CN114620028A - Automatic parking and braking control method and system and vehicle - Google Patents
Automatic parking and braking control method and system and vehicle Download PDFInfo
- Publication number
- CN114620028A CN114620028A CN202011435156.4A CN202011435156A CN114620028A CN 114620028 A CN114620028 A CN 114620028A CN 202011435156 A CN202011435156 A CN 202011435156A CN 114620028 A CN114620028 A CN 114620028A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- parking
- segment
- deceleration
- acceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000001133 acceleration Effects 0.000 claims abstract description 49
- 238000004590 computer program Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 19
- 238000004364 calculation method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to an automatic parking and braking control method and an automatic parking and braking control system. The automatic parking brake control method comprises the following steps: a path planning step, namely dividing the set parking line segment into an acceleration segment and a deceleration segment according to a specified proportion; a first control sub-step of setting, in the acceleration section, an acceleration in the acceleration section such that the vehicle travels at the acceleration; and a second control sub-step of, in the deceleration section, calculating a deceleration from a current speed of the vehicle and a remaining distance to an end point of the parking line segment, and controlling the vehicle speed in an open-loop manner according to the deceleration. According to the invention, the parking precision and the parking efficiency can be improved.
Description
Technical Field
The invention relates to a vehicle control technology, in particular to an automatic parking and braking control method, an automatic parking and braking control system and a vehicle.
Background
Generally, automatic parking is to plan a path and then track the path. At present, the speed of automatic parking is generally controlled automatically, namely, a driver does not need to control an accelerator and a brake, accurate braking control is needed, and how to perform accurate braking control on a line segment point on a planned line segment influences the accuracy of final parking and warehousing to a great extent.
In the prior art, speed control is generally adopted, and two main modes are adopted: firstly, performing closed-loop control at a low speed in a line segment, and then directly stopping at a line segment node; and secondly, planning a gradual change reference speed in the line segment in advance according to the distance, and stopping at the line segment point with the reference speed as 0.
The prior art is based on speed closed loop to reach the purpose of accurate control real-time speed of a motor vehicle, however, speed control based on closed loop has its own shortcoming:
if the speed of the closed-loop control is too high, deviation is easy to generate; on the contrary, if the control speed is low, the parking time is long;
in a real vehicle, the braking force is not normally controlled directly, but indirectly via a deceleration control device. If speed closed-loop control is used, when a brake device is controlled, a closed-loop system is already a double closed loop, and when gradual change speed control is carried out, the system brake is easy to vibrate, so that the parking stability and the comfort of customer experience are greatly influenced;
to achieve good control, the speed curve design must be combined with vehicle dynamics, etc., and the design is complex and not necessarily expected in practice.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an automatic parking brake control method, an automatic parking brake control system, and a vehicle that can improve parking efficiency and parking accuracy.
An automatic parking brake control method according to an aspect of the present invention is characterized by including:
a path planning step, namely dividing a preset parking line segment into an acceleration segment and a deceleration segment according to a specified proportion;
a first control sub-step of setting, in the acceleration section, an acceleration such that a vehicle speed causes the vehicle to travel at the acceleration; and
a second control sub-step in which, in the deceleration section, a deceleration is calculated from a current speed of the vehicle and a remaining distance to an end point of the parking line segment, and the vehicle speed is controlled in an open-loop manner based on the deceleration.
Optionally, the second control substep further comprises:
if the vehicle cannot be braked when the vehicle crosses the end point of the parking line segment, the vehicle is controlled to be immediately braked.
Optionally, the second control substep further comprises:
and if the vehicle does not reach the parking segment end point and is braked in advance, starting the vehicle from the early braking stop point to the parking segment end point, and controlling the vehicle to decelerate in a closed-loop mode after the acceleration reaches a certain distance so that the vehicle creeps to the parking segment end point.
Alternatively, if the vehicle fails to brake when it creeps to the end of the parking segment, control is performed so that the vehicle is immediately braked.
Optionally, the closed loop mode is implemented by adopting PID control.
The automatic parking brake control system according to an aspect of the present invention is characterized by including:
the path planning module plans and forms parking segment parameters;
the pre-anchor line segment point set generation module generates a parking line segment based on the parking line segment parameters and divides the parking line segment into an acceleration segment and a deceleration segment;
the position judgment module is used for judging the position of the current vehicle in the parking line segment according to a wheel speed sensing signal from a wheel speed sensor and the parking line segment generated by the pre-anchor line segment point set generation module; and
a first control module for performing the following control for a deceleration control apparatus of a vehicle: if the vehicle is in the acceleration section, setting the acceleration in the acceleration section so that the vehicle runs at the acceleration, if the vehicle is in the deceleration section, calculating the deceleration according to the current speed of the vehicle and the residual distance to the end point of the parking line section, and controlling the speed of the vehicle in an open-loop mode according to the deceleration.
Optionally, the first control module further performs the following control: and if the vehicle cannot be braked when the vehicle crosses the end point of the parking line segment, immediately stopping the vehicle.
Optionally, the first control module further performs the following control: and if the vehicle does not reach the parking segment end point and is braked in advance, starting the vehicle again from the early braking stop point to the parking segment end point, and controlling the speed of the vehicle to decelerate in a closed-loop mode when the acceleration reaches a certain distance so that the vehicle creeps to the parking segment end point.
Optionally, the first control module further performs the following control: and if the vehicle does not stop when creeping to the end point of the parking line section, immediately stopping the vehicle.
Optionally, the closed loop mode is implemented by adopting PID control.
Optionally, further comprising: a second control module for controlling a steering system of the vehicle in a closed loop manner to maintain the vehicle traveling on the parking line segment.
The computer-readable medium of the present invention, on which a computer program is stored, is characterized in that the computer program, when executed by a processor, implements the automatic parking brake control method described above.
The computer device of the present invention includes a storage module, a processor, and a computer program stored on the storage module and executable on the processor, and is characterized in that the processor implements the automatic parking brake control method when executing the computer program.
The vehicle of the present invention is characterized by including the automatic parking brake control system.
Drawings
Fig. 1 is a schematic diagram showing a parking line segment and speed in an ideal situation.
Fig. 2 is a schematic diagram showing a parking segment and speed in the case of a rush through of the end of the parking segment. Fig. 3 is a schematic diagram showing a parking segment and a speed in the case where the end point of the parking segment is not reached.
Fig. 4 is a schematic diagram showing a parking segment in which the speed control is performed in the present invention in the case where the end point of the parking segment is not reached.
Fig. 5 is a schematic diagram showing a closed-loop control system of the present invention.
Fig. 6 is a schematic diagram showing an open loop control method of the present invention.
Fig. 7 is a schematic diagram showing a control method in the non-braking condition according to the present invention.
Fig. 8 is a block diagram showing the configuration of the automatic parking brake control system of the present invention.
Fig. 9 is a schematic diagram showing a hardware configuration in which the automatic parking brake control system according to the embodiment of the present invention is applied to a vehicle.
Fig. 10 is a schematic flow chart showing a case where the automatic parking brake control system according to the embodiment of the present invention is applied to a vehicle.
Detailed Description
The following description is of some of the several embodiments of the invention and is intended to provide a basic understanding of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
For the purposes of brevity and explanation, the principles of the present invention are described herein with reference primarily to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equally applicable to all types of automatic parking brake control methods, automatic parking brake control systems, and vehicles, and that these same principles may be implemented therein, as well as any such variations, without departing from the true spirit and scope of the present patent application.
The automatic parking brake control method of the present invention is conceived in that, in a main stroke of parking, a brake system (e.g., a deceleration control device (EBCM)) owned by a vehicle body is used for deceleration open-loop control; if the open-loop control is not in place, the brake system is still used for carrying out small-segment closed-loop control. Specifically, a parking line segment is planned and formed in advance and divided into an acceleration segment and a deceleration segment from a starting point, and the following control is performed:
(1) the acceleration of the parking line segment, the vehicle acceleration and no brake control;
(2) after the vehicle enters a deceleration section after running for a certain distance, calculating the deceleration required to be given by combining the distance of the remaining line section and the current vehicle speed, and giving a deceleration value to a deceleration control device to realize the open-loop deceleration brake control of the real vehicle;
(3) if the open-loop control generates a deviation, corresponding auxiliary control (possibly adding closed-loop control) needs to be performed in combination with specific situations, which are described later.
In this case, a reasonable ratio is allocated to the acceleration section and the deceleration section (which may also be referred to as a "brake-off section"). In the acceleration section, a certain method (such as direct idling and light refueling door) can be adopted to lift the vehicle to a certain speed; when the vehicle crosses the acceleration section to the deceleration section, the deceleration that should be applied by the remaining section can be directly calculated so that the vehicle is stopped just at the end of the line section. The present invention addresses the problem of braking in the deceleration section.
Parking brake ideally a given deceleration at the end of a parking line segment just brakes the vehicle. Fig. 1 is a schematic diagram showing a parking line segment and speed in an ideal situation. As shown in fig. 1, let the length of the parking line segment be L, the acceleration segment be a, correspondingly, the deceleration segment be 1-a, the speed at which the vehicle reaches the end of the acceleration segment be v,
then, the deceleration acc of the remaining deceleration segment is calculated by the formula:
acc=-v2/(L*(1-a))/2
however, in general, the calculation of the deceleration cannot be performed precisely, and may be influenced by a delay in information from the vehicle sensor, smoothness of the ground surface, and the like, and may pass through the end point or may not reach the end point. One for each of these two cases is analyzed below.
Fig. 2 is a schematic diagram showing a parking segment and speed in the case of a rush through of the end of the parking segment. As shown in fig. 2, since the deceleration is set to a large value when the end point is crossed, the brake is stopped directly, and therefore, in general, the speed is generally small when the end point of the line segment is approached, and a large deceleration value is directly set at this time, and a large error, that is, within an acceptable range, cannot be generated.
Fig. 3 is a schematic diagram showing a parking segment and a speed in the case where the end point of the parking segment is not reached. This is often the case, and when the deceleration open-loop control is performed, the vehicle is usually braked at the track point in advance, as shown in fig. 3.
How to start the vehicle again and continue to run to the line segment point for braking is one of the improvement points of the invention. In the invention, a combination mode of 'open-loop control + closed-loop control' is adopted, namely, if the deceleration open loop can not enable the actual vehicle to reach the terminal point, the rest segment part continues to run off in a small-segment closed-loop mode.
Fig. 4 is a schematic diagram showing a parking segment in which the speed control is performed in the present invention in the case where the end point of the parking segment is not reached. As shown in fig. 4, the combination of "open-loop control + closed-loop control" is adopted, so that even if the deceleration open-loop calculation generates an error, the rest can be compensated by a small-segment low-speed closed-loop method. Because the low-speed closed loop is adopted, the rest part can ensure that the vehicle passes through a segment point at a lower speed under the general condition, if the vehicle is braked and stopped immediately after the brake value is directly given to the deceleration control device under the condition that the terminal point of the parking segment is not stopped, the error is also in a smaller range after the vehicle is stopped.
Specifically, the automatic parking brake control method according to an embodiment of the present invention includes the steps of:
a path planning step, namely dividing the set parking line segment into an acceleration segment and a deceleration segment according to a specified proportion;
a first control sub-step of setting, in the acceleration section, an acceleration in the acceleration section such that the vehicle travels at the acceleration; and
a second control sub-step in which, in the deceleration section, a deceleration is calculated from a current speed of the vehicle and a remaining distance to an end point of the parking line segment, and the vehicle speed is controlled in an open-loop manner based on the deceleration.
Wherein in the second control sub-step further comprises:
if the vehicle cannot be braked when the vehicle passes the parking line segment end point, immediately stopping the vehicle;
and if the vehicle does not reach the parking segment end point and is braked in advance, controlling the speed of the vehicle to be decelerated in a low-speed closed loop mode from the early braking point to the parking segment end point so that the vehicle creeps to the parking segment end point when the acceleration reaches a certain distance, and if the vehicle does not stop when the vehicle creeps to the parking segment end point, immediately stopping the vehicle.
Preferably, the low-speed closed loop mode is realized by adopting PID control.
As described above, in the acceleration section of the parking line section, the non-braking acceleration section is adopted, so that the vehicle can be accelerated at a free idle speed, and the speed is not too fast and is generally less than the idle speed value, so as to raise the vehicle to a higher speed value within a safe and controllable range as much as possible, and shorten the parking time.
In the deceleration section, the deceleration value of the residual section is calculated in real time according to the current speed and the distance of the residual section, and the deceleration value is given to a deceleration control device to carry out deceleration open-loop control, so that the vehicle is just braked and stopped at the line section point. Under the normal condition, due to the influences of real vehicle sensor errors, road surface conditions and the like, a vehicle often fails to brake at a line segment point or brake in advance, at the moment, the scheme of the invention can also achieve the effect of stable control, the vehicle is ensured to brake within a smaller distance behind the line segment point, and specifically, if the vehicle fails to brake when crossing the line segment point, a larger deceleration value is directly given when crossing the line segment point, so that the vehicle immediately brakes. Since the vehicle speed is already low when the line segment point is crossed, in this case, by means of the instant brake, the error generated after the line segment point is crossed and the brake is stopped is low. If the vehicle is braked and stopped in advance, the rest small sections at the back adopt a deceleration closed loop control mode, so that the vehicle creeps to the line segment point at a lower speed, and when the line segment point is crossed, a deceleration value is directly given, and the vehicle is immediately braked and stopped. Because the closed loop setting speed is lower, the brake is stopped when the terminal point is crossed, the generated error is also lower, and the closed loop control mode is adopted, the vehicle can be ensured to stably creep to a line segment point at a low speed after the first brake. Therefore, the maximum number of times of mistaken parking is only one time in the parking line segment, and the whole parking process is still relatively continuous and stable.
Hereinafter, the closed-loop control and the open-loop control in the present invention will be briefly described.
Fig. 5 is a schematic diagram showing a closed-loop control system of the present invention.
In the present invention, the deceleration control device (EBCM) is controlled to brake, and in the closed loop, the brake type is a deceleration direct setting type, and the brake type is controlled by using a velocity PID, and a schematic diagram thereof is shown in fig. 5.
Fig. 6 is a schematic diagram showing an open loop control method of the present invention.
As shown in fig. 6, in the open loop, the PID link is removed, and the deceleration value is directly given to the deceleration control apparatus (EBCM).
Fig. 7 is a schematic diagram showing a control method in the non-braking condition according to the present invention.
As shown in fig. 7, when there is no brake, the brake type is changed to no brake, and no input is required to the deceleration control device (EBCM).
Next, the automatic parking brake control system according to the present invention will be described.
Fig. 8 is a block diagram showing the configuration of the automatic parking brake control system of the present invention.
As shown in fig. 8, the automatic parking brake control system of the present invention includes:
the path planning module 100 plans and forms parking segment parameters;
the pre-anchor line segment point set generating module 200 is used for generating a parking line segment based on the parking line segment parameters and dividing the parking line segment into an acceleration segment and a deceleration segment;
the position judging module 300 is used for judging the position of the current vehicle in the parking line segment according to a wheel speed sensing signal from a wheel speed sensor and the parking line segment generated by the pre-anchor line segment point set generating module; and
a first control module 400 for controlling a deceleration control apparatus of a vehicle: if the vehicle is in the acceleration section, setting the acceleration in the acceleration section so that the vehicle runs at the acceleration, if the vehicle is in the deceleration section, calculating the deceleration according to the current speed of the vehicle and the residual distance to the end point of the parking line section, and controlling the speed of the vehicle in an open-loop mode according to the deceleration.
Wherein the first control module 400 further performs the following control: if the vehicle cannot be braked and stopped when the vehicle crosses the parking line segment end point, immediately stopping the vehicle; if the vehicle does not reach the parking segment end point and is braked and stopped in advance, the vehicle is restarted and the speed of the vehicle is controlled to be decelerated in a low-speed closed loop mode when the acceleration reaches a certain distance so that the vehicle creeps to the parking segment end point; and if the vehicle does not stop when creeping to the end point of the parking line section, immediately stopping the vehicle. Wherein, preferably, the low-speed closed loop mode is realized by adopting PID control.
Optionally, the method may further include: a second control module (not shown, optional module) for controlling the steering system of the vehicle in a closed loop manner to maintain the vehicle in motion on the parking line segment. Therefore, in the process of vehicle running, the steering closed-loop control ensures that the vehicle is always on a parking line segment, the parking line segment is usually in the form of a straight line, an arc or a spline curve, and the steering control is easy to realize the forms.
Next, an automatic parking brake control system according to an embodiment of the present invention will be specifically described.
Fig. 9 is a schematic diagram showing a hardware configuration in which the automatic parking brake control system according to the embodiment of the present invention is applied to a vehicle.
As shown in fig. 9, the MCU10 acquires a vehicle speed sensing signal and a position sensing signal from an actual vehicle system via CA, and transmits a brake control signal and a steering control signal to the deceleration control device 20 and the steering system 30 of the actual vehicle system, respectively. The MCU10 is integrated with the automatic parking brake control system of the present invention.
Fig. 10 is a schematic flow chart showing a case where the automatic parking brake control system according to the embodiment of the present invention is applied to a vehicle.
As shown in fig. 10, path planning is performed firstly according to the parking space, the environment and the current vehicle body posture, parameters of a parking curve are obtained after the path planning, and a pre-anchor line segment point set is generated based on the parameters.
When the vehicle is parked, the track is calculated according to the wheel speed sensing signal, and the position of the current vehicle in the parking line segment is judged based on the existing pre-anchor line segment point set.
During the vehicle's travel, closed-loop steering control ensures that the vehicle is always on a parking segment (a common parking segment is typically in the form of a straight line, an arc, or a spline curve). When the vehicle travels a certain proportion of distance in the parking line segment, namely enters a deceleration segment, the automatic parking brake control method is adopted to carry out open-loop and closed-loop brake control.
The present invention also provides a computer-readable medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the automatic parking brake control method of the present invention.
The invention also provides computer equipment which comprises a storage module, a processor and a computer program which is stored on the storage module and can run on the processor, and is characterized in that the processor executes the computer program to realize the automatic parking brake control method.
The invention provides a vehicle which comprises the automatic parking brake control method.
The automatic parking brake control method and the automatic parking brake control system adopt the method, and under any condition (early brake, no brake or right brake), the vehicle can finally run to the line segment end point, and when the vehicle runs to the line segment end point, the deceleration is directly given, so that the rapid brake of the vehicle is ensured. Therefore, the parking efficiency can be improved, the parking precision can be improved, and the parking time can be reduced.
The above examples mainly describe the automatic parking brake control method, the automatic parking brake control system, and the vehicle of the present invention. Although only a few embodiments of the present invention have been described in detail, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (14)
1. An automatic parking brake control method is characterized by comprising the following steps:
a path planning step, namely dividing a preset parking line segment into an acceleration segment and a deceleration segment according to a specified proportion;
a first control sub-step of setting, in the acceleration section, an acceleration such that a vehicle speed causes the vehicle to travel at the acceleration; and
a second control sub-step in which, in the deceleration section, a deceleration is calculated from a current speed of the vehicle and a remaining distance to an end point of the parking line segment, and the vehicle speed is controlled in an open-loop manner based on the deceleration.
2. The automatic parking brake control method according to claim 1,
further comprising in the second control substep:
if the vehicle cannot be braked when the vehicle crosses the end point of the parking line segment, the vehicle is controlled to be immediately braked.
3. The automatic parking brake control method according to claim 1,
further comprising in the second control substep:
and if the vehicle does not reach the parking segment end point and is braked and stopped in advance, starting the vehicle from the advanced braking and stopping point to the parking segment end point, and controlling the vehicle to decelerate in a closed-loop mode after the acceleration reaches a certain distance so that the vehicle creeps to the parking segment end point.
4. The automatic parking brake control method according to claim 3,
and if the vehicle does not stop when creeping to the end point of the parking line section, controlling to immediately stop the vehicle.
5. The automatic parking brake control method according to claim 3,
and the closed loop mode is realized by adopting PID control.
6. An automatic parking brake control system, characterized by comprising:
the path planning module plans and forms parking segment parameters;
the pre-anchor line segment point set generation module generates a parking line segment based on the parking line segment parameters and divides the parking line segment into an acceleration segment and a deceleration segment;
the position judgment module is used for judging the position of the current vehicle in the parking line segment according to a wheel speed sensing signal from a wheel speed sensor and the parking line segment generated by the pre-anchor line segment point set generation module; and
a first control module for performing the following control for a deceleration control apparatus of a vehicle: and if the vehicle is in the acceleration section, setting the acceleration in the acceleration section so that the vehicle runs at the acceleration, if the vehicle is in the deceleration section, calculating the deceleration according to the current speed of the vehicle and the residual distance to the end point of the parking line section, and controlling the speed of the vehicle in an open-loop mode according to the deceleration.
7. The automatic parking brake control system according to claim 6,
the first control module further performs the following control: and if the vehicle cannot be braked when the vehicle crosses the end point of the parking line segment, immediately stopping the vehicle.
8. The automatic parking brake control system according to claim 7,
the first control module further performs the following control: and if the vehicle does not reach the parking segment end point and is braked in advance, starting the vehicle again from the early braking stop point to the parking segment end point, and controlling the speed of the vehicle to decelerate in a closed-loop mode when the acceleration reaches a certain distance so that the vehicle creeps to the parking segment end point.
9. The automatic parking brake control system according to claim 8,
the first control module further performs the following control: and if the vehicle does not stop when creeping to the end point of the parking line section, immediately stopping the vehicle.
10. The automatic parking brake control system according to claim 8,
and the closed loop mode is realized by adopting PID control.
11. The automatic parking brake control system according to any one of claims 6 to 10, further comprising:
a second control module for controlling a steering system of the vehicle in a closed loop manner to maintain the vehicle traveling on the parking line segment.
12. A computer-readable medium, having stored thereon a computer program,
the computer program, when executed by a processor, implements the automatic parking brake control method according to any one of claims 1 to 6.
13. A computer device comprising a storage module, a processor and a computer program stored on the storage module and executable on the processor, wherein the processor implements the method for controlling an automatic parking brake according to any one of claims 1 to 6 when executing the computer program.
14. A vehicle comprising the automatic parking brake control system according to any one of claims 6 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011435156.4A CN114620028A (en) | 2020-12-10 | 2020-12-10 | Automatic parking and braking control method and system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011435156.4A CN114620028A (en) | 2020-12-10 | 2020-12-10 | Automatic parking and braking control method and system and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114620028A true CN114620028A (en) | 2022-06-14 |
Family
ID=81894658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011435156.4A Pending CN114620028A (en) | 2020-12-10 | 2020-12-10 | Automatic parking and braking control method and system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114620028A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116494956A (en) * | 2023-03-21 | 2023-07-28 | 广州汽车集团股份有限公司 | Parking control method and device, vehicle and storage medium |
-
2020
- 2020-12-10 CN CN202011435156.4A patent/CN114620028A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116494956A (en) * | 2023-03-21 | 2023-07-28 | 广州汽车集团股份有限公司 | Parking control method and device, vehicle and storage medium |
| CN116494956B (en) * | 2023-03-21 | 2024-05-14 | 广州汽车集团股份有限公司 | Parking control method and device, vehicle and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11214252B2 (en) | Vehicle control method and apparatus, vehicle, and storage medium | |
| CN102649431B (en) | Method for operating a driver assistance system of a motor vehicle and driver assistance system | |
| RU2707855C1 (en) | Autonomous driving system (versions) | |
| CN109835327B (en) | Method and device for operating a motor vehicle | |
| CN112124364B (en) | Control method for accurate train stop, ATO, VOBC and train | |
| CN106843231A (en) | Pilotless automobile, the control method of pilotless automobile and its control device | |
| CN109305195B (en) | Train control method and device | |
| CN107010074B (en) | Method for providing a setpoint value signal for a driver assistance device, motor vehicle and control device for a motor vehicle | |
| US10427656B2 (en) | Braking system | |
| JP2007034382A (en) | Vehicle control system | |
| CN104002811A (en) | Method for operating a motor vehicle driver assistance system with a combined longitudinal and transverse guiding function | |
| US20220266871A1 (en) | Remote support system and remote support method | |
| CN104417558A (en) | Deceleration setting system, deceleration setting method, and deceleration setting program | |
| US20220219656A1 (en) | Vehicle control device | |
| CN112590738A (en) | ATO (automatic train operation) parking control method compatible with different inter-vehicle generations | |
| RU2716525C2 (en) | Steering wheel feedback mechanism | |
| CN110723137A (en) | Deceleration control method and system for short-distance automatic parking and computer readable storage medium | |
| CN114620028A (en) | Automatic parking and braking control method and system and vehicle | |
| US10556587B2 (en) | System and method of mitigating errors in a device by use of propulsion torque | |
| CN113613966B (en) | Brake control device for vehicle | |
| CN111114594B (en) | Rail train auxiliary driving control method and device and train | |
| JP3957057B2 (en) | Vehicle traveling control apparatus and method | |
| JP3849427B2 (en) | Vehicle travel control device | |
| WO2018225344A1 (en) | In-vehicle control device and train control system | |
| CN113799749B (en) | Inbound control method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |