CN115107774A - Ramp automatic parking method and system, readable storage medium and vehicle - Google Patents
Ramp automatic parking method and system, readable storage medium and vehicle Download PDFInfo
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- CN115107774A CN115107774A CN202210720192.8A CN202210720192A CN115107774A CN 115107774 A CN115107774 A CN 115107774A CN 202210720192 A CN202210720192 A CN 202210720192A CN 115107774 A CN115107774 A CN 115107774A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
Abstract
The invention discloses a method, a system, a readable storage medium and a vehicle for automatic parking on a ramp, wherein the method comprises the steps of controlling an electronic stability control system to keep brake pressure when the fact that the vehicle needs to be parked on the ramp is detected, so that the vehicle is controlled to be in the original position; controlling an electronic parking braking system to automatically park the vehicle, and detecting whether the parking of the vehicle is finished in real time; and when the vehicle is detected to be parked completely, controlling the electronic stability control system to release the brake pressure. The invention solves the problem that the vehicle is easy to slide when the ramp automatic parking is carried out in the prior art.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method and a system for automatic parking on a ramp, a readable storage medium and a vehicle.
Background
With the wide popularization of automobiles, users have more and more high attention on the aspects of automobile configuration safety and intelligence, convenience and comfort in operation and the like. The proportion of automatic transmission vehicles in the market is getting larger and larger at present, the automatic transmission vehicles are provided with mechanical locking mechanisms inside a transmission case, and after a gear is put into a P gear, the mechanical locking mechanisms of the transmission case lock an output shaft to prevent a driving wheel from rolling, so that the vehicles can obtain certain parking capacity.
At present, safety devices such as an electronic stability control system ESC and an electronic parking brake system EPB are generally arranged on a vehicle, and the requirements of short-time parking and long-time parking of the vehicle can be met. And partial vehicles have a P-gear parking function, namely, after a driver puts the gear into the P gear, the EPB directly parks the vehicle.
In the prior art, when a vehicle is parked on a slope, after a gear is engaged into a P gear, a certain time is required for an EPB to complete parking, and before the EPB completes parking, if a brake pedal is released, the vehicle will slide down a slope, so that the vehicle runs down.
Disclosure of Invention
In view of the above, the present invention provides a method, a system, a readable storage medium and a vehicle for automatic hill-hold, which aim to solve the problem in the prior art that vehicle is easy to slide when automatic hill-hold is performed.
The embodiment of the invention is realized as follows:
a method of automatic hill parking, the method comprising:
when the fact that the vehicle needs to be parked on a ramp is detected, controlling the electronic stability control system to keep the brake pressure so that the vehicle is controlled to be in the original position;
controlling an electronic parking braking system to automatically park the vehicle, and detecting whether the parking of the vehicle is finished in real time;
and when the vehicle is detected to be parked completely, controlling the electronic stability control system to release the brake pressure.
Further, the method for automatically parking a slope includes, before the step of controlling the vehicle to be in a home position, controlling the electronic stability control system to maintain the brake pressure when it is detected that the vehicle needs to be parked on the slope:
the method comprises the steps of obtaining a brake pedal state, a vehicle speed and a gear signal of a vehicle, and judging whether the vehicle needs to be parked on a ramp according to the brake pedal state, the vehicle speed and the gear signal.
Further, the method for automatic hill-hold includes the steps of obtaining a brake pedal state, a vehicle speed and a gear signal of a vehicle, and determining whether the vehicle needs to be parked on a hill according to the brake pedal state, the vehicle speed and the gear signal:
judging whether the brake pedal state is in a treading state or not;
if yes, judging whether the vehicle is in a static state or not according to the vehicle speed;
if so, judging whether the gear is in a preset gear according to the gear signal;
and if so, determining that the vehicle needs to be parked on the slope.
Further, the method for automatically parking a slope includes, before the step of controlling the vehicle to be in a home position, controlling the electronic stability control system to maintain the brake pressure when it is detected that the vehicle needs to be parked on the slope:
judging whether the electronic stability control system and the electronic parking brake system are in a preset state or not;
if so, executing the step of controlling the electronic stability control system to maintain the brake pressure when detecting that the vehicle needs to perform hill-holding so as to control the vehicle to be in the original position.
Further, the method for automatically parking on a slope, wherein before the step of controlling the electronic parking brake system to automatically park the vehicle and detecting whether the vehicle is parked in real time, the method further comprises:
and acquiring the actual parking time of the vehicle in real time, and controlling the electronic stability control system to release the brake pressure when the actual parking time is longer than the parking time threshold.
Further, the method for automatically parking a slope includes, before the step of controlling the vehicle to be in a home position, controlling the electronic stability control system to maintain the brake pressure when it is detected that the vehicle needs to be parked on the slope:
the method comprises the steps of acquiring a road gradient value in real time in the driving process of a vehicle, and judging whether the gradient value is lower than a preset gradient value or not after the vehicle is static;
if so, controlling the electronic stability control system to maintain the brake pressure when detecting that the vehicle needs to perform ramp parking so as to control the vehicle in the original position;
if not, sending out prompt information, wherein the prompt information is used for prompting a user that the current road cannot be subjected to ramp parking.
Further, the method for automatic hill-hold may further include, after the step of controlling the electronic stability control system to release the brake pressure after the step of detecting that the vehicle is parked, the step of:
obtaining the parking completion time of the vehicle each time and a corresponding gradient value, and determining that the parking completion time is smaller than a target gradient value corresponding to a preset parking completion time from the gradient values;
acquiring a current gradient value of a road where the vehicle is located in real time, and judging whether the current gradient value meets a target gradient value or not;
if yes, when the fact that the vehicle needs to be parked on the slope is detected, the electronic parking braking system is controlled to automatically park the vehicle.
It is another object of the present invention to provide an auto-park ramp system, the system comprising:
the detection module is used for controlling the electronic stability control system to keep the brake pressure when detecting that the vehicle needs to be parked on a ramp, so that the vehicle is controlled to be in the original position;
the parking module is used for controlling an electronic parking braking system to automatically park the vehicle and detecting whether the parking of the vehicle is finished in real time;
and the releasing module is used for controlling the electronic stability control system to release the brake pressure after the vehicle parking is detected to be finished.
It is a further object of embodiments of the present invention to provide a readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the method as described above.
It is a further object of embodiments of the invention to provide a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the program.
When the invention detects that the vehicle needs to be parked on the ramp, the electronic stability control system is controlled to maintain the brake pressure so as to control the vehicle to be in the original position, the electronic parking brake system is controlled to automatically park the vehicle, whether the vehicle is parked is detected in real time, and the electronic stability control system is controlled to release the brake pressure after the parking of the vehicle is detected. The problem of among the prior art when carrying out the ramp parking, the vehicle is swift current down easily is solved.
In addition, the automatic parking method for the ramp provided by the invention solves the problem of automatic parking by shooting the ramp and has the following beneficial effects:
1. the pawl of the P-gear mechanical locking mechanism is prevented from being locked;
2. the phenomenon that the P gear cannot be normally unlocked and the P gear mechanical locking mechanism impacts abnormal sound or is damaged is avoided.
Drawings
FIG. 1 is a flowchart of an auto-hill hold method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of an auto-hill hold method according to a second embodiment of the present invention;
fig. 3 is a block diagram showing the structure of an automatic hill hold system according to a third embodiment of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for purposes of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed types.
With the wide popularization of automobiles, users have more and more high attention on the aspects of automobile configuration safety and intelligence, convenience and comfort in operation and the like. The proportion of automatic transmission vehicles in the market is getting larger and larger at present, the automatic transmission vehicles are provided with mechanical locking mechanisms inside a transmission case, and after a gear is put into a P gear, the mechanical locking mechanisms of the transmission case lock an output shaft to prevent a driving wheel from rolling, so that the vehicles can obtain certain parking capacity.
At present, safety devices such as an electronic stability control system ESC and an electronic parking brake system EPB are commonly arranged on a vehicle, and the requirements of short-time parking and long-time parking of the vehicle can be met. And partial vehicles have a P-gear parking function, namely, after a driver puts the gear into the P gear, the EPB directly parks the vehicle.
In the prior art, when a vehicle is parked on a slope, after a gear is engaged into a P gear, a certain time is needed for completing parking by an EPB (electronic parking brake), and before the EPB completes parking, if a brake pedal is released, the vehicle will slide down along a slope, so that the risk of sliding down exists.
How to avoid the vehicle rolling down when parking a ramp will be described in detail below with reference to specific embodiments and the accompanying drawings.
Example one
Referring to fig. 1, a hill hold method according to a first embodiment of the present invention is shown, which includes steps S10-S12.
And step S10, when the vehicle needs to be parked on the slope, controlling the electronic stability control system to maintain the brake pressure so as to control the vehicle to be in the original position.
In practice, due to road conditions, most vehicles need to be parked on a slope, including long-time parking, such as parking, or short-time parking, such as traffic lights on the slope, at present, most vehicles are generally provided with safety devices such as an electronic stability control system and an electronic parking brake system, so as to meet the intelligent parking requirement of the vehicle, the electronic stability control system mainly comprises three parts, namely a sensor, an Electronic Control Unit (ECU) and an actuator, and the electronic control unit monitors the running state of the vehicle and performs intervention control on an engine and a brake system of the vehicle. The typical automobile electronic stability control system mainly comprises a wheel speed sensor, a brake master cylinder pressure sensor and the like on a sensor, an execution part comprises a traditional brake system, a hydraulic regulator and the like, and an electronic control unit can intervene and adjust the brake of a vehicle; the electronic parking brake system can mainly calculate the downward slip force of the vehicle on the slope due to gravity, and the computer applies the brake force to the rear wheel through the motor to balance the downward slip force, so that the vehicle can stop on the slope. When the vehicle starts, the computer communicates with the engine computer through the high-speed CAN to acquire the traction force of the engine. The computer automatically calculates the increase of the traction force of the engine and correspondingly reduces the braking force. When the traction force is enough to overcome the downward sliding force, the vehicle can be smoothly started.
However, when the vehicle is parked on a slope, since a certain time is required for the electronic parking brake system EPB to complete parking after the shift position is engaged into the P range, the vehicle may slip down the slope if the brake pedal is released before the electronic parking brake system EPB completes parking.
Therefore, when the vehicle needs to be parked on a slope to avoid the brake pedal being released, the vehicle rolls down the slope, and the electronic stability control system is controlled to maintain the brake pressure so as to control the vehicle to be in a home position, wherein the purpose of maintaining the brake pressure is to brake the vehicle through the electronic stability control system to avoid the vehicle rolling down.
Specifically, whether the vehicle is on a slope or not can be detected during the running of the vehicle, and whether the vehicle needs to be parked on the slope or not can be determined according to the state information of the brake pedal, the vehicle speed and the gear information.
More specifically, a brake pedal state, a vehicle speed and a gear signal of a vehicle are obtained, whether the vehicle needs to be parked on a slope or not is judged according to the brake pedal state, the vehicle speed and the gear signal, and whether the brake pedal state is in a stepping-on state or not is judged in specific implementation; specifically, the state of the brake pedal can be acquired, and whether the brake pedal is stepped on or not is judged according to the state of the brake pedal;
if yes, judging whether the vehicle is in a static state or not according to the vehicle speed;
if so, judging whether the gear is in a preset gear according to the gear signal;
and if so, determining that the vehicle needs to be parked on a slope.
Wherein, whether the driver steps on the brake pedal can be judged according to the state of the pedal, for example, the state can be changed after the pedal is stepped on, the state of the brake pedal is set to be 0 when the brake pedal is not stepped on, when the brake pedal is pressed down, the state is 1, whether the current brake pedal is pressed down can be judged by detecting the state of the brake pedal and comparing the state with the preset state, wherein the preset state is 1, the preset gear is P gear, the current gear can be judged to be P gear, N gear or R gear through the gear signal, when the gear is in the P gear, the state that the vehicle needs to be parked is indicated, the preset vehicle speed is 0, the vehicle speed value is obtained through the signal calculation of the wheel speed sensor, whether the vehicle stops or not can be judged, and when the driver steps on the brake pedal to stop the vehicle and switches the gear to the P gear, the current vehicle needs to be parked is indicated.
And step S11, controlling an electronic parking brake system to automatically park the vehicle, and detecting whether the parking of the vehicle is finished in real time.
When it is detected that the vehicle needs to be parked on a slope, the electronic stability control system is controlled to maintain the brake pressure to prevent the vehicle from slipping downwards, then the electronic parking brake system is controlled to normally and automatically park the vehicle, and whether parking of the vehicle is finished or not is detected in real time to determine when the brake pressure of the electronic stability control system is released.
In addition, in some preferred embodiments of the present invention, in order to further enhance the humanization degree of hill-hold parking, before the step of controlling the electronic parking brake system to automatically park the vehicle and detecting whether the parking of the vehicle is completed in real time, the method further includes:
and acquiring a gradient value of the vehicle during parking, and applying corresponding parking force according to the gradient value to avoid insufficient parking force or excessive parking force. And when the current gradient value is judged to exceed the maximum parking force parking gradient, the vehicle is parked on the ramp, the electronic parking braking system is controlled to complete automatic parking according to the maximum parking force, and then the electronic parking braking system is lightened to send warning information, wherein the warning information is used for reminding a user that the current parking gradient is too large and the safety risk of sliding exists, and the warning information comprises but is not limited to a mode of displaying characters, displaying a mark or prompting by voice, for example, a warning lamp is displayed on an instrument panel.
And step S12, controlling the electronic stability control system to release the brake pressure after detecting that the parking of the vehicle is finished.
When the parking of the vehicle is detected to be finished, the current braking of the vehicle is finished, and at the moment, the electronic stability control system is not required to provide braking pressure to avoid the vehicle from slipping downwards, so that the electronic stability control system is controlled to release the braking pressure. Specifically, the parking state information of the vehicle can be fed back after parking is finished, and whether the current vehicle is parked successfully or not can be judged according to the received parking state information.
In addition, in some optional embodiments of the present invention, before the step of controlling the electronic stability control system to release the brake pressure after the vehicle parking completion is detected, the method further includes: and acquiring the actual parking time of the vehicle in real time, and controlling the electronic stability control system to release the brake pressure when the actual parking time is longer than the parking time threshold.
And specifically, the initial calculation of the actual parking time is the initial calculation when the electronic parking brake system starts parking.
In addition, in some optional embodiments of the present invention, when the actual parking time of the vehicle is longer than the preset parking time threshold, a warning message may be sent, where the warning message is used to remind the user that the vehicle needs to be checked during parking, and the warning message includes, but is not limited to, displaying text, displaying a logo, or prompting with voice, for example, displaying a warning lamp on an instrument panel.
In summary, in the automatic hill-parking method in the above embodiments of the present invention, when it is detected that the vehicle needs to be parked on the hill, the electronic stability control system is controlled to maintain the brake pressure so as to control the vehicle to be in the original position, the electronic parking brake system is controlled to automatically park the vehicle, and whether the parking of the vehicle is completed is detected in real time. The problem of among the prior art when carrying out the ramp parking, the vehicle is swift current easily is solved.
Example two
Referring to fig. 2, the automatic hill hold method according to a second embodiment of the present invention is shown, and the method includes steps S20-S24.
And step S20, judging whether the electronic stability control system and the electronic parking brake system are in a preset state, if so, executing step S21.
In order to further improve the stability and safety of hill-hold, when hill-hold control is performed, the states of an electronic stability control system and an electronic parking brake system for controlling hill-hold are monitored, and it is determined that the current electronic stability control system and the current electronic parking brake system can normally control hill-hold, and specifically, it is determined whether the electronic stability control system and the current electronic parking brake system are in a preset state, wherein the preset state is intended to ensure that the current electronic stability control system and the current electronic parking brake system can normally control hill-hold, and the control method includes but is not limited to whether the electronic parking brake system is in a release state, whether the functions of the electronic stability control system and the electronic parking brake system are normal, and whether the battery voltage in the electronic parking brake system is normal.
In addition, in some optional embodiments of the present invention, when it is detected that the electronic stability control system and the electronic parking brake system do not satisfy the preset state, fault warning information may be sent, where the fault warning information is used to prompt a user that the vehicle cannot be parked on a hill currently, and specifically, the fault warning information may be prompted in a voice or text display manner, for example, by displaying a warning lamp on an instrument panel.
In addition, in practice, because the braking force is limited, there may be a situation that the vehicle slips down the slope due to an excessive slope, and in view of this, in order to avoid the vehicle slipping down the slope due to an excessive slope, in some optional embodiments of the present invention, a reasonable range of the parking-permitted slope is set, a road slope value is obtained in real time during the running of the vehicle, and it is determined whether the slope value is lower than a preset slope value after the vehicle is stationary;
if so, controlling the electronic stability control system to maintain the brake pressure when detecting that the vehicle needs to be parked on the ramp, so as to control the vehicle to be in the original position;
if not, sending out prompt information, wherein the prompt information is used for prompting a user that the current road cannot be subjected to ramp parking.
In the process of vehicle driving, the slope value of a road on which the vehicle is driving can be obtained in real time, and whether the slope value is lower than a preset slope value or not is judged, wherein the preset slope value is the maximum slope value of the vehicle capable of performing slope parking. If parking is carried out on the road higher than the preset gradient value and the vehicle sliding risk is possible, a prompt message is sent to prompt a user that the vehicle sliding risk is possible when the vehicle is parked on the road on the current road slope, and normal parking can be carried out when the vehicle is parked on the road lower than the preset gradient value, wherein the prompt message comprises but is not limited to a text display mode, a mark display mode or a voice prompt mode, for example, a warning lamp is displayed on an instrument panel.
And step S21, when the vehicle needs to be parked on the slope, controlling the electronic stability control system to maintain the brake pressure so as to control the vehicle to be in the original position.
And step S22, controlling an electronic parking brake system to automatically park the vehicle, and detecting whether the parking of the vehicle is finished in real time.
And step S23, controlling the electronic stability control system to release the brake pressure after detecting that the parking of the vehicle is finished.
And step S24, acquiring the parking completion time of the vehicle each time and a corresponding gradient value, and determining that the parking completion time is less than a target gradient value corresponding to the preset parking completion time from the gradient values.
The parking completion time is the time from the beginning of parking to the end of parking of the electronic parking brake system, the parking completion time and the corresponding gradient value are recorded after the parking is completed every time, the preset parking completion time is the time that the vehicle cannot slide after the brake pedal is released, when the parking completion time is less than the preset parking completion time, the vehicle is indicated to immediately release the brake pedal and cannot slide, and the target gradient value indicates that the vehicle cannot slide even if the brake pedal is immediately released under the current gradient. And storing the target gradient value after the target gradient value which cannot slide is acquired for subsequent gradient value comparison.
Step S25, acquiring the current gradient value of the road where the vehicle is located in real time, and judging whether the current gradient value meets the target gradient value; if yes, go to step S26.
The acquired target gradient value is one or more than one value, or a range set formed by the minimum target gradient value and the maximum target gradient value, and when the current gradient value accords with the target gradient value, the target gradient value indicates that the current gradient value is the same as the target gradient value or the current gradient value is in the range set formed by the target gradient value.
And step S26, when detecting that the vehicle needs to be parked on a ramp, controlling the electronic parking brake system to automatically park the vehicle.
Specifically, when the current gradient value meets the target gradient value, the risk of slope slipping is not generated when the current vehicle is parked on the slope, and when the fact that the vehicle needs to be parked on the slope is detected, the electronic parking brake system is directly controlled to automatically park the vehicle. No electronic stability control system is required for assistance.
In summary, in the automatic hill-hold method provided in the above embodiments of the present invention, when it is detected that the vehicle needs to be parked on a hill, the electronic stability control system is controlled to maintain the brake pressure, so that the vehicle is controlled to be in the original position, the electronic parking brake system is controlled to automatically park the vehicle, and whether parking of the vehicle is completed is detected in real time. The problem of among the prior art when carrying out the ramp parking, the vehicle is swift current easily is solved.
EXAMPLE III
Referring to fig. 3, an automatic hill hold system according to a third embodiment of the present invention is shown, the system including:
the detection module 100 is used for controlling the electronic stability control system to maintain the brake pressure when detecting that the vehicle needs to be parked on a slope, so that the vehicle is controlled to be in the original position;
the parking module 200 is used for controlling an electronic parking brake system to automatically park the vehicle and detecting whether the parking of the vehicle is finished in real time;
and a releasing module 300, configured to control the electronic stability control system to release the brake pressure after it is detected that the vehicle is parked.
Further, in some alternative embodiments of the present invention, the system further comprises:
the parking judgment module is used for acquiring the state of a brake pedal, the speed and the gear signal of the vehicle and judging whether the vehicle needs to be parked on a slope or not according to the state of the brake pedal, the speed and the gear signal.
Further, in the automatic hill hold system, the parking determination module is specifically configured to:
judging whether the brake pedal state is in a treading state or not;
if yes, judging whether the vehicle is in a static state or not according to the vehicle speed;
if so, judging whether the gear is in a preset gear according to the gear signal;
and if so, determining that the vehicle needs to be parked on the slope.
Further, in some alternative embodiments of the present invention, the system further comprises:
the state judgment module is used for judging whether the electronic stability control system and the electronic parking brake system are in a preset state or not;
if so, executing the step of controlling the electronic stability control system to maintain the brake pressure when detecting that the vehicle needs to perform hill-holding so as to control the vehicle to be in the original position.
Further, in some optional embodiments of the invention, the system further comprises:
and the parking time acquisition module is used for acquiring the actual parking time of the vehicle in real time and controlling the electronic stability control system to release the brake pressure when the actual parking time is longer than the parking time threshold.
Further, in some alternative embodiments of the present invention, the system further comprises:
the system comprises a gradient value acquisition module, a gradient value acquisition module and a gradient value acquisition module, wherein the gradient value acquisition module is used for acquiring a road gradient value in real time in the driving process of a vehicle and judging whether the gradient value is lower than a preset gradient value or not after the vehicle is static;
if so, controlling the electronic stability control system to maintain the brake pressure when detecting that the vehicle needs to perform ramp parking so as to control the vehicle in the original position;
if not, sending out prompt information, wherein the prompt information is used for prompting a user that the current road cannot be subjected to ramp parking.
Further, in some alternative embodiments of the present invention, the system further comprises:
the determining module is used for acquiring the parking completion time of the vehicle each time and a corresponding gradient value, and determining that the parking completion time is smaller than a target gradient value corresponding to the preset parking completion time from the gradient values;
acquiring a current gradient value of a road where the vehicle is located in real time, and judging whether the current gradient value meets a target gradient value or not;
if yes, when the fact that the vehicle needs to be parked on the slope is detected, the electronic parking braking system is controlled to automatically park the vehicle.
The functions or operation steps of the above modules when executed are substantially the same as those of the above method embodiments, and are not described herein again.
Example four
Another aspect of the present invention also provides a readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the steps of the method according to any one of embodiments 1 to 2 above.
EXAMPLE five
Another aspect of the present invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of embodiments 1 to 2 when executing the program.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the storage medium include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An automatic hill-hold method, the method comprising:
when the fact that the vehicle needs to be parked on a ramp is detected, controlling the electronic stability control system to keep the brake pressure so that the vehicle is controlled to be in the original position;
controlling an electronic parking braking system to automatically park the vehicle, and detecting whether the parking of the vehicle is finished in real time;
and when the vehicle is detected to be parked completely, controlling the electronic stability control system to release the brake pressure.
2. The method for hill hold according to claim 1 wherein controlling the electronic stability control system to maintain brake pressure when a hill hold is detected to be required by the vehicle further comprises, prior to the step of controlling the vehicle in a home position:
the method comprises the steps of obtaining a brake pedal state, a vehicle speed and a gear signal of a vehicle, and judging whether the vehicle needs to be parked on a ramp according to the brake pedal state, the vehicle speed and the gear signal.
3. The hill hold method according to claim 2, wherein the step of acquiring a brake pedal state, a vehicle speed and a gear signal of a vehicle and determining whether the vehicle needs to be hill-held according to the brake pedal state, the vehicle speed and the gear signal comprises:
judging whether the brake pedal state is in a treading state or not;
if yes, judging whether the vehicle is in a static state or not according to the vehicle speed;
if so, judging whether the gear is in a preset gear according to the gear signal;
and if so, determining that the vehicle needs to be parked on a slope.
4. The method according to claim 1, wherein the step of controlling the electronic stability control system to maintain the brake pressure when it is detected that the vehicle needs to be hill-parked further comprises:
judging whether the electronic stability control system and the electronic parking brake system are in a preset state or not;
if so, executing the step of controlling the electronic stability control system to maintain the brake pressure when detecting that the vehicle needs to perform hill-holding so as to control the vehicle to be in the original position.
5. The method for automatic hill hold according to claim 1, wherein the step of controlling the electronic parking brake system to automatically park the vehicle and detecting whether the vehicle is parked in real time further comprises:
and acquiring the actual parking time of the vehicle in real time, and controlling the electronic stability control system to release the brake pressure when the actual parking time is longer than the parking time threshold.
6. The method for hill hold according to claim 1 wherein controlling the electronic stability control system to maintain brake pressure when a hill hold is detected to be required by the vehicle further comprises, prior to the step of controlling the vehicle in a home position:
the method comprises the steps of acquiring a road gradient value in real time in the driving process of a vehicle, and judging whether the gradient value is lower than a preset gradient value or not after the vehicle is static;
if so, controlling the electronic stability control system to maintain the brake pressure when detecting that the vehicle needs to perform ramp parking so as to control the vehicle in the original position;
if not, sending out prompt information, wherein the prompt information is used for prompting a user that the current road cannot be subjected to ramp parking.
7. The hill hold method of claim 1 further comprising, after the step of controlling the electronic stability control system to release the brake pressure upon detecting that parking of the vehicle is complete:
obtaining the parking completion time of the vehicle each time and a corresponding gradient value, and determining that the parking completion time is smaller than a target gradient value corresponding to a preset parking completion time from the gradient values;
acquiring a current gradient value of a road where the vehicle is located in real time, and judging whether the current gradient value meets a target gradient value or not;
if yes, when the fact that the vehicle needs to be parked on a slope is detected, the electronic parking brake system is controlled to automatically park the vehicle.
8. An automatic hill-hold system, the system comprising:
the detection module is used for controlling the electronic stability control system to keep the brake pressure when detecting that the vehicle needs to be parked on a ramp, so that the vehicle is controlled to be in the original position;
the parking module is used for controlling an electronic parking braking system to automatically park the vehicle and detecting whether the parking of the vehicle is finished in real time;
and the releasing module is used for controlling the electronic stability control system to release the brake pressure after the vehicle parking is detected to be finished.
9. A readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1 to 7.
10. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps of the method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210720192.8A CN115107774A (en) | 2022-06-23 | 2022-06-23 | Ramp automatic parking method and system, readable storage medium and vehicle |
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| CN202210720192.8A CN115107774A (en) | 2022-06-23 | 2022-06-23 | Ramp automatic parking method and system, readable storage medium and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116221388A (en) * | 2023-05-05 | 2023-06-06 | 盛瑞传动股份有限公司 | Control method, equipment, medium, speed changer and vehicle for preventing pawl from being jammed |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116221388A (en) * | 2023-05-05 | 2023-06-06 | 盛瑞传动股份有限公司 | Control method, equipment, medium, speed changer and vehicle for preventing pawl from being jammed |
| CN116221388B (en) * | 2023-05-05 | 2023-08-08 | 盛瑞传动股份有限公司 | Control method, equipment, medium, speed changer and vehicle for preventing pawl from being jammed |
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