CN115009239A - Parking method, device, equipment and storage medium for vehicle - Google Patents
Parking method, device, equipment and storage medium for vehicle Download PDFInfo
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- CN115009239A CN115009239A CN202210808135.5A CN202210808135A CN115009239A CN 115009239 A CN115009239 A CN 115009239A CN 202210808135 A CN202210808135 A CN 202210808135A CN 115009239 A CN115009239 A CN 115009239A
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/245—Longitudinal vehicle inclination
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
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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 application discloses a parking method, a parking device, parking equipment and a storage medium of a vehicle, wherein the method comprises the following steps: acquiring running information of a vehicle, the gradient of a road where the vehicle is located and the current vehicle weight of the vehicle; analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the braking of the vehicle; controlling the vehicle to brake park based on the brake torque. This application, after the slope and the current car weight of the road that acquire the travel information of vehicle, vehicle place road, can obtain the braking torque that the vehicle stopped and stops needs, based on braking torque, the control vehicle carries out brake control, promptly in this application, can obtain the moment of torsion of resisting the slope based on the slope and the car weight of the road that the vehicle was placed, therefore, can brake well on the ramp and stop, avoided the vehicle to take place the swift current slope.
Description
Technical Field
The present application relates to the field of vehicle braking, and in particular, to a method, an apparatus, a device, and a storage medium for parking a vehicle.
Background
Along with the increasing intelligence of vehicle, the braking function of vehicle is also more humanized more and more.
Because the braking of the vehicle is related to the safety of the whole vehicle, a good vehicle braking system can reduce the danger occurrence probability of the vehicle and ensure the safety of users. At present, vehicles have a crawling function and an E-pedal function, and braking and stopping can be carried out on the vehicles after a user releases an accelerator by turning off the crawling function or turning on the E-pedal function.
Disclosure of Invention
The application mainly aims to provide a parking method, a parking device, parking equipment and a parking storage medium for a vehicle, and aims to solve the technical problem that in the prior art, the vehicle is prone to sliding down a slope due to the fact that braking cannot be well performed on the slope.
In order to achieve the above object, the present application provides a parking method of a vehicle, including:
acquiring running information of a vehicle, the gradient of a road where the vehicle is located and the current vehicle weight of the vehicle;
analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the braking of the vehicle;
controlling the vehicle to brake for a parking brake based on the brake torque.
Optionally, the vehicle includes a plurality of braking modes, and the step of controlling the vehicle to brake on a stop based on the braking torque includes:
timing the parking time of the vehicle when the current vehicle speed is reduced to zero based on the braking torque to obtain the parking time;
comparing the parking time with preset safety time, and if the parking time is greater than the safety time, obtaining a brake conversion instruction;
and controlling the vehicle to switch the braking mode of the vehicle and brake the vehicle on the basis of the braking switching command.
Optionally, the step of analyzing the running information and the gradient to obtain the braking torque required by the vehicle braking based on the current vehicle weight includes:
analyzing the gradient based on the current vehicle weight to determine a compensation torque required to resist the current vehicle weight;
analyzing the running information to determine the driving torque required by the vehicle brake;
calculating and analyzing the driving torque and the compensation torque based on the maximum power of the vehicle to obtain the mechanical torque required by stopping the vehicle;
and obtaining the braking torque required by the vehicle braking based on the driving torque, the compensation torque and the mechanical torque.
Optionally, the step of performing a computational analysis on the driving torque and the compensation torque based on the maximum power of the vehicle to obtain the mechanical torque required for stopping the vehicle includes:
calculating the driving torque and the compensation torque to obtain the torque sum of the driving torque and the compensation torque;
comparing the torque sum to the maximum power;
and if the torque sum is larger than the maximum power, calculating a difference value between the maximum power and the braking torque to obtain the mechanical torque required by stopping the vehicle.
Optionally, the step of analyzing the gradient based on the current vehicle weight to determine the compensation torque required to resist the current vehicle weight includes:
analyzing the running information, and determining the current speed of the vehicle and the change angle of an accelerator pedal of the vehicle;
determining a first torque required by the vehicle to decelerate to a preset first target vehicle speed based on the change angle and the current vehicle speed;
after the current vehicle speed is reduced to the first target vehicle speed, the first torque is increased steadily until the current vehicle speed is reduced to a second target vehicle speed, closed-loop control is activated, and a second torque required by vehicle braking and stopping based on the closed-loop control is obtained;
the driving torque is obtained based on the first torque and the second torque.
Optionally, the step of determining a first torque required for decelerating the vehicle to a preset first target vehicle speed based on the change angle and the current vehicle speed comprises:
determining the change angle and the current vehicle speed;
if the change angle is zero, determining the deceleration of the vehicle;
determining a first torque required for decelerating the vehicle to a preset first target vehicle speed based on the deceleration of the vehicle and the current vehicle speed.
Optionally, the parking method of the vehicle further comprises:
determining a target torque required when the vehicle starts;
and the power torque of the vehicle is gently increased, and after the power torque reaches the target torque, the braking torque is gently reduced so as to enable the vehicle to start smoothly.
The present application also provides a parking apparatus of a vehicle, the parking apparatus of a vehicle including:
the acquisition module is used for acquiring the running information of the vehicle, the gradient of a road where the vehicle is located and the current vehicle weight of the vehicle;
the analysis module is used for analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the vehicle braking;
a control module to control the vehicle to brake park based on the brake torque.
Optionally, the vehicle includes a plurality of braking modes;
the control module includes:
the timing module is used for timing the parking time of the vehicle to obtain the parking time when the current vehicle speed is reduced to zero based on the braking torque;
the comparison module is used for comparing the parking time with preset safety time, and if the parking time is greater than the safety time, a brake conversion instruction is obtained;
and the control submodule is used for controlling the vehicle to switch the braking mode of the vehicle and brake and park the vehicle based on the braking switching command.
Optionally, the analysis module comprises:
the first analysis submodule is used for analyzing the gradient based on the current vehicle weight and determining compensation torque required for resisting the current vehicle weight;
the second analysis submodule is used for analyzing the running information and determining the driving torque required by the vehicle brake;
the calculation module is used for performing calculation analysis on the driving torque and the compensation torque based on the maximum power of the vehicle to obtain the mechanical torque required by stopping the vehicle;
and the first obtaining module is used for obtaining the braking torque required by the vehicle braking based on the driving torque, the compensation torque and the mechanical torque.
Optionally, the control module comprises:
the first calculation submodule is used for calculating the driving torque and the compensation torque to obtain the torque sum of the driving torque and the compensation torque;
a comparison submodule for comparing the torque sum with the maximum power;
and the second calculation submodule is used for calculating the difference value between the maximum power and the braking torque if the torque sum is larger than the maximum power so as to obtain the mechanical torque required by stopping the vehicle.
Optionally, the second analysis submodule comprises:
the first analysis unit is used for analyzing the running information and determining the current speed of the vehicle and the change angle of an accelerator pedal of the vehicle;
the determining submodule is used for determining a first torque required by the vehicle to decelerate to a preset first target vehicle speed based on the change angle and the current vehicle speed;
the control unit is used for steadily increasing the first torque after the current vehicle speed is decelerated to the first target vehicle speed until the current vehicle speed is decelerated to a second target vehicle speed, and activating closed-loop control to obtain a second torque required by the vehicle brake based on the closed-loop control;
a second deriving module for deriving the drive torque based on the first torque and the second torque.
Optionally, the determining sub-module includes:
a first determination unit for determining the change angle and the current vehicle speed;
the second analysis unit determines the deceleration of the vehicle if the change angle is zero;
a second determination unit configured to determine a first torque required for deceleration of the vehicle to a preset first target vehicle speed based on the deceleration of the vehicle and the current vehicle speed.
Optionally, the parking device of the vehicle comprises:
the starting module is used for determining a target torque required by the vehicle during starting;
and the starting control module is used for controlling to gently increase the power torque of the vehicle and gently reduce the braking torque after the power torque reaches the target torque so as to enable the vehicle to start smoothly.
The present application further provides a parking apparatus of a vehicle, the parking apparatus of the vehicle being a physical node apparatus, the parking apparatus of the vehicle including: a memory, a processor and a program of a parking method of the vehicle stored on the memory and executable on the processor, which program, when executed by the processor, is adapted to carry out the steps of the parking method of the vehicle as described above.
The present application also provides a storage medium having stored thereon a program for implementing the parking method of a vehicle as described above, which when executed by a processor implements the steps of the parking method of a vehicle as described above.
Compared with the prior art that resources required by the vehicle can be found only by directly reading data such as all annual newspapers, financial reports and the like, so that the efficiency is low, the parking method, the parking device, the parking equipment and the parking storage medium for the vehicle can obtain the running information of the vehicle, the gradient of a road where the vehicle is located and the current vehicle weight of the vehicle; analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the braking of the vehicle; controlling the vehicle to brake for a parking brake based on the brake torque. In the application, after the running information of the vehicle, the gradient of the road where the vehicle is located and the current vehicle weight are obtained, the braking torque required by braking of the vehicle can be obtained, and the vehicle is controlled to perform braking control based on the braking torque.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart diagram of a first embodiment of a vehicle parking method of the present application;
FIG. 2 is a schematic workflow diagram of a parking system of a vehicle according to the subject application;
FIG. 3 is a vehicle speed-torque schematic of a parking system of a vehicle according to the present application;
fig. 4 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application.
The objectives, features, and advantages of the present application will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In a first embodiment of the parking method of the vehicle according to the present application, referring to fig. 1, the parking method of the vehicle includes:
step S10, acquiring the running information of the vehicle, the gradient of the road where the vehicle is located and the current vehicle weight of the vehicle;
step S20, analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the vehicle brake;
and step S30, controlling the vehicle to brake and park according to the brake torque.
The method comprises the following specific steps:
step S10, acquiring the running information of the vehicle, the gradient of the road where the vehicle is located and the current vehicle weight of the vehicle;
in this embodiment, it should be noted that the parking method of the vehicle can be applied to a parking apparatus of the vehicle belonging to a parking device of the vehicle belonging to a parking system of the vehicle.
A parking system for a vehicle is built in with a driving device for driving or braking the vehicle and a plurality of braking devices for braking the vehicle. It should be noted that different brake devices need to be switched in different brake modes.
The braking device at least comprises a hydraulic caliper brake, a mechanical caliper brake and the like.
The gradient of the road on which the vehicle is located may be zero or greater than zero, specifically, when the gradient of the road on which the vehicle is located is zero, the road is a flat road, and when the gradient of the road on which the vehicle is located is greater than zero, the road is a sloping road.
Wherein, the driving device at least comprises a driving motor, a driving hydraulic motor, a driving pneumatic motor and the like.
It should be noted that a commonly used driving device is a driving motor.
The braking modes at least comprise a deceleration braking mode, a temporary parking braking mode, a long-time parking braking mode, a vehicle starting braking mode and the like.
For example, when the vehicle starts on a road with a slope, the driving force of the driving device needs to be increased while braking to avoid the vehicle from rolling, and the vehicle braking may be in a vehicle starting braking mode.
Specifically, because the hydraulic caliper brakes, the caliper is controlled to brake the vehicle in a hydraulic mode, and in the caliper controlling process, the hydraulic device is easily affected by brake fluid, and the braking effect is unstable, so that the hydraulic caliper brakes the vehicle to be braked and stopped in a short time after the speed of the vehicle is zero.
Wherein the brake fluid at least comprises castor oil-alcohol type, synthetic type, mineral oil type and the like.
In the embodiment, based on the obtained running information of the vehicle, the gradient of the road where the vehicle is located and the current vehicle weight, the vehicle is braked based on the driving device, the braking mode is switched when the vehicle speed is reduced to zero, braking is carried out through the hydraulic calipers, the driving device is replaced gently for braking, and the phenomenon of vehicle slipping is avoided when the braking mode is switched.
Step S20, analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the vehicle brake;
the current vehicle weight at least comprises the self weight of the vehicle and the weight of users and articles in the vehicle.
If the road where the vehicle is located is a slope road, the braking torque is the torque required by stopping the vehicle and preventing the vehicle from sliding down the slope;
if the road on which the vehicle is located is a flat road, the braking torque is the torque required for stopping the vehicle.
The braking torque may be a positive value, a negative value, or zero.
For example, when the braking torque of the vehicle is negative during deceleration and zero when the vehicle speed is zero, and when the vehicle speed is reduced to zero during uphill, the driving device is required to provide power for resisting the current vehicle weight, and the braking torque is positive.
In the present embodiment, the gradient of the road on which the vehicle is located is analyzed, the component force of the vehicle weight in the downhill direction is calculated from the gradient, and the braking torque required for braking the vehicle is determined based on the component force and the torque required for stopping the vehicle.
In the present embodiment, if the road on which the vehicle is located is a flat road, it is not necessary to analyze the weight of the vehicle, and the torque required to stop the vehicle is the braking torque.
Specifically, the step of analyzing the running information and the gradient to obtain the braking torque required by the vehicle braking based on the current vehicle weight includes:
step S21, analyzing the gradient based on the current vehicle weight, and determining the compensation torque needed for resisting the current vehicle weight;
step S22, analyzing the running information, and determining the driving torque required by the vehicle brake;
step S23, based on the maximum power of the vehicle, calculating and analyzing the driving torque and the compensation torque to obtain the mechanical torque required by the vehicle to stop;
and step S24, obtaining the braking torque required by the vehicle brake based on the driving torque, the compensation torque and the mechanical torque.
The mechanical torque may be a torque required for braking the vehicle by stepping on a brake pedal of the vehicle.
The driving information may include, but is not limited to, a rotation angle of an accelerator pedal of the vehicle, i.e., a change angle of an accelerator, a current vehicle speed of the vehicle, and the like.
In addition, since the vehicle is on a road with a gradient, when the vehicle is normally braked, a phenomenon of a slope slip occurs based on the weight of the vehicle. In the embodiment, the gradient is analyzed, the component force of the vehicle in the direction from the gradient to the downward gradient is determined, the compensation torque required for the gradient is calculated, the running information is analyzed, the driving torque required for braking of the vehicle is determined, the driving torque and the compensation torque are added to obtain the torque sum, the torque sum is compared with the maximum power of the vehicle, whether the intervention of the mechanical torque is required or not is judged, and if the intervention of the mechanical torque is required, the braking torque required for braking of the vehicle is determined based on the driving torque, the compensation torque and the mechanical torque.
Specifically, the step of analyzing the gradient based on the current vehicle weight and determining the compensation torque required to resist the current vehicle weight includes:
step A10, analyzing the running information, and determining the current speed of the vehicle and the change angle of an accelerator pedal of the vehicle;
step A20, determining a first torque required by the vehicle to decelerate to a preset first target vehicle speed based on the change angle and the current vehicle speed;
step A30, after the current vehicle speed is decelerated to the first target vehicle speed, the first torque is steadily increased until the current vehicle speed is decelerated to a second target vehicle speed, closed-loop control is activated, and a second torque required by the vehicle brake based on the closed-loop control is obtained;
step a40, deriving the drive torque based on the first torque and the second torque.
The change angle may be an angle rotated when an accelerator pedal of the vehicle is depressed, for example, the change angle is zero when the accelerator pedal is not depressed, and the change angle is 3 degrees when the accelerator pedal is depressed and rotated by 3 degrees.
The first torque is the torque which is required to be provided by the driving device when the vehicle speed is reduced from the current vehicle speed to the first target vehicle speed;
the second torque is the torque which is required to be provided by the driving device when the vehicle speed is 0 kilometer per hour as a control target and closed-loop control is carried out.
In this embodiment, the driving information is analyzed to determine the current speed measurement of the vehicle and the change angle of the accelerator pedal, if the change angle is zero, it is determined that the vehicle needs to be decelerated to a standstill, and then, based on the current vehicle speed, it is determined that the vehicle speed is reduced to a first target vehicle speed, a first torque needs to be provided by the driving device, and a second torque needs to be provided by the driving device when the vehicle performs closed-loop circulation control, and the first torque and the second torque are added to obtain the driving torque.
In this embodiment, referring to fig. 2 and 3, a compensation torque of a gradient is determined according to a current vehicle speed, a vehicle weight and the gradient, if the current vehicle speed is less than a second target vehicle speed, closed-loop control is activated, a second torque required by the closed-loop control for braking the vehicle is obtained, a torque required by a user, that is, a first torque is determined according to an opening degree of an accelerator and the vehicle speed, a torque sum is obtained by adding the first torque, the second torque and the compensation torque, the torque sum is compared with a maximum power of a power system, and if the torque sum is less than the maximum power of the power system, the torque sum is output to perform braking control on the vehicle. It should be noted that the second vehicle speed may be 2km/h set in fig. 2, or may be other speeds; the slope may be 10 degrees as set forth in fig. two, but may be other slopes as well.
Where "+" in fig. 2 indicates that the two torques are added, and "min" indicates that the maximum power of the vehicle is less.
Specifically, the step of determining a first torque required for decelerating the vehicle to a preset first target vehicle speed based on the change angle and the current vehicle speed includes:
step A21, determining the change angle and the current vehicle speed;
step A22, if the change angle is zero, determining the deceleration of the vehicle;
step a23, determining a first torque required for the vehicle to decelerate to a preset first target vehicle speed based on the deceleration of the vehicle and the current vehicle speed.
In the embodiment, the change angle of the accelerator pedal and the current vehicle speed are determined, and whether the vehicle speed of the vehicle needs to be reduced to zero is judged based on the change angle; if the speed of the vehicle needs to be reduced to zero, whether the current speed of the vehicle is greater than a first target speed of the vehicle is judged, if the current speed of the vehicle is greater than the first target speed of the vehicle, it is determined that the speed of the vehicle is reduced to the first target speed of the vehicle, and a first torque needs to be provided by a driving device.
In this embodiment, if the current vehicle speed is not greater than the first target vehicle speed, it is determined whether the current vehicle speed is greater than the second target vehicle speed, and if the current vehicle speed is less than the second target vehicle speed, a second torque is started, which performs closed-loop control with the vehicle speed of 0km/h as a control target.
In the embodiment, the running information of the vehicle is analyzed, a first torque required to be provided by a driving device when the vehicle decelerates is determined, a second torque required to be provided by the driving device when the vehicle is subjected to closed-loop control with 0 kilometer per hour as a control target is analyzed, a compensation torque required to compensate the gradient is determined, the first torque, the second torque and the compensation torque are added to obtain a braking torque, the braking torque is compared with the maximum power of the vehicle, the braking torque is determined to be smaller than the maximum power, and the vehicle is controlled to brake and stop based on the braking torque.
Compared with the prior art that resources required by the parking equipment can be found only by directly reading data such as all annual reports, financial reports and the like, so that the efficiency is low, the parking method, the parking device, the parking equipment and the parking storage medium for the vehicle can obtain the driving information of the vehicle, the gradient of a road where the vehicle is located and the current vehicle weight of the vehicle; analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the braking of the vehicle; controlling the vehicle to brake park based on the brake torque. In the application, after the running information of the vehicle, the gradient of the road where the vehicle is located and the current vehicle weight are obtained, the braking torque required by braking of the vehicle can be obtained, and the vehicle is controlled to perform braking control based on the braking torque.
Further, based on the above-mentioned embodiments of the present application, another embodiment of the present application is provided, in which the parking method of the vehicle further includes:
step C10, determining the target torque required by the vehicle when starting;
and step C20, the power torque of the vehicle is gently increased, and after the power torque reaches the target torque, the braking torque is gently reduced, so that the vehicle can be started smoothly.
In this embodiment, when the vehicle is parked and the angle of change of the accelerator pedal of the vehicle is monitored to be increased, the power torque of the driving device is increased, when the power torque reaches the target torque, the hydraulic torque braked by the hydraulic caliper is smoothly reduced, and finally the hydraulic torque is discharged.
In the present embodiment, in the case where the vehicle is stopped for a long time, when it is monitored that the angle of change of the accelerator pedal of the vehicle is increased, the hydraulic torque braked by the hydraulic caliper is increased at a certain rate, while the EPS torque braked by the mechanical caliper is decreased at the same rate as the increased hydraulic torque, thereby completely converting the EPS torque into the hydraulic torque, and it is monitored that the current braking torque is completely braked by the hydraulic caliper, that is, the power torque of the driving apparatus is increased, to reach the target torque, and the hydraulic torque is smoothly discharged.
The EPS is an (Electrical Park Brake) electronic parking Brake system.
In this embodiment, it is also possible to gently reduce the EPS torque of the mechanical caliper brake after the hydraulic torque of the hydraulic caliper brake is smoothly increased to the target torque.
In the present embodiment, the braking torque is first determined as the overnight torque, and then the power torque of the driving device of the vehicle is increased, and when the target torque is reached, the hydraulic torque is gradually reduced, so that the vehicle is ensured to start smoothly on a sloping road, and the phenomenon of a slope slip does not occur.
Further, based on the above embodiments in the present application, another embodiment of the present application is provided, in which the step of comparing the parking time with a preset safe time, and if the parking time is greater than the safe time, obtaining a brake switching command includes:
step D10, comparing the parking time with the safety time, and judging whether the vehicle is temporarily parked;
and D20, if the parking time is longer than the safe time, judging that the vehicle is not temporarily parked, and obtaining a brake conversion instruction.
Wherein the safe time is the time when the vehicle stops for a short time.
In this embodiment, when the speed of a motor vehicle drops to zero, the hydraulic pressure calliper braking is smoothly started, and the hydraulic pressure calliper provides braking torque, and simultaneously, the speed that drive arrangement steadily increased with hydraulic pressure calliper reduces until turning into hydraulic torque completely with the moment of torsion that drive arrangement provided, if the parking time is greater than safe time, then turn into hydraulic torque EPS moment, avoid the unstability of hydraulic pressure calliper braking, cause the phenomenon that the vehicle stops to control.
Further, based on the above-described embodiment in the present application, another embodiment of the present application is provided, in which, referring to fig. 3, a specific description is given by taking an example in which the first target speed is 5Km/h, the second target speed is 2Km/h, the safe time is 3min, and the vehicle is located on an uphill road surface:
step E10, if the current speed is more than 5Km/h and the change angle of the current accelerator is detected to be zero, the vehicle slides to the speed less than or equal to 5Km/h based on the E-pedal function or the closed crawling function of the vehicle;
the E-pedal function can accelerate the vehicle by stepping on the accelerator by a user, the acceleration and deceleration control of the vehicle is realized by releasing the accelerator to decelerate the vehicle, when the accelerator pedal is completely released, namely, the change angle of the accelerator is zero, the vehicle starts to brake until the vehicle stops, and the vehicle can be braked without additionally stepping on the brake by the user.
The creeping function is called as low-speed cruising driving auxiliary system, which can make the vehicle automatically control the engine to the torque output, the speed changing system and the brake, and make the vehicle pass through the bad road surface at very slow speed. In the crawling mode, after the user releases the throttle, the vehicle automatically travels according to the road information and does not decelerate to a stop, so in this embodiment, the crawling function needs to be turned off.
In this embodiment, when the E-pedal function is turned on or the creep function is turned off, and the current vehicle speed is greater than 5Km/h, the user completely releases the throttle, that is, the change angle of the throttle is zero, it is determined that the user's desire is to decelerate the vehicle to a stop, that is, to decelerate the vehicle to zero, and decelerate the vehicle through the coasting feedback deceleration until the actual vehicle speed is decelerated to 5Km/h, at this time, since the driving motor needs to control the deceleration of the vehicle, the torque of the driving motor is a negative number, so as to shorten the time for the vehicle to decelerate from the current vehicle speed to 5Km/h, since the driving motor brakes the vehicle, the hydraulic Brake and the EPB (Electrical Park Brake system) are both in the non-operating stage during the coasting feedback stage, so that the hydraulic torque and the mechanical torque are both zero during the vehicle coasting stage, and the state of the EPB is a fully released state. In the present embodiment, the hydraulic torque corresponds to the hydraulic braking torque in fig. 3, and the mechanical torque corresponds to the EPB torque in fig. 3.
It should be noted that the EPB may be a mechanical caliper brake, and the state of the EPB is a complete release, and may be a complete release of the mechanical caliper, that is, the mechanical caliper does not brake the vehicle at all.
Wherein, the sliding feedback is called sliding energy feedback: when the driver looses the throttle during the high-speed running of the vehicle, the vehicle controls the driving motor to decelerate to the first target speed at a certain deceleration, and then quits the coasting feedback function, for example, when the driving motor is controlled to decelerate to 0.2g, the vehicle is decelerated to 5km/h, and then quits the coasting energy feedback function. It should be noted that "g" is an acceleration.
It should be noted that, since the driving motor of the vehicle is reversely rotated in the coasting feedback phase to provide the negative torque for the vehicle to rapidly decelerate, when the vehicle decelerates to the first target speed, the coasting feedback function is exited, the vehicle can completely exit the coasting feedback function before the vehicle decelerates to zero, if the vehicle speed of the vehicle decelerates to zero, the vehicle can be caused to back up and cause a rear-end collision risk to the following vehicle, and if the exiting time of the coasting feedback function is shortened, the vehicle can be perceived by the user, so as to reduce the driving experience of the user.
And E20, when the vehicle decelerates to 5Km/h, performing mechanical analysis on the gradient of the road, determining the resistance provided by the weight of the vehicle to the braking of the vehicle, so as to reduce the braking force of the driving motor and control the driving motor to enter a motor braking stage.
In this embodiment, when the speed of the vehicle is reduced to zero, the weight of the vehicle has a component force in the reverse direction of the vehicle, and the component force of the weight of the vehicle makes the vehicle have a tendency to move backward, so that the direction of the frictional force facing the wheels toward the vehicle head is opposite to the component force of the weight of the vehicle at this time, and in order to ensure that the vehicle does not roll, that is, to ensure that the force acting on the vehicle toward the vehicle head is balanced with the component force of the weight of the vehicle, the driving motor is required to provide a force to the vehicle, that is, the second torque of the driving motor is a positive value, that is, the actual torque of the motor in fig. 3 is greater than zero, and the resistance of the weight of the vehicle is offset by the power provided by the front driving motor and the frictional force of the ground facing the tire, so that the vehicle is prevented from rolling.
It should be noted that, since the lower the rotation speed, the greater the rotation friction force, during the deceleration process of the vehicle, the speed of the vehicle is decreasing uniformly, that is, the rotation speed of the wheels is decreasing, and under the condition that the weight of the vehicle is not changed, in order to ensure that the deceleration of the vehicle is not changed, the second torque of the driving motor needs to be increased uniformly until the rotation speed of the vehicle is decreased to zero, that is, until the vehicle stops.
In the embodiment, since the driving motor actively provides braking force to the vehicle during deceleration of the vehicle, the hydraulic brake and the EPB do not generate braking, the hydraulic brake torque and the EPB torque are 0 nm, and the caliper controlled by the EPB does not brake the vehicle, wherein nm is a unit of torque.
In this embodiment, it should be noted that, when the vehicle is located on a flat road and the vehicle speed is zero, since the weight of the vehicle has no component force in the vehicle traveling direction, the weight of the vehicle has no resistance to the braking of the vehicle, and therefore, when the vehicle stops, the driving motor is not required to provide torque to the vehicle, that is, the torque provided by the driving motor to the vehicle at this time is 0 nm; when the vehicle is located on a downhill road surface and the speed of the vehicle is zero, because the weight of the vehicle has component force in the direction of the vehicle head, the direction of the friction force of the road surface to the vehicle is towards the direction of the vehicle head, in order to avoid that the vehicle cannot be braked, the driving motor needs to provide force towards the tail of the vehicle, namely, the actual torque of the motor is less than 0 Nm after the vehicle stops in the braking stage of the motor.
It should be noted that when the torque of the driving motor, the hydraulic brake, or the EPB is less than zero, the forward motion of the vehicle is performed as braking, and when the torque is greater than zero, the forward motion of the vehicle is performed as providing power.
Specifically, when the speed of the vehicle decelerates from a first target speed to a second target vehicle speed, 0Km/h vehicle speed closed-loop control is activated until the vehicle speed decreases to zero.
In this embodiment, since the road surface is not absolutely flat, for example, a conspicuous pothole road surface or a pothole road surface that can be detected only by an instrument, when the vehicle is stopped, the wheel may stop at a bump of the pothole road surface, since the pothole of the pothole road surface can be regarded as a slope, the vehicle may slip into the pothole, and then the vehicle may continuously move according to inertia, and the vehicle is squeezed to perform motor braking when the vehicle speed is greater than zero through closed-loop control, so that the speed of the vehicle is completely zero.
And E30, after the vehicle is braked and stopped, starting the hydraulic brake and uniformly closing the driving motor drive so as to supply the hydraulic brake to replace the driving motor brake.
Wherein, hydraulic braking is braked through the axletree of hydraulic drive calliper with the vehicle, prevents that the axletree from continuing to rotate, and in braking process, just can consume the energy when hydraulic drive calliper moves, is not consuming the energy promptly after calliper are blocked the axletree.
In the embodiment, because the driving motor needs to continuously consume energy when braking the stopped vehicle, in order to reduce the energy consumption of the vehicle, the driving motor is replaced by hydraulic braking after the vehicle is stopped, so that the energy consumption of the vehicle can be reduced.
In this embodiment, in order to ensure that the user does not feel the switching between the driving motor and the hydraulic brake, the driving motor needs to be smoothly switched to the hydraulic brake in the switching process, that is, the actual torque of the motor uniformly drops from more than zero to 0 nm in the hydraulic brake parking stage, during this period, the hydraulic device uniformly changes from 0 nm to less than 0 nm, until the actual torque of the motor drops to 0 nm, the vehicle is completely braked by the hydraulic brake, and the whole hydraulic brake parking stage is braked by the hydraulic brake torque.
In this embodiment, it should be noted that when the vehicle is on a flat road, the vehicle can be completely stopped due to the friction force of the road surface to the wheels, the vehicle is not required to be hydraulically braked and parked, and the vehicle is only prevented from slipping, and the vehicle is not braked, so that when the vehicle is on a flat road, the hydraulic braking torque of the vehicle is zero in the hydraulic braking parking stage.
Step E40, after the vehicle parking time exceeds the safe time, uniformly increasing the hydraulic brake torque while uniformly decreasing the EPB torque for the EPB brake to smoothly replace the hydraulic brake.
In this embodiment, the EPB brake may be implemented by a mechanical transmission to drive a caliper vehicle to brake, so as to prevent the axle from rotating.
In the embodiment, because there are many unstable factors in the hydraulic braking process, for example, the brake fluid flows back, the hydraulic cylinder is easy to blow out due to being in a high-pressure state for a long time, and the like, the hydraulic device can only perform short-time braking, when the vehicle stops for a time exceeding the safe time, the hydraulic braking needs to be converted into EPB braking, and the axle is braked by driving the caliper through mechanical transmission, so that the braking safety of the vehicle is increased.
The ESP braking, namely mechanical braking, needs to transmit power to the calipers through a transmission system, then the calipers are controlled to brake the vehicle, the power loss is larger than the loss of hydraulic braking in the transmission process, namely, the energy consumed by the mechanical braking is more than the energy consumed by the hydraulic braking; and the hydraulic brake is a direct-feeding type, transmission is not needed, and the starting time is longer than that of a mechanical transmission starting time block.
The mechanical brake can be a hand brake on the vehicle, and the vehicle is prevented from slipping.
It should be noted that although EPB braking can brake the vehicle for a long time with safety ensured, mechanical braking does not have a time block for hydraulic braking to start, for example, the time required for completely replacing the driving motor braking by hydraulic braking may be 20 seconds, the time for completely replacing the driving motor braking by mechanical transmission may be 30 seconds, and hydraulic braking replacing motor braking can reduce energy consumption more than directly replacing motor braking by mechanical braking.
Step E50, upon detection of a gear change forward, gently converts the EPB braking into hydraulic braking in preparation for vehicle zone launch.
In the present embodiment, the EPB brake is first gently converted into the hydraulic brake, and when the EPB brake is completely converted into the hydraulic brake, the EPB brake torque is gently converted into zero, and the braking is completely performed by the hydraulic brake torque.
And E60, when the change angle of the accelerator pedal is detected to be changed, judging that the vehicle needs to start, and smoothly replacing hydraulic braking with driving motor braking to avoid the vehicle from sliding when starting.
In the embodiment, when a user steps on an accelerator pedal, the actual torque of the motor of the driving motor is uniformly increased, and meanwhile, the hydraulic braking torque is uniformly changed to zero, so that the phenomenon that the user is stuck in the braking force conversion process is avoided, and uncomfortable experience is caused to the user.
In this embodiment, the torque of the starter motor resists the force provided by the weight of the vehicle on a slope, preventing roll-off when the vehicle is being started.
In this embodiment, when a user brakes on a slope, the deceleration of the vehicle is accelerated by the actual torque of the motor, and the closed-loop circulation control is performed at the second target speed, so that the speed of the vehicle is completely reduced to zero, in order to reduce the energy consumption of the vehicle, the driving motor brake is smoothly converted into the hydraulic brake, the vehicle is temporarily stopped, and due to the instability of the hydraulic brake, after the stopping time of the vehicle reaches the preset safe time, the hydraulic brake is smoothly converted into the EPB brake, that is, the mechanical brake is used for safely stopping the vehicle for a long time, and when the vehicle starts, in order to avoid the vehicle slipping, the hydraulic brake is uniformly removed when the driving force of the driving motor is measured to reach the starting torque.
Referring to fig. 4, fig. 4 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 4, the parking apparatus of the vehicle may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used for realizing connection communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.
Optionally, the parking device of the vehicle may further include a rectangular user interface, a network interface, a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and the like. The rectangular user interface may comprise a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional rectangular user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
Those skilled in the art will appreciate that the parking facility configuration of the vehicle shown in FIG. 4 does not constitute a limitation of the parking facility of the vehicle, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 4, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, and a parking program of a vehicle. The operating system is a program that manages and controls the parking equipment hardware and software resources of the vehicle, supporting the operation of the parking program and other software and/or programs of the vehicle. The network communications module is used to enable communication between components within the memory 1005, as well as with other hardware and software in the vehicle's parking system.
In the parking apparatus of a vehicle shown in fig. 4, the processor 1001 is configured to execute a parking program of the vehicle stored in the memory 1005, implementing the steps of the parking method of the vehicle described in any one of the above.
The specific implementation of the parking equipment of the vehicle is basically the same as that of each embodiment of the parking method of the vehicle, and is not described herein again.
The present application also provides a parking apparatus of a vehicle, the parking apparatus of a vehicle including:
the acquisition module is used for acquiring the running information of the vehicle, the gradient of a road where the vehicle is located and the current vehicle weight of the vehicle;
the analysis module is used for analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the vehicle braking;
and the control module is used for controlling the vehicle to brake and park on the basis of the brake torque.
Optionally, the vehicle includes a plurality of braking modes;
the control module includes:
the timing module is used for timing the parking time of the vehicle to obtain the parking time when the current vehicle speed is reduced to zero based on the braking torque;
the comparison module is used for comparing the parking time with preset safety time, and if the parking time is longer than the safety time, a brake conversion instruction is obtained;
and the control submodule is used for controlling the vehicle to switch the braking mode of the vehicle and brake and park the vehicle based on the braking switching command.
Optionally, the analysis module comprises:
the first analysis submodule is used for analyzing the gradient based on the current vehicle weight and determining compensation torque required for resisting the current vehicle weight;
the second analysis submodule is used for analyzing the running information and determining the driving torque required by the vehicle brake;
the calculation module is used for performing calculation analysis on the driving torque and the compensation torque based on the maximum power of the vehicle to obtain the mechanical torque required by stopping the vehicle;
the first obtaining module is used for obtaining the braking torque required by the vehicle brake based on the driving torque, the compensation torque and the mechanical torque.
Optionally, the control module comprises:
the first calculation submodule is used for calculating the driving torque and the compensation torque to obtain the torque sum of the driving torque and the compensation torque;
a comparison submodule for comparing the torque sum with the maximum power;
and the second calculation submodule is used for calculating the difference value between the maximum power and the braking torque if the torque sum is larger than the maximum power so as to obtain the mechanical torque required by stopping the vehicle.
Optionally, the second analysis submodule comprises:
the first analysis unit is used for analyzing the running information and determining the current speed of the vehicle and the change angle of an accelerator pedal of the vehicle;
the determining submodule is used for determining a first torque required by the vehicle to decelerate to a preset first target vehicle speed based on the change angle and the current vehicle speed;
the control unit is used for steadily increasing the first torque after the current vehicle speed is decelerated to the first target vehicle speed until the current vehicle speed is decelerated to a second target vehicle speed, and activating closed-loop control to obtain a second torque required by the vehicle brake based on the closed-loop control;
a second deriving module to derive the driving torque based on the first torque and the second torque.
Optionally, the determining sub-module includes:
a first determination unit for determining the change angle and the current vehicle speed;
the second analysis unit determines the deceleration of the vehicle if the change angle is zero;
a second determination unit configured to determine a first torque required for decelerating the vehicle to a preset first target vehicle speed based on the deceleration of the vehicle and the current vehicle speed.
Optionally, the parking device of the vehicle comprises:
the starting module is used for determining a target torque required by the vehicle during starting;
and the starting control module is used for controlling to gently increase the power torque of the vehicle and gently reduce the braking torque after the power torque reaches the target torque so as to enable the vehicle to start smoothly.
The specific implementation of the parking device of the vehicle of the present application is substantially the same as the embodiments of the parking method of the vehicle, and is not described herein again.
The present embodiments provide a storage medium storing one or more programs, which may also be executed by one or more processors for implementing the steps of the parking method of a vehicle according to any one of the above.
The specific implementation of the storage medium of the present application is substantially the same as the embodiments of the parking method for a vehicle, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. A method of parking a vehicle, comprising:
acquiring running information of a vehicle, the gradient of a road where the vehicle is located and the current vehicle weight of the vehicle;
analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the braking of the vehicle;
controlling the vehicle to brake for a parking brake based on the brake torque.
2. The method of parking a vehicle according to claim 1, the vehicle including a plurality of braking modes, wherein the step of controlling the vehicle to brake parking based on the braking torque comprises:
timing the parking time of the vehicle when the current vehicle speed is reduced to zero based on the braking torque to obtain the parking time;
comparing the parking time with preset safety time, and if the parking time is greater than the safety time, obtaining a brake conversion instruction;
and controlling the vehicle to switch the braking mode of the vehicle and brake the vehicle on the basis of the braking switching command.
3. The parking method of claim 1, wherein the step of analyzing the driving information and the gradient based on the current vehicle weight to obtain the braking torque required for the vehicle to brake comprises:
analyzing the gradient based on the current vehicle weight to determine a compensation torque required to resist the current vehicle weight;
analyzing the running information to determine the driving torque required by the vehicle brake;
calculating and analyzing the driving torque and the compensation torque based on the maximum power of the vehicle to obtain the mechanical torque required by stopping the vehicle;
and obtaining the braking torque required by the vehicle braking based on the driving torque, the compensation torque and the mechanical torque.
4. The parking method of a vehicle according to claim 3, wherein the step of performing a computational analysis of the driving torque and the compensation torque based on the maximum power of the vehicle to obtain the mechanical torque required for stopping the vehicle comprises:
calculating the driving torque and the compensation torque to obtain the torque sum of the driving torque and the compensation torque;
comparing the torque sum to the maximum power;
and if the torque sum is larger than the maximum power, calculating a difference value between the maximum power and the braking torque to obtain the mechanical torque required by the vehicle to stop.
5. A method of parking a vehicle as defined in claim 3, wherein said step of analyzing said grade based on said current vehicle weight to determine a compensation torque required to resist said current vehicle weight comprises:
analyzing the running information, and determining the current speed of the vehicle and the change angle of an accelerator pedal of the vehicle;
determining a first torque required by the vehicle to decelerate to a preset first target vehicle speed based on the change angle and the current vehicle speed;
after the current vehicle speed is reduced to the first target vehicle speed, the first torque is increased steadily until the current vehicle speed is reduced to a second target vehicle speed, closed-loop control is activated, and a second torque required by vehicle braking and stopping based on the closed-loop control is obtained;
the driving torque is obtained based on the first torque and the second torque.
6. The method of parking a vehicle according to claim 5, wherein said step of determining a first torque required to decelerate the vehicle to a preset first target vehicle speed based on the angle of change and the current vehicle speed comprises:
determining the change angle and the current vehicle speed;
if the change angle is zero, determining the deceleration of the vehicle;
determining a first torque required for decelerating the vehicle to a preset first target vehicle speed based on the deceleration of the vehicle and the current vehicle speed.
7. The parking method of a vehicle according to claim 1, further comprising:
determining a target torque required when the vehicle starts;
and the power torque of the vehicle is gently increased, and after the power torque reaches the target torque, the braking torque is gently reduced so as to enable the vehicle to start smoothly.
8. A parking apparatus of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the running information of the vehicle, the gradient of a road where the vehicle is located and the current vehicle weight of the vehicle;
the analysis module is used for analyzing the running information and the gradient based on the current vehicle weight to obtain the braking torque required by the vehicle braking;
and the control module is used for controlling the vehicle to brake and park on the basis of the brake torque.
9. A parking apparatus of a vehicle, characterized by comprising: a memory, a processor, and a program stored on the memory for implementing a parking method of the vehicle,
the memory is used for storing a program for implementing a parking method of a vehicle;
the processor is adapted to execute a program implementing a parking method of the vehicle to carry out the steps of the parking method of the vehicle according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a program for implementing a parking method for a vehicle, which is executed by a processor to implement the steps of the parking method for a vehicle according to any one of claims 1 to 7.
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