CN114906113A - Electronic parking system and control method thereof - Google Patents
Electronic parking system and control method thereof Download PDFInfo
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- CN114906113A CN114906113A CN202110173231.2A CN202110173231A CN114906113A CN 114906113 A CN114906113 A CN 114906113A CN 202110173231 A CN202110173231 A CN 202110173231A CN 114906113 A CN114906113 A CN 114906113A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a control method of an electronic parking system, which comprises the steps of receiving a parking request; acquiring the vehicle speed at the starting moment of the parking request, and generating a dynamic braking instruction when the vehicle speed at the starting moment of the parking request is judged to be greater than a preset first vehicle speed threshold value; or when the vehicle speed at the starting moment of the parking request is judged to be less than or equal to the preset first vehicle speed threshold value, generating a static clamping instruction; executing a dynamic braking instruction to realize vehicle braking deceleration; or executing a static clamping command to realize that the vehicle gear is put into the P gear. By implementing the invention, the function of integrating the P gear and the EPB of the existing vehicle type can be optimized, the P gear parking can be realized, and the power-off of the whole vehicle can be realized after the P gear EPB is engaged for parking.
Description
Technical Field
The invention relates to the technical field of automobile braking, in particular to an electronic parking system and a control method thereof.
Background
An automobile is generally provided with an independent P-gear switch for engaging P-gear, and the aim is to fasten a gear on an output shaft of a gearbox through a pawl arranged in the gearbox so as to form mechanical locking for parking. Meanwhile, the automobile is generally provided with an independent whole automobile power-on and power-off switch for starting or stopping the engine for a long time and realizing the whole automobile power-off.
At present, although some vehicle types on the market cancel a P-gear locking mechanism and realize a P-gear by adopting a P-gear additional EPB (Electrical park Brake), the basic principle of the realization is similar; in addition, the whole vehicle needs to be controlled through a single switch when being powered off, so that the cost is high, and the human-computer interaction is complex. Therefore, it is necessary to provide an electronic parking system, which optimizes the function of integrating the P gear and the EPB of the existing vehicle type, realizes the P gear parking, and realizes the power off of the entire vehicle after the P gear EPB is engaged for parking by considering that the entire vehicle also has a parking intention of power off.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide an electronic parking system and a control method thereof, which can optimize the function of integrating a P-gear and an EPB of an existing vehicle type, realize P-gear parking, and also can realize power-off of the entire vehicle after the P-gear EPB is engaged for parking.
In order to solve the above technical problem, an embodiment of the present invention provides a control method of an electronic parking system, the method including:
receiving a parking request;
acquiring the vehicle speed at the starting moment of a parking request, and generating a dynamic braking instruction when the vehicle speed at the starting moment of the parking request is judged to be greater than a preset first vehicle speed threshold value; or when the vehicle speed at the parking request starting moment is judged to be less than or equal to the preset first vehicle speed threshold value, generating a static clamping instruction;
executing the dynamic braking instruction to realize vehicle braking deceleration; or executing the static clamping instruction to realize that the vehicle gear is put into the P gear.
Wherein the method further comprises:
acquiring the parking request ending time and the vehicle speed of each acquisition time before the parking request ending time, and if the vehicle speed of the parking request starting time is judged to be greater than the preset first vehicle speed threshold value, continuously maintaining the dynamic braking instruction until the parking request ending time, wherein the vehicle speed of the corresponding acquired parking request ending time and the vehicle speeds of all the acquisition times before the parking request ending time are greater than the preset first vehicle speed threshold value; each acquisition time is set according to a preset rule, starts from the starting time of the parking request and ends at the ending time of the parking request; or
If the vehicle speed at the parking request starting moment is judged to be greater than the preset first vehicle speed threshold value, the vehicle speed at the corresponding parking request ending moment or at one or more acquisition moments before the parking request ending moment is judged to be less than or equal to the preset first vehicle speed threshold value, the first acquisition moment of which the corresponding vehicle speed is less than or equal to the preset first vehicle speed threshold value is judged, the original dynamic braking instruction is replaced by the static clamping instruction from the determined acquisition moment, and the static clamping instruction is kept until the parking request ending moment; or
And when the vehicle speed at the parking request starting moment is less than or equal to the preset first vehicle speed threshold value, continuously keeping the corresponding parking request ending moment and all the acquisition moments before the parking request ending moment in the static clamping instruction until the parking request ending moment.
Wherein the method further comprises:
if the vehicle speed at the parking request starting moment is judged to be greater than the preset first vehicle speed threshold value, and the vehicle speeds at one or more acquisition moments before the corresponding acquired parking request ending moment are smaller than a preset second vehicle speed threshold value, counting to obtain a first duration time when the vehicle speed is always smaller than the preset second vehicle speed threshold value by combining all the acquisition moments and the parking request ending moments of which the vehicle speeds are smaller than the preset second vehicle speed threshold value, and generating a whole vehicle power-OFF command when the first duration time reaches a preset time limit value so as to realize the power-OFF-to-OFF state of the whole vehicle; wherein the preset second vehicle speed threshold is smaller than the preset first vehicle speed threshold; or
If the vehicle speed at the starting time of the parking request is judged to be less than or equal to the preset first vehicle speed threshold value, the vehicle speeds of one or more acquisition times before the corresponding acquired parking request ending time are less than the preset second vehicle speed threshold value, a second duration time of which the vehicle speed is less than the preset second vehicle speed threshold value is obtained through statistics by combining the acquisition times of which all the vehicle speeds are less than the preset second vehicle speed threshold value and the parking request ending time, and when the second duration time reaches the preset time limit value, a whole vehicle power-OFF command is generated so as to achieve the power-OFF state of the whole vehicle.
Wherein the executing the dynamic braking instruction to achieve vehicle braking deceleration; or executing the static clamping instruction to realize that the vehicle gear is engaged into the P gear specifically comprises the following steps:
executing the dynamic braking instruction, and starting an EPB dynamic braking of a hydraulic or electronic parking system to enable the vehicle controller to control the vehicle to decelerate;
and executing the static clamping instruction to drive the electronic parking system EPB to clamp statically, so that the vehicle controller controls the vehicle to decelerate, the gear is changed into N gear, and the P gear is engaged after the electronic parking system EPB clamps.
Wherein the method further comprises:
when the whole vehicle is electrified to a ready state, if the gear is detected to be changed from a P gear to a non-P gear, a release instruction is generated, and the EPB of the electronic parking system is statically released.
After the whole vehicle is electrified to the adaptive cruise control power supply ACC, the whole vehicle controller detects that a brake pedal is stepped on and the anti-theft authentication is passed.
The self-adaptive cruise control power supply ACC is powered on the whole vehicle, and the fact that the whole vehicle controller detects that the whole vehicle is unlocked and the vehicle door is opened is achieved.
The embodiment of the invention also provides an electronic parking system, which comprises an EPB switch, an EPB controller and an EPB actuator which are connected in sequence; wherein the content of the first and second substances,
the EPB switch is used for receiving a parking request;
the EPB controller is used for acquiring the vehicle speed at the parking request starting moment and generating a dynamic braking instruction when the vehicle speed at the parking request starting moment is judged to be greater than a preset first vehicle speed threshold value; or when the vehicle speed at the starting moment of the parking request is judged to be less than or equal to the preset first vehicle speed threshold value, generating a static clamping instruction;
the EPB actuator is used for executing the dynamic braking instruction so as to realize braking deceleration of the vehicle; or executing the static clamping instruction to realize that the vehicle gear is put into the P gear.
Wherein the EPB switch is an executable physical button, an executable virtual button or an executable link.
Wherein the EPB actuator comprises:
the first execution unit is used for executing the dynamic braking instruction, starting the dynamic braking of the hydraulic or electronic parking system EPB and enabling the vehicle controller to control the vehicle to decelerate;
and the second execution unit is used for executing the static clamping instruction, driving the electronic parking system EPB to perform static clamping, enabling the vehicle controller to control the vehicle to decelerate, changing the gear into an N gear, and engaging a P gear after the electronic parking system EPB is clamped.
The embodiment of the invention has the following beneficial effects:
1. the invention integrates the functions of the EPB switch and the P-gear switch, combines the vehicle speed, optimizes the linkage logic of the prior EPB switch and the P-gear switch, realizes the P-gear parking, saves the arrangement space and the cost due to the integrated arrangement of the EPB switch and the P-gear switch, and is convenient to use;
2. the invention further integrates the whole vehicle power-on function on the basis of combining the EPB switch and the P-gear switch into a whole, so that the EPB switch, the P-gear switch and the whole vehicle power-on switch are combined into a whole, and the whole vehicle power-off is automatically realized by combining the vehicle speed and the key duration, thereby further reducing the cost of the SSB power-on and power-off switch, simplifying the operation steps of a driver and being more convenient to use.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an electronic parking system according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of an electronic parking system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the electronic parking system provided in the embodiment of the present invention includes an EPB switch 1, an EPB controller 2, and an EPB actuator 3, which are connected in sequence; wherein the content of the first and second substances,
an EPB switch 1 for receiving a parking request; the EPB switch 1 receives the parking request by means of an executable button, a link, etc., including but not limited to an executable physical button, an executable virtual button, or an executable link. For example, EPB switch 1 is a physical button provided on the transmission; as another example, EPB switch 1 is a virtual button or link provided in the large screen of an infotainment.
The EPB controller 2 is used for acquiring the vehicle speed at the parking request starting moment and generating a dynamic braking instruction when the vehicle speed at the parking request starting moment is judged to be greater than a preset first vehicle speed threshold (such as the vehicle speed b); or when the vehicle speed at the starting moment of the parking request is judged to be less than or equal to a preset first vehicle speed threshold (such as the vehicle speed b), generating a static clamping instruction; the EPB controller 2 receives the vehicle speed acquired by the vehicle speed sensor in real time through the CAN bus and compares the vehicle speed with a preset vehicle speed threshold value to generate a corresponding instruction;
the EPB actuator 3 is used for executing a dynamic braking instruction so as to realize braking deceleration of the vehicle; or executing a static clamping instruction to realize that the vehicle gear is engaged into the P gear; wherein, this EPB executor 3 controls electronic parking system EPB through the CAN bus, specifically includes:
the first execution unit is used for executing a dynamic braking instruction, starting the dynamic braking of the hydraulic or electronic parking system EPB and enabling the vehicle controller to control the vehicle to decelerate;
and the second execution unit is used for executing a static clamping instruction, driving the electronic parking system EPB to perform static clamping, enabling the vehicle controller to control the vehicle to decelerate, changing the gear into an N gear, and engaging a P gear after the electronic parking system EPB is clamped.
It should be noted that the vehicle further includes an ECU, a vehicle control unit VCU, a power control assembly, and the like, which are connected through a CAN bus. At this time, the functions of the EPB switch and the P-gear switch are integrated to realize the P-gear parking.
It should be noted that the braking force of the EPB dynamic brake is smaller than that of the EPB static clamping, so that when the EPB actuator 3 executes the dynamic brake command, the vehicle brake deceleration can be realized without clamping.
In the embodiment of the invention, considering the starting time of the EPB switch receiving the parking request, the EPB actuator 3 can slow down the vehicle speed, so that the existing linkage logic of the EPB and the P gear is further optimized by combining the vehicle speed, and the parking is more reasonable.
Therefore, the EPB controller 2 is further configured to obtain the parking request ending time and the vehicle speeds at the respective previous collection times, and if it is determined that the vehicle speed at the parking request starting time is greater than the preset first vehicle speed threshold (e.g., vehicle speed b), the correspondingly obtained parking request ending time and the vehicle speeds at all the previous collection times are greater than the preset first vehicle speed threshold (e.g., if the pressing time of the EPB switch 1 is not long, the vehicle speed is slower but is always greater than the vehicle speed b), the dynamic braking instruction is continuously maintained until the parking request ending time; the system comprises a parking request acquisition module, a parking request processing module and a parking request processing module, wherein each acquisition time is set according to a preset rule, starts from a parking request starting time and ends at a parking request ending time; or
If the vehicle speed at the parking request starting moment is judged to be greater than a preset first vehicle speed threshold (such as the vehicle speed b), the correspondingly acquired parking request ending moment or the vehicle speed at one or more acquisition moments before the parking request ending moment is smaller than or equal to the preset first vehicle speed threshold (namely, if the EPB switch 1 is pressed for a certain time, the vehicle speed is slower than the vehicle speed b), determining the first acquisition moment corresponding to the vehicle speed smaller than or equal to the preset first vehicle speed threshold, replacing the original dynamic braking instruction with a static clamping instruction from the determined acquisition moment, and keeping the static clamping instruction until the parking request ending moment; or
When the vehicle speed at the parking request starting moment is less than or equal to a preset first vehicle speed threshold (such as the vehicle speed b), the corresponding parking request ending moment and all the acquisition moments before the parking request ending moment are continuously kept with static clamping instructions until the parking request ending moment.
It should be noted that each acquisition time is divided according to a preset rule, such as acquisition at equal intervals of 0.1S between the start time of the parking request and the end time of the parking request.
It is understood that, when the EPB switch 1 is pressed for a short time at the vehicle speed Vs > b at the start time of the parking request, the vehicle speed is slower but is greater than the vehicle speed b, so that the EPB actuator 3 can only execute the dynamic braking command for deceleration until the vehicle speed Ve > b at the end time of the parking request. Once the EPB switch 1 is pressed for a certain period of time, the vehicle speed at some collection time or the vehicle speed Ve at the parking request end time is reduced to be less than the vehicle speed b, at this time, the EPB controller 2 skips from the dynamic brake instruction to the static clamping instruction and keeps the dynamic brake instruction until the EPB switch 1 is released (i.e., the parking request end time), the EPB actuator 3 executes the dynamic brake instruction to decelerate, and when the real-time vehicle speed < the vehicle speed b, the EPB actuator 3 executes the static clamping instruction, so that the P gear is engaged for parking after the gear enters the N gear.
Certainly, when the vehicle speed Vs at the parking request starting time is less than or equal to b, the EPB actuator 3 executes the static clamping instruction to decelerate, so that the vehicle speed Ve at the parking request ending time and the vehicle speeds at all the previous acquisition times are all less than b, namely the real-time vehicle speeds are all less than b, the static clamping instruction is kept at the parking request ending time and all the previous acquisition times, and the EPB actuator 3 executes the static clamping instruction, so that the gear is engaged in the P gear for parking after entering the N gear.
In one embodiment, when the vehicle speed is higher than b, the EPB switch 1 (i.e., P-range switch) is pressed to be turned on to issue an appliance state, and at this time, the EPB controller 2 generates a dynamic braking command to allow the EPB actuator 3 to activate hydraulic pressure or EPB to perform dynamic braking, so that the vehicle speed gradually decreases. If the EPB switch 1 is released before the vehicle speed is reduced to be lower than b, the EPB static clamping can not be executed to enter the P-gear parking; if the EPB switch 1 is pressed all the time to enable the vehicle speed to be reduced to be lower than b, the EPB controller 2 generates a static clamping instruction by skipping a dynamic braking instruction at the first acquisition moment when the vehicle speed is lower than b, the EPB actuator 3 executes EPB static clamping, the gear is changed into an N gear, and after the EPB is clamped, the gear is switched into a P gear to finish parking.
In another embodiment, when the vehicle speed is lower than b, the EPB switch 1 (i.e. P-range switch) is pressed down (for a long time or a short time) to be turned on to issue an Apply state, the EPB controller 2 keeps generating a static clamping command all the time, the EPB actuator 3 executes EPB static clamping, the shift position is changed to N-range, and after the EPB is clamped, the shift position is changed to P-range, and parking is completed.
In the embodiment of the invention, the whole vehicle power-on function can be further integrated on the basis of combining the EPB switch and the P-gear switch into a whole, so that the EPB switch, the P-gear switch and the whole vehicle power-on switch are combined into a whole, and the whole vehicle power-off is automatically realized by combining the vehicle speed and the key pressing time.
At this time, the EPB controller 2 is further configured to, if it is determined that the vehicle speed at the start time of the parking request is greater than the preset first vehicle speed threshold (e.g., vehicle speed b), calculate a first duration T1 that the vehicle speed is always less than the preset second vehicle speed threshold (e.g., vehicle speed a) in combination with the acquisition time at which all vehicle speeds are less than the preset second vehicle speed threshold (e.g., vehicle speed a) and the parking request end time, and generate a vehicle powering OFF command when the first duration T1 reaches the preset time limit (e.g., time T) to implement a vehicle powering OFF to an OFF state; wherein the second vehicle speed threshold a < the first vehicle speed threshold b; or
If the vehicle speed at the parking request starting moment is judged to be less than or equal to a preset first vehicle speed threshold (such as the vehicle speed b), and the vehicle speeds at one or more acquisition moments before the corresponding acquired parking request ending moment are less than a preset second vehicle speed threshold (such as the vehicle speed a), counting a second duration T2 when the vehicle speeds are all less than the preset second vehicle speed threshold (such as the vehicle speed a) and the parking request ending moment, and generating a whole vehicle power-OFF instruction when the second duration reaches a preset time limit (such as the time T) of T2 so as to achieve a whole vehicle power-OFF state.
It is understood that, regardless of the magnitude of the vehicle speed Vs at the start of the parking request, as long as the vehicle speed is less than a preset second vehicle speed threshold (e.g., vehicle speed a) for a duration (T1 or T2) < time T, the entire vehicle power-OFF command can be generated to achieve the entire vehicle power-OFF to OFF state.
In one embodiment, when the vehicle speed is higher than b, the EPB switch 1 (i.e., P-range switch) is pressed to be turned on to issue an appliance state, and at this time, the EPB controller 2 generates a dynamic braking command to allow the EPB actuator 3 to activate hydraulic pressure or EPB to perform dynamic braking, so that the vehicle speed gradually decreases. If the EPB switch 1 is pressed all the time to enable the vehicle speed to be reduced to be lower than b, the EPB controller 2 generates a static clamping instruction by skipping a dynamic braking instruction at the first acquisition moment when the vehicle speed is lower than b, the EPB actuator 3 executes EPB static clamping, the gear is changed into an N gear, and after the EPB is clamped, the gear is switched into a P gear to finish parking. Once the vehicle speed is reduced to be lower than a and the EPB switch 1 is continuously pressed for a time > T in the range that the vehicle speed is lower than a, the power-OFF state of the whole vehicle can be realized.
In another embodiment, when the vehicle speed is lower than b, the EPB switch 1 (i.e. P-range switch) is pressed to be turned on to issue an Apply state, the EPB controller 2 keeps generating a static clamping command all the time, the EPB actuator 3 executes EPB static clamping, the gear is changed to N-range, and after EPB clamping, the gear is switched to P-range, and parking is completed. Once the vehicle speed is reduced to be lower than a, and the EPB switch 1 is continuously pressed for the time > T in the range that the vehicle speed is lower than a, the power-OFF state of the whole vehicle can be realized.
In another embodiment, when the vehicle speed is lower than a, pressing EPB switch 1 (i.e. P-range switch) to turn on to issue Apply state, EPB controller 2 keeps generating static clamping command all the time, EPB actuator 3 executes EPB static clamping, the shift position is changed to N-range, and after EPB clamping, the shift position is changed to P-range, and parking is completed. Once the EPB switch 1 is continuously pressed for the time > T, the power-OFF state of the whole vehicle can be achieved.
In the embodiment of the present invention, the EPB controller 2 is further configured to generate a release instruction to statically release the EPB of the electronic parking system if it is detected that the shift position is changed from the P-shift position to the non-P-shift position when the entire vehicle is powered on to the ready state. The whole vehicle is powered on to the ready state, after the whole vehicle is powered on to the adaptive cruise control power supply ACC, the whole vehicle controller detects that a brake pedal is stepped on and the anti-theft authentication is passed, and the whole vehicle is powered on to the adaptive cruise control power supply ACC when the whole vehicle controller detects that the whole vehicle is unlocked and a vehicle door is opened.
Namely, the vehicle controller detects that the whole vehicle is unlocked and opens a main driving door or a secondary driving door to realize that the whole vehicle is electrified to the ACC, and after the vehicle controller determines that the whole vehicle is electrified to the ACC, the vehicle controller further detects that the vehicle is inside (such as key ignition), a driver steps on a brake pedal and the anti-theft authentication is passed, so that the whole vehicle is electrified to the ready. At this time, when the EPB controller 2 detects that the shift position is switched from the P range to the non-P range, it turns out that the driver intends to leave the vehicle, and the EPB of the electronic parking system automatically performs the static release.
As shown in fig. 2, a control method of an electronic parking system is provided in an embodiment of the present invention, and is used in the electronic parking system, where the method includes the following steps:
step S1, receiving a parking request;
step S2, obtaining the vehicle speed at the parking request starting time, and generating a dynamic braking instruction when the vehicle speed at the parking request starting time is judged to be greater than a preset first vehicle speed threshold value; or when the vehicle speed at the parking request starting moment is judged to be less than or equal to the preset first vehicle speed threshold value, generating a static clamping instruction;
step S3, executing the dynamic braking instruction to realize vehicle braking deceleration; or executing the static clamping instruction to realize that the vehicle gear is put into the P gear.
Specifically, in step S1, the EPB switch receives the parking request and activates the EPB controller.
In step S2, after the EPB controller is triggered, acquiring a vehicle speed at a parking request start time transmitted by the CAN bus and acquired in real time by the vehicle speed sensor, and generating a dynamic braking instruction when it is determined that the vehicle speed at the parking request start time is greater than a preset first vehicle speed threshold (e.g., vehicle speed b); or when the vehicle speed at the starting moment of the parking request is judged to be less than or equal to a preset first vehicle speed threshold value (such as the vehicle speed b), generating a static clamping instruction.
In step S3, the EPB actuator executes a dynamic braking command to activate the dynamic braking of the hydraulic or electronic parking system EPB, so that the vehicle controller controls the vehicle to decelerate; or executing a static clamping instruction to drive the electronic parking system EPB to clamp statically, enabling the vehicle controller to control the vehicle to decelerate, changing the gear into N gear, and after the electronic parking system EPB is clamped, engaging in P gear to complete parking.
In the embodiment of the invention, considering the starting moment when the EPB switch receives the parking request, the EPB actuator can slow down the vehicle speed, so that the existing linkage logic of the EPB and the P gear is further optimized by combining the vehicle speed, and the parking is more reasonable. Accordingly, the method further comprises:
acquiring the parking request ending time and the vehicle speed of each acquisition time before the parking request ending time, and if the vehicle speed of the parking request starting time is judged to be greater than the preset first vehicle speed threshold (such as the vehicle speed b), continuously maintaining the dynamic braking instruction until the parking request ending time when the correspondingly acquired parking request ending time and the vehicle speeds of all the acquisition times before the parking request ending time are greater than the preset first vehicle speed threshold (such as the vehicle speed b); the parking request starting time and the parking request ending time are set according to a preset rule; or
If the vehicle speed at the parking request starting moment is judged to be greater than the preset first vehicle speed threshold (such as the vehicle speed b), the vehicle speed at the correspondingly acquired parking request ending moment or one or more acquisition moments before the parking request ending moment is smaller than or equal to the preset first vehicle speed threshold (such as the vehicle speed b), determining the first acquisition moment when the corresponding vehicle speed is smaller than or equal to the preset first vehicle speed threshold (such as the vehicle speed b), replacing the original dynamic braking instruction with the static clamping instruction from the determined acquisition moment, and keeping the static clamping instruction until the parking request ending moment; or
And when the vehicle speed at the parking request starting moment is less than or equal to the preset first vehicle speed threshold (such as the vehicle speed b), continuously keeping the corresponding parking request ending moment and all the acquisition moments before the parking request ending moment in the static clamping instruction until the parking request ending moment.
It should be noted that each acquisition time is divided according to a preset rule, such as acquisition at equal intervals of 0.1S between the start time of the parking request and the end time of the parking request.
It is understood that when the EPB switch is pressed for a short time at the vehicle speed Vs > b at the start time of the parking request, the vehicle speed is slower but is greater than the vehicle speed b, so that the EPB actuator can only execute the dynamic braking command to decelerate until the vehicle speed Ve > b at the end time of the parking request. Once the EPB switch is pressed for a certain time, the vehicle speed at some collection time or the vehicle speed Ve at the parking request ending time is reduced to be less than the vehicle speed b, at the moment, the EPB controller skips from a dynamic braking instruction to a static clamping instruction and keeps the dynamic braking instruction till the EPB switch is released (namely the parking request ending time), the EPB actuator executes the dynamic braking instruction to decelerate, and when the real-time vehicle speed is less than the vehicle speed b, the EPB actuator executes the static clamping instruction, so that the P gear is engaged for parking after the gear enters the N gear.
Certainly, when the vehicle speed Vs at the parking request starting time is less than or equal to b, the EPB actuator executes the static clamping instruction to decelerate, so that the vehicle speed Ve at the parking request ending time and the vehicle speeds at all the previous acquisition times are all less than b, namely the real-time vehicle speeds are all less than b, the static clamping instruction is kept at the parking request ending time and all the previous acquisition times, and the EPB actuator executes the static clamping instruction, so that the gear is engaged in the P gear for parking after entering the N gear.
In the embodiment of the invention, the whole vehicle power-on function can be further integrated on the basis of combining the EPB switch and the P-gear switch into a whole, so that the EPB switch, the P-gear switch and the whole vehicle power-on switch are combined into a whole, and the whole vehicle power-off is automatically realized by combining the vehicle speed and the key pressing time. Thus, the method further comprises:
if the vehicle speed at the parking request starting moment is judged to be greater than the preset first vehicle speed threshold (such as the vehicle speed b), and the vehicle speeds at one or more acquisition moments before the corresponding acquired parking request ending moment are smaller than a preset second vehicle speed threshold (such as the vehicle speed a), counting a first duration (such as T35 1) of which the vehicle speed is always smaller than the preset second vehicle speed threshold (such as the vehicle speed a) by combining all the acquisition moments of which the vehicle speeds are smaller than the preset second vehicle speed threshold (such as the vehicle speed a) and the parking request ending moment, and generating a whole vehicle power-OFF instruction when the first duration (such as T1) reaches a preset time limit (such as time T) so as to realize the whole vehicle power-OFF state; the preset second vehicle speed threshold value is smaller than the preset first vehicle speed threshold value; or
If the vehicle speed at the parking request starting moment is judged to be less than or equal to the preset first vehicle speed threshold (such as the vehicle speed b), and the vehicle speeds at one or more acquisition moments before the corresponding acquired parking request ending moment are less than the preset second vehicle speed threshold (such as the vehicle speed a), combining the acquisition moments when all the vehicle speeds are less than the preset second vehicle speed threshold (such as the vehicle speed a) and the parking request ending moment, counting a second duration (such as T2) when the vehicle speed is less than the preset second vehicle speed threshold (such as the vehicle speed a), and generating a vehicle power-OFF command when the second duration (such as T2) reaches the preset time limit (such as the time T) so as to realize the power-OFF state of the vehicle.
It is understood that, regardless of the magnitude of the vehicle speed Vs at the start of the parking request, as long as the vehicle speed is less than a preset second vehicle speed threshold (e.g., vehicle speed a) for a duration (T1 or T2) < time T, the entire vehicle power-OFF command can be generated to achieve the entire vehicle power-OFF to OFF state.
In an embodiment of the present invention, the EPB controller is further capable of releasing EPB clamp by power-up and gear detection. Thus, the method further comprises:
when the whole vehicle is electrified to a ready state, if the gear is detected to be in a non-P gear, a release instruction is generated, and the EPB of the electronic parking system is statically released. After the whole vehicle is electrified to the adaptive cruise control power supply ACC, the whole vehicle controller detects that a brake pedal is stepped on and the anti-theft authentication is passed; the power supply of the whole vehicle to the adaptive cruise control power supply ACC is realized by the fact that the whole vehicle controller detects that the whole vehicle is unlocked and a vehicle door is opened.
The embodiment of the invention has the following beneficial effects:
1. the invention integrates the functions of the EPB switch and the P-gear switch, combines the vehicle speed, optimizes the linkage logic of the EPB switch and the P-gear switch in the prior art, realizes the P-gear parking, saves the arrangement space and the cost due to the integrated arrangement of the EPB switch and the P-gear switch, and is convenient to use;
2. the invention further integrates the whole vehicle power-on function on the basis of combining the EPB switch and the P-gear switch into a whole, so that the EPB switch, the P-gear switch and the whole vehicle power-on switch are combined into a whole, and the whole vehicle power-off is automatically realized by combining the vehicle speed and the key duration, thereby further reducing the cost of the SSB power-on and power-off switch, simplifying the operation steps of a driver and being more convenient to use.
It should be noted that, in the foregoing system embodiment, each included system unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, the specific names of the functional units are only for the convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. A control method of an electronic parking system, characterized by comprising the steps of:
receiving a parking request;
the method comprises the steps of obtaining the vehicle speed at the starting moment of a parking request, and generating a dynamic braking instruction when the vehicle speed at the starting moment of the parking request is judged to be greater than a preset first vehicle speed threshold value; or when the vehicle speed at the parking request starting moment is judged to be less than or equal to the preset first vehicle speed threshold value, generating a static clamping instruction;
executing the dynamic braking instruction to realize vehicle braking deceleration; or executing the static clamping instruction to realize that the vehicle gear is shifted into the P gear.
2. The control method of the electronic parking system according to claim 1, characterized by further comprising:
acquiring the parking request ending time and the vehicle speed of each acquisition time before the parking request ending time, and if the vehicle speed of the parking request starting time is judged to be greater than the preset first vehicle speed threshold value, continuously maintaining the dynamic braking instruction until the parking request ending time, wherein the correspondingly acquired parking request ending time and the vehicle speeds of all the acquisition times before the parking request ending time are greater than the preset first vehicle speed threshold value; the parking request starting time and the parking request ending time are set according to a preset rule; or
If the vehicle speed at the parking request starting moment is judged to be greater than the preset first vehicle speed threshold value, the vehicle speed at the corresponding parking request ending moment or one or more acquisition moments before the corresponding parking request ending moment is smaller than or equal to the preset first vehicle speed threshold value, the first acquisition moment when the corresponding vehicle speed is smaller than or equal to the preset first vehicle speed threshold value is determined, the original dynamic braking instruction is replaced by the static clamping instruction from the determined acquisition moment, and the static clamping instruction is kept until the parking request ending moment; or
And when the vehicle speed at the starting time of the parking request is less than or equal to the preset first vehicle speed threshold value, continuously keeping the static clamping instruction at the ending time of the corresponding parking request and all the acquisition times before the ending time of the parking request until the ending time of the parking request.
3. The control method of the electronic parking system according to claim 2, characterized by further comprising:
if the vehicle speed at the parking request starting moment is judged to be greater than the preset first vehicle speed threshold value, and the vehicle speeds at one or more acquisition moments before the corresponding acquired parking request ending moment are smaller than a preset second vehicle speed threshold value, counting to obtain a first duration time when the vehicle speed is always smaller than the preset second vehicle speed threshold value by combining all the acquisition moments and the parking request ending moments of which the vehicle speeds are smaller than the preset second vehicle speed threshold value, and generating a whole vehicle power-OFF command when the first duration time reaches a preset time limit value so as to realize the power-OFF-to-OFF state of the whole vehicle; wherein the preset second vehicle speed threshold is smaller than the preset first vehicle speed threshold; or
If the vehicle speed at the starting time of the parking request is judged to be less than or equal to the preset first vehicle speed threshold value, the vehicle speeds of one or more acquisition times before the corresponding acquired parking request ending time are less than the preset second vehicle speed threshold value, a second duration time of which the vehicle speed is less than the preset second vehicle speed threshold value is obtained through statistics by combining the acquisition times of which all the vehicle speeds are less than the preset second vehicle speed threshold value and the parking request ending time, and when the second duration time reaches the preset time limit value, a whole vehicle power-OFF command is generated so as to achieve the power-OFF state of the whole vehicle.
4. The control method of an electronic parking system according to claim 1, wherein said executing of said dynamic braking command to effect vehicle braking deceleration; or executing the static clamping instruction to realize that the vehicle gear is engaged into the P gear specifically comprises the following steps:
executing the dynamic braking instruction, and starting an EPB dynamic brake of a hydraulic or electronic parking system to enable the vehicle controller to control the vehicle to decelerate;
and executing the static clamping instruction to drive the electronic parking system EPB to statically clamp, so that the vehicle controller controls the vehicle to decelerate to change the gear into N gear, and after the electronic parking system EPB is clamped, engaging the P gear.
5. The control method of the electronic parking system according to claim 3, characterized by further comprising:
when the whole vehicle is electrified to a ready state, if the gear is detected to be changed from a P gear to a non-P gear, a release instruction is generated, and the EPB of the electronic parking system is statically released.
6. The method for controlling the electronic parking system according to claim 5, wherein the powering-on-ready state of the whole vehicle is realized by the vehicle controller detecting that a brake pedal is pressed down and the anti-theft authentication is passed after the vehicle is powered on to the adaptive cruise control power ACC.
7. The method for controlling the electronic parking system according to claim 6, wherein the powering on of the entire vehicle to the adaptive cruise control power ACC is performed by the entire vehicle controller detecting that the entire vehicle is unlocked and the doors are opened.
8. An electronic parking system is characterized by comprising an EPB switch, an EPB controller and an EPB actuator which are connected in sequence; wherein the content of the first and second substances,
the EPB switch is used for receiving a parking request;
the EPB controller is used for acquiring the vehicle speed at the parking request starting moment and generating a dynamic braking instruction when the vehicle speed at the parking request starting moment is judged to be greater than a preset first vehicle speed threshold value; or when the vehicle speed at the starting moment of the parking request is judged to be less than or equal to the preset first vehicle speed threshold value, generating a static clamping instruction;
the EPB actuator is used for executing the dynamic braking instruction so as to realize braking deceleration of the vehicle; or executing the static clamping instruction to realize that the vehicle gear is put into the P gear.
9. The electronic parking system of claim 8, wherein the EPB switch is an executable physical button, an executable virtual button, or an executable link.
10. The electronic parking system of claim 8 wherein the EPB actuator comprises:
the first execution unit is used for executing the dynamic braking instruction, starting the EPB dynamic braking of the hydraulic or electronic parking system and enabling the vehicle controller to control the vehicle to decelerate;
and the second execution unit is used for executing the static clamping instruction, driving the electronic parking system EPB to perform static clamping, enabling the vehicle controller to control the vehicle to decelerate, changing the gear into an N gear, and engaging a P gear after the electronic parking system EPB is clamped.
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