CN116161016A - Automatic parking method, device, equipment and medium for electric vehicle - Google Patents
Automatic parking method, device, equipment and medium for electric vehicle Download PDFInfo
- Publication number
- CN116161016A CN116161016A CN202211740358.9A CN202211740358A CN116161016A CN 116161016 A CN116161016 A CN 116161016A CN 202211740358 A CN202211740358 A CN 202211740358A CN 116161016 A CN116161016 A CN 116161016A
- Authority
- CN
- China
- Prior art keywords
- parking
- driving force
- electric vehicle
- target
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000012937 correction Methods 0.000 claims abstract description 103
- 230000004913 activation Effects 0.000 claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims description 38
- 238000004590 computer program Methods 0.000 claims description 16
- 230000006870 function Effects 0.000 claims description 14
- 230000000694 effects Effects 0.000 abstract description 12
- 230000003213 activating effect Effects 0.000 description 10
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses an automatic parking method, device, equipment and medium of an electric vehicle. An automatic parking method of an electric vehicle, comprising: acquiring an original parking driving force; when the parking condition of the electric vehicle meets the driving force limiting activation condition, determining a target limiting driving force based on the debugging value, the gradient correction coefficient, the speed and distance combined correction coefficient and the correction gain; determining a target parking driving force according to the original parking driving force and the target limiting driving force; and automatically parking the electric vehicle based on the target parking driving force. According to the technical scheme provided by the embodiment of the invention, when the road surface state changes, the electric vehicle can ensure a good parking effect, and the user experience is improved.
Description
Technical Field
The present invention relates to the field of automatic parking technologies, and in particular, to an automatic parking method, apparatus, device, and medium for an electric vehicle.
Background
With the rapid development of the automobile industry, the degree of electronic integration and intellectualization of automobiles is higher and higher, and the intelligent driving assistance function is widely applied at the present stage, and the automatic parking function which is an important component in the intelligent driving assistance function is attracting more and more attention.
Compared with the traditional fuel oil vehicle, the electric vehicle lacks the running torque of the vehicle in the automatic parking process, the torque completely follows the control layer request of the parking function, and unnecessary braking control can be greatly reduced, but once road surface change is encountered in the switching process of the torque and the braking control, the vehicle control is unsmooth, even the condition that the vehicle is instantly stationary can appear, so that the user experience is poor.
Disclosure of Invention
The invention provides an automatic parking method, device, equipment and medium for an electric vehicle, which are used for solving the problems of poor automatic parking effect and poor user experience of the electric vehicle when the road surface condition changes.
According to an aspect of the present invention, there is provided an automatic parking method of an electric vehicle, including:
acquiring an original parking driving force;
when the parking condition of the electric vehicle meets the driving force limiting activation condition, determining a target limiting driving force based on the debugging value, the gradient correction coefficient, the speed and distance combined correction coefficient and the correction gain;
determining a target parking driving force according to the original parking driving force and the target limiting driving force;
and automatically parking the electric vehicle based on the target parking driving force.
According to another aspect of the present invention, there is provided an automatic parking apparatus of an electric vehicle, including:
the original parking driving force acquisition module is used for acquiring original parking driving force;
the target limiting driving force determining module is used for determining the target limiting driving force based on the debugging value, the gradient correction coefficient, the speed and distance joint correction coefficient and the correction gain when the parking condition of the electric vehicle meets the driving force limiting activation condition;
the target parking driving force determining module is used for determining target parking driving force according to the original parking driving force and the target limiting driving force;
and the automatic parking module is used for automatically parking the electric vehicle based on the target parking driving force.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the auto-park method of the electric vehicle according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the automatic parking method of an electric vehicle according to any one of the embodiments of the present invention.
According to the technical scheme, the original parking driving force is obtained, so that when the parking condition of the electric vehicle meets the driving force limiting and activating condition, the target limiting driving force is determined based on the debugging value, the gradient correction coefficient, the speed and distance joint correction coefficient and the correction gain, the target parking driving force is determined according to the original parking driving force and the target limiting driving force, and the electric vehicle is automatically parked based on the target parking driving force. In the scheme, one target limiting driving force can be determined through each correction coefficient, one target limiting driving force is selected from the original parking driving force and the target limiting driving force to serve as the target parking driving force, the electric vehicle is controlled to park, the situation that the vehicle is not smooth due to lack of the self running torque of the vehicle can be prevented, the problems that the automatic parking effect of the electric vehicle is poor and the user experience is poor when the road surface condition changes are solved, and the electric vehicle can ensure good parking effect when the road surface condition changes, so that the user experience is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an automatic parking method of an electric vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of an automatic parking method of an electric vehicle according to a second embodiment of the present invention;
fig. 3 is a working schematic diagram of an automatic parking longitudinal controller according to a second embodiment of the present invention;
fig. 4 is a comparison chart of the effect of automatic parking of an electric vehicle according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an automatic parking device of an electric vehicle according to a third embodiment of the present invention;
fig. 6 shows a schematic diagram of an electronic device that may be used to implement an embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of an automatic parking method for an electric vehicle according to an embodiment of the present invention, where the method may be performed by an automatic parking device of the electric vehicle, the automatic parking device of the electric vehicle may be implemented in hardware and/or software, and the automatic parking device of the electric vehicle may be configured in an electronic device. The electronic device may be a longitudinal controller in an electric vehicle (for short an electric vehicle). As shown in fig. 1, the method includes:
s110, acquiring original parking driving force.
The original parking driving force may be a driving force determined by a longitudinal controller of the electric vehicle based on acceleration closed-loop control.
In the embodiment of the invention, the original parking driving force when the electric vehicle automatically parks can be determined based on the acceleration closed-loop control algorithm in the longitudinal controller of the existing electric vehicle.
And S120, when the parking condition of the electric vehicle meets the driving force limiting activation condition, determining the target limiting driving force based on the debugging value, the gradient correction coefficient, the speed and distance joint correction coefficient and the correction gain.
The parking condition of the electric vehicle can be used for representing the state of the electric vehicle when the electric vehicle is parked. The driving force limitation activation condition may be a lower limit constraint condition of driving force that needs to be activated when a change in the road surface state occurs. The tuning value may be a preset longitudinal driving force. The gradient correction coefficient may be a correction coefficient determined according to a parking experiment under different gradients. The speed and distance joint correction coefficient may be a correction coefficient determined according to the relationship of the speed and distance in the parking experiment. The correction gain may be a corresponding gain determined based on a closed-loop control algorithm when the speed and distance are corrected in combination. The target limiting driving force can be the driving force which needs to be referred when the electric vehicle is automatically parked according to the debugging value, the gradient correction coefficient, the speed and distance combined correction coefficient and the correction gain.
In the embodiment of the invention, the driving force limiting and activating condition can be set, so that whether the parking condition of the electric vehicle meets the driving force limiting and activating condition is judged, if the parking condition of the electric vehicle meets the driving force limiting and activating condition, the gradient correction coefficient, the speed and distance combined correction coefficient are determined according to a parking experiment, and the correction gain during the speed and distance combined correction is calculated according to a closed-loop control algorithm, so that the target limiting driving force is determined according to a preset debugging value, the gradient correction coefficient, the speed and distance combined correction coefficient and the correction gain.
And S130, determining target parking driving force according to the original parking driving force and the target limiting driving force.
Wherein the target parking driving force may be the larger of the original parking driving force and the target limited driving force.
In the embodiment of the invention, the original parking driving force and the target limiting driving force can be compared, and the larger one of the original parking driving force and the target limiting driving force is taken as the target parking driving force.
And S140, automatically parking the electric vehicle based on the target parking driving force.
In the embodiment of the invention, the target parking driving force can be used as the driving force of the longitudinal controller of the electric vehicle to automatically park the electric vehicle, so that the situation of unsmooth parking of the vehicle caused by lack of the running torque of the vehicle is prevented.
According to the technical scheme, the original parking driving force is obtained, so that when the parking condition of the electric vehicle meets the driving force limiting and activating condition, the target limiting driving force is determined based on the debugging value, the gradient correction coefficient, the speed and distance joint correction coefficient and the correction gain, the target parking driving force is determined according to the original parking driving force and the target limiting driving force, and the electric vehicle is automatically parked based on the target parking driving force. In the scheme, one target limiting driving force can be determined through each correction coefficient, one target limiting driving force is selected from the original parking driving force and the target limiting driving force to serve as the target parking driving force, the electric vehicle is controlled to park, the situation that the vehicle is not smooth due to lack of the self running torque of the vehicle can be prevented, the problems that the automatic parking effect of the electric vehicle is poor and the user experience is poor when the road surface condition changes are solved, and the electric vehicle can ensure good parking effect when the road surface condition changes, so that the user experience is improved.
Example two
Fig. 2 is a flowchart of an automatic parking method for an electric vehicle according to a second embodiment of the present invention, where the present embodiment is embodied based on the foregoing embodiment, and a specific optional implementation manner of determining the target limited driving force based on the debug value, the gradient correction coefficient, the speed and distance joint correction coefficient, and the correction gain is provided. As shown in fig. 2, the method includes:
s210, acquiring original parking driving force.
In an alternative embodiment of the present invention, acquiring the original parking driving force may include: determining an electric vehicle target acceleration based on the parking remaining distance and the electric vehicle target speed; and determining the original parking driving force according to the target acceleration of the electric vehicle and the real-time acceleration of the electric vehicle.
The parking remaining distance may be a distance from a current position of the electric vehicle to a final parking position. The electric vehicle target speed may be a running speed of the electric vehicle from a current parking position to a parking end position. The electric vehicle target acceleration may be an acceleration calculated by the longitudinal controller according to the parking remaining distance and the electric vehicle target speed. The real-time acceleration of the electric vehicle can be the real-time acceleration of the electric vehicle during automatic parking.
In the embodiment of the invention, the longitudinal controller can acquire the parking residual distance and the electric vehicle target speed sent by the parking controller, and further calculate the electric vehicle target acceleration according to the parking residual distance and the electric vehicle target speed, so as to determine the original parking driving force according to the electric vehicle target acceleration, the electric vehicle real-time acceleration and a closed-loop control algorithm.
In an alternative embodiment of the present invention, after acquiring the original parking driving force, it may further include: acquiring the current parking gradient and the current speed of the electric vehicle when the electric vehicle is parked; and determining the parking condition of the electric vehicle according to the current parking gradient, the current speed of the electric vehicle and the real-time acceleration of the electric vehicle.
The current parking gradient may be a road gradient of the electric vehicle when the electric vehicle is currently parked. The current vehicle speed of the electric vehicle may be a current travel speed of the electric vehicle when the electric vehicle is parked.
According to the embodiment of the invention, the current parking gradient and the current speed of the electric vehicle can be obtained in real time when the electric vehicle is parked, so that the current parking condition of the electric vehicle can be determined according to the current parking gradient, the current speed of the electric vehicle and the real-time acceleration of the electric vehicle.
And S220, when the parking condition of the electric vehicle meets the driving force limiting activation condition, determining a first correction term according to the speed and distance combined correction coefficient and the correction gain.
The first correction term may be a correction term that is determined according to a speed and distance joint correction coefficient and a correction gain, and corrects the debug value.
In the embodiment of the invention, when the parking condition of the electric vehicle meets the driving force limiting and activating condition, the product value of the speed and distance combined correction coefficient and the correction gain is calculated, and the product value of the speed and distance combined correction coefficient and the correction gain is used as a first correction term.
In an alternative embodiment of the present invention, the driving force limitation activation condition may include: the current parking gradient is greater than the first gradient threshold, the current vehicle speed of the electric vehicle is not greater than the automatic parking speed threshold, and the driving force limitation exit condition is not satisfied.
The first gradient threshold value may be a gradient threshold value in a driving force limitation activation condition set in advance. The automatic parking speed threshold may be a speed threshold at which the electric vehicle is parked in the driving force limitation activation condition. The automatic parking exit condition may be a condition that the calculation of the target limit driving force is not required.
In the embodiment of the invention, when the current parking gradient is larger than the first gradient threshold value, the current speed of the electric vehicle is not larger than the automatic parking speed threshold value and the electric vehicle parking condition does not meet the driving force limiting and exiting condition, the current parking gradient is larger than the first gradient threshold value, the current speed of the electric vehicle is not larger than the automatic parking speed threshold value and the electric vehicle parking condition does not meet the driving force limiting and exiting condition when the electric vehicle parking condition is determined to meet the driving force limiting and activating condition.
In an alternative embodiment of the present invention, the driving force limitation exit condition includes at least one of: the current parking gradient is smaller than the second gradient threshold value, the real-time acceleration of the electric vehicle is larger than the automatic parking acceleration threshold value, the current vehicle speed of the electric vehicle is larger than the automatic parking vehicle speed threshold value, the parking remaining distance is not larger than the automatic parking remaining distance threshold value, or an automatic parking exit instruction is received.
The second gradient threshold value may be a gradient threshold value that satisfies the driving force limitation exit condition that is set in advance. The automatic parking acceleration threshold value may be a preset acceleration threshold value that satisfies the driving force limit exit condition. The automatic parking remaining distance threshold may be a parking remaining distance threshold that satisfies a driving force limit exit condition. The automatic parking exit instruction may be an instruction to exit the automatic parking function.
In an embodiment of the present invention, at least one of the following cases occurs: the current parking gradient is smaller than the second gradient threshold value, the real-time acceleration of the electric vehicle is larger than the automatic parking acceleration threshold value, the current vehicle speed of the electric vehicle is larger than the automatic parking vehicle speed threshold value, the parking remaining distance is not larger than the automatic parking remaining distance threshold value, or the automatic parking exit command is received, and then it can be determined that the parking condition of the electric vehicle meets the driving force limiting exit condition.
And S230, determining a second correction term according to the gradient correction coefficient, the mass of the electric vehicle and the current parking gradient.
The second correction term may be a correction term for correcting the debug value, which is determined according to the gradient correction coefficient, the electric vehicle mass, and the current parking gradient.
In the embodiment of the invention, the product value of the gradient correction coefficient, the electric vehicle mass and the current parking gradient can be calculated, and the product value of the gradient correction coefficient, the electric vehicle mass and the current parking gradient is used as the second correction term.
S240, determining a target limiting driving force according to the first correction item, the second correction item and the debugging value.
In the embodiment of the present invention, the sum of the first correction term, the second correction term, and the debug value may be calculated, and the calculated sum may be taken as the target restricting driving force.
S250, determining target parking driving force according to the original parking driving force and the target limiting driving force.
In an alternative embodiment of the present invention, determining the target parking driving force based on the original parking driving force and the target limited driving force may include: and comparing the original parking driving force with the target limiting driving force based on the maximum value solving function to obtain the target parking driving force.
The maximum value calculation function may be a Max function.
In the embodiment of the invention, the original parking driving force and the target limiting driving force can be compared through the function of maximum value calculation, and the larger of the two driving forces is used as the target parking driving force.
And S260, automatically parking the electric vehicle based on the target parking driving force.
Fig. 3 is a working schematic diagram of an automatic parking longitudinal controller according to a second embodiment of the present invention. As shown in fig. 3, the longitudinal controller may obtain the parking remaining distance and the target speed of the electric vehicle sent by the parking controller, and further may perform longitudinal path planning according to the parking remaining distance and the target speed of the electric vehicle, to obtain the target acceleration of the electric vehicle, generate a corresponding starting request and a braking request, and further perform closed-loop control of the acceleration shown in fig. 3 by the longitudinal controller. And adding driving force limitation on the basis of closed loop control of acceleration, namely when the current parking gradient is larger than-3%, the current speed of the electric vehicle is smaller than or equal to an automatic parking speed threshold (sum of the target speed of the electric vehicle and a set threshold), and the driving force limitation exit condition is not met, determining that the parking condition of the electric vehicle meets driving force limitation activation condition, calculating target limiting driving force (target limiting driving force = speed and distance joint correction coefficient correction gain + gradient correction coefficient x mass of the electric vehicle, current parking gradient + debugging value), and inputting original parking driving force and target limiting driving force into a Max function to obtain target parking driving force, so that the electric vehicle is automatically parked according to the target parking driving force.
Fig. 4 is a comparison chart of the effect of automatic parking of an electric vehicle according to a second embodiment of the present invention. As shown in fig. 4, the actual vehicle speed of the electric vehicle when the minimum force limitation is not performed is the actual vehicle speed of the electric vehicle when the parking is performed only according to the original parking driving force, and the actual vehicle speed of the electric vehicle when the minimum force limitation is performed according to the original parking driving force and the target limitation driving force, that is, the actual vehicle parking speed when the parking control is performed according to the present embodiment. According to the automatic parking method of the electric vehicle, torque limitation can be carried out when a small road surface changes or a ramp changes gradually, so that the vehicle can park smoothly, and if no strategy exists, in the actual application process of automatic parking, when the vehicle encounters a change such as a road surface pothole, the controller can appear unsmooth or too much speed reduction even if the controller is in a free rolling or braking control stage at the moment.
Wherein the driving force limitation exit condition includes at least one of: 1. grade overflow (grade with current park grade less than-3.5%); 2. acceleration overflow (real-time acceleration of the electric vehicle is greater than the automatic parking acceleration threshold value); 3. speed overflow (the current speed of the electric vehicle is greater than the automatic parking speed threshold); 4. the automatic parking control exits (an automatic parking exit instruction is received).
According to the technical scheme, when the parking condition of the electric vehicle meets the driving force limiting and activating condition, a first correction term is determined according to the combined correction coefficient of speed and distance and the correction gain, a second correction term is determined according to the gradient correction coefficient, the mass of the electric vehicle and the current parking gradient, a target limiting driving force is determined according to the first correction term, the second correction term and the debugging value, and further, the target parking driving force is determined according to the original parking driving force and the target limiting driving force, and automatic parking is further performed on the electric vehicle based on the target parking driving force. In the scheme, one target limiting driving force can be determined through each correction coefficient, one target limiting driving force is selected from the original parking driving force and the target limiting driving force to serve as the target parking driving force, the electric vehicle is controlled to park, the situation that the vehicle is not smooth due to lack of the self running torque of the vehicle can be prevented, the problems that the automatic parking effect of the electric vehicle is poor and the user experience is poor when the road surface condition changes are solved, and the electric vehicle can ensure good parking effect when the road surface condition changes, so that the user experience is improved.
Example III
Fig. 5 is a schematic structural diagram of an automatic parking device for an electric vehicle according to a third embodiment of the present invention. As shown in fig. 5, the apparatus includes: an original parking drive force acquisition module 310, a target limited drive force determination module 320, a target parking drive force determination module 330, and an automatic parking module 340, wherein,
an original parking driving force acquisition module 310, configured to acquire an original parking driving force;
the target limiting driving force determining module 320 is configured to determine a target limiting driving force based on the debug value, the gradient correction coefficient, the speed and distance joint correction coefficient, and the correction gain when the parking condition of the electric vehicle satisfies the driving force limiting activation condition;
a target parking driving force determination module 330 for determining a target parking driving force based on the original parking driving force and the target limited driving force;
the automatic parking module 340 is configured to automatically park the electric vehicle based on the target parking driving force.
According to the technical scheme, the original parking driving force is obtained, so that when the parking condition of the electric vehicle meets the driving force limiting and activating condition, the target limiting driving force is determined based on the debugging value, the gradient correction coefficient, the speed and distance joint correction coefficient and the correction gain, the target parking driving force is determined according to the original parking driving force and the target limiting driving force, and the electric vehicle is automatically parked based on the target parking driving force. In the scheme, one target limiting driving force can be determined through each correction coefficient, one target limiting driving force is selected from the original parking driving force and the target limiting driving force to serve as the target parking driving force, the electric vehicle is controlled to park, the situation that the vehicle is not smooth due to lack of the self running torque of the vehicle can be prevented, the problems that the automatic parking effect of the electric vehicle is poor and the user experience is poor when the road surface condition changes are solved, and the electric vehicle can ensure good parking effect when the road surface condition changes, so that the user experience is improved.
Optionally, the automatic parking device of the electric vehicle further comprises a parking condition determining module of the electric vehicle, which is used for obtaining the current parking gradient and the current speed of the electric vehicle when the electric vehicle is parked; and determining the parking condition of the electric vehicle according to the current parking gradient, the current speed of the electric vehicle and the real-time acceleration of the electric vehicle.
Optionally, the original parking driving force obtaining module 310 is configured to determine a target acceleration of the electric vehicle based on the parking remaining distance and the target speed of the electric vehicle; and determining the original parking driving force according to the target acceleration of the electric vehicle and the real-time acceleration of the electric vehicle.
Alternatively, the driving force limitation activating condition includes: the current parking gradient is greater than a first gradient threshold, the current vehicle speed of the electric vehicle is not greater than an automatic parking speed threshold, and a driving force limitation exit condition is not satisfied.
Optionally, the driving force limitation exit condition includes at least one of: the current parking gradient is smaller than the second gradient threshold value, the real-time acceleration of the electric vehicle is larger than the automatic parking acceleration threshold value, the current vehicle speed of the electric vehicle is larger than the automatic parking vehicle speed threshold value, the parking remaining distance is not larger than the automatic parking remaining distance threshold value, or an automatic parking exit instruction is received.
Optionally, the target limiting driving force determining module 320 is specifically configured to determine a first correction term according to the speed-distance joint correction coefficient and the correction gain; determining a second correction term according to the gradient correction coefficient, the electric vehicle mass and the current parking gradient; and determining the target limiting driving force according to the first correction term, the second correction term and the debugging value.
Optionally, the target parking driving force determining module 330 is specifically configured to compare the original parking driving force with the target limiting driving force based on a function obtained by maximum value, so as to obtain the target parking driving force.
The automatic parking device of the electric vehicle provided by the embodiment of the invention can execute the automatic parking method of the electric vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 6 shows a schematic diagram of an electronic device that may be used to implement an embodiment of the invention. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as an automatic parking method of an electric vehicle.
In some embodiments, the method of automatic parking of an electric vehicle may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the automatic parking method of the electric vehicle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the auto-park method of the electric vehicle in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. An automatic parking method of an electric vehicle, comprising:
acquiring an original parking driving force;
when the parking condition of the electric vehicle meets the driving force limiting activation condition, determining a target limiting driving force based on the debugging value, the gradient correction coefficient, the speed and distance combined correction coefficient and the correction gain;
determining a target parking driving force according to the original parking driving force and the target limiting driving force;
and automatically parking the electric vehicle based on the target parking driving force.
2. The method of claim 1, wherein the obtaining the original parking drive force comprises:
determining an electric vehicle target acceleration based on the parking remaining distance and the electric vehicle target speed;
and determining the original parking driving force according to the target acceleration of the electric vehicle and the real-time acceleration of the electric vehicle.
3. The method according to claim 2, characterized by further comprising, after the acquisition of the original parking drive force:
acquiring the current parking gradient and the current speed of the electric vehicle when the electric vehicle is parked;
and determining the parking condition of the electric vehicle according to the current parking gradient, the current speed of the electric vehicle and the real-time acceleration of the electric vehicle.
4. A method according to claim 3, wherein the driving force limitation activation condition includes: the current parking gradient is greater than a first gradient threshold, the current vehicle speed of the electric vehicle is not greater than an automatic parking speed threshold, and a driving force limitation exit condition is not satisfied.
5. The method of claim 4, wherein the driving force limiting exit condition comprises at least one of: the current parking gradient is smaller than the second gradient threshold value, the real-time acceleration of the electric vehicle is larger than the automatic parking acceleration threshold value, the current vehicle speed of the electric vehicle is larger than the automatic parking vehicle speed threshold value, the parking remaining distance is not larger than the automatic parking remaining distance threshold value, or an automatic parking exit instruction is received.
6. The method of claim 3, wherein the determining the target limiting driving force based on the tuning value, the grade correction factor, the speed and distance joint correction factor, and the correction gain comprises:
determining a first correction term according to the speed and distance joint correction coefficient and the correction gain;
determining a second correction term according to the gradient correction coefficient, the electric vehicle mass and the current parking gradient;
and determining the target limiting driving force according to the first correction term, the second correction term and the debugging value.
7. The method according to claim 1, wherein the determining a target parking drive force from the original parking drive force and the target limited drive force includes:
and comparing the original parking driving force with the target limiting driving force based on a maximum value solving function to obtain the target parking driving force.
8. An automatic parking apparatus for an electric vehicle, comprising:
the original parking driving force acquisition module is used for acquiring original parking driving force;
the target limiting driving force determining module is used for determining the target limiting driving force based on the debugging value, the gradient correction coefficient, the speed and distance joint correction coefficient and the correction gain when the parking condition of the electric vehicle meets the driving force limiting activation condition;
the target parking driving force determining module is used for determining target parking driving force according to the original parking driving force and the target limiting driving force;
and the automatic parking module is used for automatically parking the electric vehicle based on the target parking driving force.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the auto-park method of the electric vehicle of any of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of automatic parking of an electric vehicle according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211740358.9A CN116161016A (en) | 2022-12-30 | 2022-12-30 | Automatic parking method, device, equipment and medium for electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211740358.9A CN116161016A (en) | 2022-12-30 | 2022-12-30 | Automatic parking method, device, equipment and medium for electric vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116161016A true CN116161016A (en) | 2023-05-26 |
Family
ID=86421325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211740358.9A Pending CN116161016A (en) | 2022-12-30 | 2022-12-30 | Automatic parking method, device, equipment and medium for electric vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116161016A (en) |
-
2022
- 2022-12-30 CN CN202211740358.9A patent/CN116161016A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115742756A (en) | Vehicle control method, device, equipment and medium based on traction control system | |
| CN117002274A (en) | Torsion clearing slope control method and device, vehicle and storage medium | |
| CN116161016A (en) | Automatic parking method, device, equipment and medium for electric vehicle | |
| CN114919661B (en) | Parking control method, device, equipment and storage medium | |
| CN116729395A (en) | Method and device for suppressing vehicle resonance jitter, electronic equipment and storage medium | |
| CN117719495A (en) | Automatic parking method and device, electronic equipment and storage medium | |
| CN114919552B (en) | Vehicle control method, device, equipment and medium | |
| CN116552538A (en) | Method, device, equipment and medium for determining downhill speed of vehicle | |
| CN116215536A (en) | Vehicle hill hold control method, device, electronic apparatus, and storage medium | |
| CN115959113A (en) | Vehicle hill start control method, device, equipment and storage medium | |
| CN116658611A (en) | Transmission creep start control method and device, electronic equipment and storage medium | |
| CN116483085A (en) | Planning track determining method, device, equipment and storage medium | |
| CN117307705A (en) | Gear control method and device, vehicle and storage medium | |
| CN117246312A (en) | Parking control method, device, equipment and storage medium | |
| CN116512838A (en) | Control method, device, equipment and medium of air suspension | |
| CN117400941A (en) | Vehicle control method, device, electronic equipment and storage medium | |
| CN117022280A (en) | Vehicle lane change track planning method, device, equipment and medium | |
| CN116572959A (en) | Vehicle starting method and device, electronic equipment and storage medium | |
| CN117404463A (en) | Vehicle gear shifting control method and device and vehicle | |
| CN116872916A (en) | Determination method and device of memory parking strategy, vehicle and storage medium | |
| CN115257669A (en) | Vehicle control method, device, electronic device and storage medium | |
| CN115743089A (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN117628178A (en) | Vehicle gear adjusting method and device, electronic equipment and storage medium | |
| CN118010377A (en) | Vehicle sliding resistance testing method and device, electronic equipment and storage medium | |
| CN114771531A (en) | Lane change control method, lane change control device, lane change control apparatus, lane change control vehicle, and lane change control medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |