric vehicle to automatically decelerate according to the deceleration.
When detecting that the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is smaller than the second threshold, the electric vehicle enters a secondary deceleration area at this time, and the VCU101 sends a second deceleration instruction to the EBS104, so that the EBS104 controls the electric vehicle to automatically decelerate according to the deceleration until the vehicle speed is 0 to achieve parking.
It should be noted that, the first threshold and the second threshold may be set according to actual needs, where the first threshold is greater than the second threshold. For example, the first threshold may be between 1 meter and 3 meters and the second threshold may be between 0.3 meters and 1 meter.
It should be noted that, the first deceleration is smaller than the second deceleration, and because in the secondary deceleration area, the current position of the electric vehicle is closer to the target position, and the deceleration is increased, the larger vehicle speed is beneficial to eliminating the static error of the target position of the parking track of the electric vehicle. The first deceleration and the second deceleration can be dynamically adjusted according to the actual field and the actual situation, and the accuracy of parking in the position is guaranteed.
S205: and after the electric vehicle is parked, if the difference value meets a parking threshold, the electric vehicle is parked successfully in the parking place.
In order to avoid the problem that the electric vehicle hurts people and vehicles due to the deviation of the parking position, whether the vehicle is parked in place or not can be verified to be accurate after the electric vehicle is parked. When the speed of the electric vehicle is reduced to 0, that is, after the electric vehicle is parked, the VCU101 determines whether the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is smaller than the parking threshold, that is, if the difference meets the parking threshold, the electric vehicle is parked successfully, and the electric vehicle can be charged. If the VCU101 determines that the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is greater than the parking threshold, the parking in the parking space is failed.
The application provides a parking method of an electric vehicle, which is characterized in that after a vehicle controller receives a parking instruction and the longitude and latitude of a current position, an output torque required by parking is calculated according to the difference value of the longitude and latitude of a target position included in the instruction, the output torque is sent to a power vehicle system so as to enable the electric vehicle to start, the difference value between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is gradually reduced along with the running of the electric vehicle, and when the difference value is smaller than a threshold value, the vehicle controller sends a deceleration instruction to an electronic control braking system so as to enable the electric vehicle to be decelerated. When the electric vehicle is parked, if the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is smaller than the parking threshold, the electric vehicle is parked successfully in the parking place, and charging can be started. Therefore, the whole vehicle controller controls the output torque according to the difference value change of the longitude and latitude of the current position and the longitude and latitude of the target position, and automatically controls the starting and the decelerating of the electric vehicle, so that the electric vehicle is parked in place, the operator is prevented from operating fatigue, and the electric vehicle is charged after the parking in place is successfully stopped, so that the problem of hurting the vehicle due to the deviation of the parking position can be avoided.
As a possible implementation manner, in order to improve the parking accuracy of the electric vehicle, the electric vehicle can be controlled to travel at a constant speed after the electric vehicle accelerates, that is, a constant speed stage is added in the travel process of the electric vehicle, and the electric vehicle can realize stable travel through PID adjustment, so that the electric vehicle can be easily controlled to realize deceleration parking.
In order to avoid the problem of large fluctuation of the output torque of the electric vehicle, the vehicle speed in the constant speed driving stage of the vehicle may be set to a large vehicle speed, that is, the threshold value of the vehicle speed in the acceleration stage is set to a large value, and in the acceleration stage, when the vehicle speed of the electric vehicle is accelerated to the threshold value, the electric vehicle is controlled to travel at a constant speed, that is, to enter the constant speed driving stage.
Referring to fig. 3, the speed diagram of parking an electric vehicle according to an embodiment of the present application is shown. In the process of parking the electric vehicle, the electric vehicle comprises five stages, namely a starting stage, an accelerating stage, a uniform speed stage, a primary speed reduction stage and a secondary speed reduction stage.
In the use scenario of guiding the pantograph type electric bus to enter the stop for rapid charging, the relevant regulations clearly indicate that the starting speed of the electric bus should not exceed 5 km/h, so that 5 km/h can be used as the threshold value of the speed of the electric bus in the acceleration stage, thereby ensuring the running safety of the electric bus.
As a possible implementation, the whole vehicle controller sends the calculated output torque to the power train, i.e. the electric vehicle can be checked before starting, to ensure the driving safety of the electric vehicle during the automatic control.
Before the electric vehicle is started, the whole vehicle controller sends the system state of the electric vehicle to the terminal equipment, the terminal equipment judges whether the system state meets the starting condition, and after the terminal equipment judges that the system state meets the starting condition, the terminal equipment sends an instruction that the system state meets the starting condition to the whole vehicle controller, and the whole vehicle controller sends the output torque to the power assembly system so that the power assembly system controls the electric vehicle to start. The system state at least comprises whether the difference value between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position meets the parking threshold.
It should be noted that, in order to enable the electric vehicle to have enough time to go through the start-up phase, the acceleration phase, the deceleration phase, and the like, the in-place parking threshold may be set to 10 meters to 100 meters, that is, when the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is greater than 10 meters and less than 100 meters, the in-place parking threshold is satisfied.
As one possible implementation, when the system state of the electric vehicle does not satisfy the instruction of the start condition, for example, when the electric vehicle does not satisfy the parking threshold, the electric vehicle is controlled to reverse, and when the electric vehicle is parked, the step of receiving the instruction of the out-of-position parking and the longitude and latitude of the current position is performed.
It should be noted that, in order to ensure that the electric vehicle is in a normal state, the system state may further include at least one of the following:
(1) Whether the interface connection was successful.
(2) Whether the gear of the electric vehicle is in the D range.
(3) Whether the hand brake of the electric vehicle is in an operating state.
(4) Whether the electric vehicle has a vehicle speed of 0.
(5) Whether there is a serious failure in the powertrain system of the electric vehicle.
(6) Whether there is a serious failure in the electronically controlled brake system of the electric vehicle.
(7) Whether the identification fault exists in the real-time dynamic positioning system of the electric vehicle.
(8) Whether the powertrain of the electric vehicle is in a ready state.
As a possible implementation manner, if the parking in place fails, that is, after the electric vehicle is parked, if the difference value between the longitude and latitude of the current position and the longitude and latitude of the target position does not meet the parking threshold, the electric vehicle is controlled to reverse, and after the electric vehicle is reversed, whether the difference value between the longitude and latitude of the current position and the longitude and latitude of the target position meets the parking threshold is judged again, if yes, the parking in place operation is carried out again, that is, the steps of receiving the parking in place instruction and the longitude and latitude of the current position are executed.
As a possible implementation, when an emergency situation is encountered, for example, during in-place parking, a playing child or the like is found to be present in front of the electric vehicle. The driver can send an emergency braking instruction to the whole vehicle controller through the terminal equipment, or when the driver is in the electric vehicle, the driver can send the emergency braking instruction to the electronic control braking system through stepping on a brake pedal, so that the electronic control braking system controls the electric vehicle to brake, and emergency stopping is realized.
The embodiment of the application provides an electric vehicle parking device, which is applied to a whole vehicle controller, besides the electric vehicle parking method, as shown in fig. 4, and comprises the following steps: a receiving unit 401, a calculating unit 402, a first transmitting unit 403, a second transmitting unit 404, and a judging unit 405;
The receiving unit 401 is configured to receive an in-position parking instruction and a longitude and latitude of a current position, where the in-position parking instruction includes a longitude and latitude of a target position, and the longitude and latitude of the current position is detected in real time by a real-time dynamic positioning system;
The calculating unit 402 is configured to calculate an output torque required for parking in place according to a difference value, where the difference value is calculated in real time according to a difference value between a longitude and a latitude of the current position and a longitude and a latitude of the target position;
The first transmitting unit 403 is configured to transmit the output torque to a powertrain system, so that the powertrain system controls the electric vehicle to start;
The second transmitting unit 404 is configured to transmit a deceleration command to an electronic control brake system to cause the electronic control brake system to control the electric vehicle to decelerate when the difference is smaller than a threshold value;
The determining unit 405 is configured to, after the electric vehicle is parked, if the difference value meets a parking threshold, successfully park the electric vehicle in the parking space.
As a possible implementation manner, the second sending unit 404 is configured to:
When the difference is less than a first threshold, sending a first deceleration command to the electronically controlled brake system;
When the difference is less than a second threshold, sending a second deceleration command to the electronically controlled brake system; wherein the first threshold is greater than the second threshold and the first deceleration is less than the second deceleration.
As a possible implementation manner, after the electric vehicle starts, the apparatus further includes an adjusting unit configured to:
And adjusting the output torque, and sending the output torque to the power assembly system so that the power assembly system controls the electric vehicle to run at a constant speed.
As a possible implementation manner, the apparatus further includes a state detection unit, configured to:
before the output torque is sent to a power assembly system, the system state of the electric vehicle is sent to terminal equipment, so that the terminal equipment judges whether the system state meets a starting condition or not;
when receiving an instruction that the system state meets the starting condition, transmitting the output torque to a power assembly system; wherein the system state includes whether the difference satisfies a parking threshold.
As a possible implementation manner, the device further comprises a reversing unit, configured to:
If the difference value does not meet the parking threshold value, controlling the electric vehicle to reverse;
And after the electric vehicle is parked, executing the steps of receiving the parking instruction and the longitude and latitude of the current position.
As a possible implementation, the device further comprises an emergency braking unit for:
And after receiving the emergency braking instruction, sending the emergency braking instruction to an electronic control braking system so that the electronic control braking system controls the electric vehicle to brake.
As a possible implementation manner, the whole vehicle controller communicates with the terminal device through an interface.
The application provides an electric vehicle parking device, which comprises: the device comprises a receiving unit, a calculating unit, a first transmitting unit, a second transmitting unit and a judging unit; after the vehicle controller receives the command of parking in place and the longitude and latitude of the current position, the vehicle controller calculates the output torque required by parking in place according to the difference value of the longitude and latitude of the target position included in the command, and sends the output torque to the power vehicle system so as to start the electric vehicle. When the electric vehicle is parked, if the difference between the longitude and latitude of the current position of the electric vehicle and the longitude and latitude of the target position is smaller than the parking threshold, the electric vehicle is parked successfully in the parking place, and charging can be started. Therefore, the whole vehicle controller controls the output torque according to the difference value change of the longitude and latitude of the current position and the longitude and latitude of the target position, and automatically controls the starting and the decelerating of the electric vehicle, so that the electric vehicle is parked in place, the operator is prevented from operating fatigue, and the electric vehicle is charged after the parking in place is successfully stopped, so that the problem of hurting the vehicle due to the deviation of the parking position can be avoided.
An embodiment of the present application provides an apparatus for parking an electric vehicle, referring to fig. 5, which shows a block diagram of an apparatus for parking an electric vehicle provided by an embodiment of the present application, as shown in fig. 5, the apparatus includes a processor 510 and a memory 520:
The memory 510 is used for storing a computer program and transmitting the computer program to the processor;
The processor 520 is configured to execute any one of the above-described electric vehicle parking methods according to instructions in the computer program.
An embodiment of the present application provides a computer readable storage medium, referring to fig. 6, which is a schematic diagram of a computer readable storage medium provided by an embodiment of the present application, as shown in fig. 6, where the computer readable storage medium is used to store a computer program 610, and the computer program 610 is used to execute the method for parking an electric vehicle according to any one of the foregoing embodiments.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The apparatus embodiments described above are merely illustrative, wherein the units and modules illustrated as separate components may or may not be physically separate. In addition, some or all of the units and modules can be selected according to actual needs to achieve the purpose of the embodiment scheme. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The foregoing is merely illustrative of the embodiments of this application and it will be appreciated by those skilled in the art that variations and modifications may be made without departing from the principles of the application, and it is intended to cover all modifications and variations as fall within the scope of the application.
Claims (10)
1. The method for parking the electric vehicle in place is characterized by being applied to a whole vehicle controller and comprising the following steps of:
Receiving an in-place parking instruction and the longitude and latitude of the current position, wherein the in-place parking instruction comprises the longitude and latitude of the target position, and the longitude and latitude of the current position are detected in real time by a real-time dynamic positioning system;
calculating the output torque required by parking in place according to a difference value, wherein the difference value is calculated in real time according to the difference value between the longitude and latitude of the current position and the longitude and latitude of the target position;
Transmitting the output torque to a powertrain system to cause the powertrain system to control an electric vehicle launch; wherein, before the output torque is sent to a power train, the speed of the electric vehicle is 0; the starting of the electric vehicle comprises a starting stage and an accelerating stage;
when the difference is smaller than a threshold value, a deceleration instruction is sent to an electronic control braking system so that the electronic control braking system controls the electric vehicle to decelerate;
and after the electric vehicle is parked, if the difference value meets a parking threshold, the electric vehicle is parked successfully in the parking place.
2. The method of claim 1, wherein said sending a deceleration command to an electronically controlled brake system when said difference is less than a threshold value comprises:
When the difference is less than a first threshold, sending a first deceleration command to the electronically controlled brake system;
When the difference is less than a second threshold, sending a second deceleration command to the electronically controlled brake system; wherein the first threshold is greater than the second threshold and the first deceleration is less than the second deceleration.
3. The method according to claim 1 or 2, characterized in that after the electric vehicle is started, the method further comprises:
And adjusting the output torque, and sending the output torque to the power assembly system so that the power assembly system controls the electric vehicle to run at a constant speed.
4. The method of claim 1, wherein prior to said transmitting said output torque to a powertrain system, further comprising:
Transmitting the system state of the electric vehicle to a terminal device so that the terminal device judges whether the system state meets a starting condition;
when receiving an instruction that the system state meets the starting condition, transmitting the output torque to a power assembly system; wherein the system state includes whether the difference satisfies a parking threshold.
5. The method according to claim 4, wherein the method further comprises:
If the difference value does not meet the parking threshold value, controlling the electric vehicle to reverse;
And after the electric vehicle is parked, executing the steps of receiving the parking instruction and the longitude and latitude of the current position.
6. The method according to claim 1, wherein the method further comprises:
And after receiving the emergency braking instruction, sending the emergency braking instruction to an electronic control braking system so that the electronic control braking system controls the electric vehicle to brake.
7. The method of claim 1, wherein the vehicle controller communicates with a terminal device via an interface.
8. An electric vehicle parking device, characterized in that is applied to whole car controller, the device includes: the device comprises a receiving unit, a calculating unit, a first transmitting unit, a second transmitting unit and a judging unit;
the receiving unit is used for receiving an in-place parking instruction and the longitude and latitude of the current position, wherein the in-place parking instruction comprises the longitude and latitude of the target position, and the longitude and latitude of the current position are detected in real time by the real-time dynamic positioning system;
The calculating unit is used for calculating the output torque required by the parking in place according to the difference value, wherein the difference value is calculated in real time according to the difference value between the longitude and latitude of the current position and the longitude and latitude of the target position;
The first transmitting unit is used for transmitting the output torque to a power assembly system so that the power assembly system controls the electric vehicle to start; wherein, before the output torque is sent to a power train, the speed of the electric vehicle is 0; the starting of the electric vehicle comprises a starting stage and an accelerating stage;
the second sending unit is used for sending a deceleration instruction to an electronic control braking system when the difference value is smaller than a threshold value so that the electronic control braking system controls the electric vehicle to decelerate;
and the judging unit is used for judging that the electric vehicle is successfully parked in the parking place if the difference value meets the parking threshold after the electric vehicle is parked.
9. An apparatus for in-situ parking of an electric vehicle, the apparatus comprising a processor and a memory:
The memory is used for storing a computer program and transmitting the computer program to the processor;
The processor is configured to execute the method for parking an electric vehicle according to any one of claims 1 to 7 according to instructions in the computer program.
10. A computer readable storage medium storing a computer program for executing the method of parking an electric vehicle according to any one of claims 1-7.
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| CN202011285023.3A CN114513743B (en) | 2020-11-17 | 2020-11-17 | Electric vehicle parking method and related device |
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| CN202011285023.3A CN114513743B (en) | 2020-11-17 | 2020-11-17 | Electric vehicle parking method and related device |
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