CN116476786A - Automatic parking control method and device - Google Patents

Abstract

The invention provides an automatic parking control method, which is suitable for assisting driving of a vehicle and comprises the following steps: acquiring an accelerator pedal signal of the driving assisting vehicle; responding to the accelerator pedal signal to indicate that an accelerator pedal is released, and acquiring a speed signal of the auxiliary driving vehicle; and controlling a braking system of the auxiliary driving vehicle to brake until the auxiliary driving vehicle is parked in response to the vehicle speed signal indicating that the vehicle speed of the auxiliary driving vehicle is smaller than a preset vehicle speed.

Description

Automatic parking control method and device

Technical Field

The invention relates to the field of auxiliary driving, in particular to an automatic parking control method and device for an auxiliary driving vehicle.

Background

The traditional vehicle adopts a mechanical braking mode to realize parking, and a driver is required to control the vehicle to stop, namely, the speed is zero, and then the hand brake is pulled up to realize parking. Before the hand brake is pulled up, a driver is required to step on a brake pedal in order to ensure that dangerous situations such as sliding or landslide do not occur. It is conceivable that the parking of the vehicle is achieved depending on the driving level or driving habit of the driver in a less reliable manner, and thus, there often occurs a situation that the driver forgets to step the brake pedal or forgets to pull the brake when parking on a sloping road.

The safety problem existing in the traditional mechanical braking mode of the vehicle is not solved, the automatic gear vehicle is provided with a parking gear, namely a P gear, and a driver can start the P gear after controlling the vehicle to stop so as to control the vehicle to keep stationary. However, continuously switching the shift position is not applicable in a scene where the vehicle is stopped for a short time such as a red light.

In order to solve the problem that vehicles cannot be safely parked due to manual misoperation, an automatic parking system is adopted to realize semi-automatic electronic parking in the prior art. The automatic parking system may be activated by an automatic parking switch or by a deep depression of a brake pedal, which functions to provide an intelligent braking force to the vehicle at zero speed so that the vehicle is always stationary, i.e. in a holding brake mode.

However, the above-described various modes require some operations from the start of the throttle pedal release to the stop of the vehicle and the maintenance of the stop, and an accident may occur if the driver forgets or misoperates.

The invention provides an automatic parking control method for simplifying the operation of keeping the vehicle parked after a driver releases a throttle pedal and improving the driving safety.

Disclosure of Invention

The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

According to an aspect of the present invention, there is provided an automatic parking control method adapted to assist in driving a vehicle, the automatic parking control method including: acquiring an accelerator pedal signal of the driving assisting vehicle; responding to the accelerator pedal signal to indicate that an accelerator pedal is released, and acquiring a speed signal of the auxiliary driving vehicle; and controlling the auxiliary driving vehicle to brake to a parking state in response to the vehicle speed signal indicating that the vehicle speed of the auxiliary driving vehicle is smaller than a preset vehicle speed.

In an embodiment, the controlling assisting in driving the vehicle to brake to park further comprises: maintaining the auxiliary driving vehicle in a parking state.

In an embodiment, the maintaining the driver-assisted vehicle in park includes: a final braking force, which is a braking force output by a braking system when a vehicle speed of the assisted driving vehicle decreases to 0, is maintained to maintain parking of the assisted driving vehicle.

In an embodiment, the maintaining the driving-assisted vehicle in parking further comprises: verifying the final braking force of the braking system; responding to the final braking force to be greater than or equal to the parking braking force of the auxiliary driving vehicle, and judging that the final braking force passes verification; and setting a parking braking force of the auxiliary driving vehicle, which is a minimum braking force required for the auxiliary driving vehicle to park at its current position, as a final braking force of the brake system in response to the final braking force of the brake system being smaller than the parking braking force of the auxiliary driving vehicle.

In an embodiment, the verifying the final braking force of the braking system further comprises: identifying a grade of a current position of the assisted driving vehicle; and verifying the final braking force of the braking system in response to the gradient of the current position of the driving assisting vehicle being greater than a preset gradient threshold.

In an embodiment, the maintaining the driving-assisted vehicle in parking further comprises: using the formulaCalculating the parking braking force of the auxiliary driving vehicle, wherein m is the mass of the auxiliary driving vehicle, θ is the gradient of the current position of the auxiliary driving vehicle, s is the sectional area of a piston in a brake caliper of the auxiliary driving vehicle, μ is the friction coefficient of a friction plate of the auxiliary driving vehicle, r is the effective radius of a brake disc of the auxiliary driving vehicle, and%>Is the ground attachment coefficient.

In an embodiment, the automatic parking control method further includes: the automatic parking control method is executed in response to an automatic parking switch of the drive-assisting vehicle being triggered.

According to another aspect of the present invention, there is also provided an automatic parking control apparatus including a memory, a processor and a computer program stored on the memory, the processor being adapted to implement the steps of the automatic parking control method according to any one of the embodiments described above when executing the computer program stored on the memory.

In one embodiment, the automatic parking control device is a vehicle body stability controller.

According to another aspect of the present invention, there is also provided a computer storage medium having stored thereon a computer program which, when executed, implements the steps of the automatic parking control method according to any one of the embodiments described above.

Drawings

The above features and advantages of the present invention will be better understood after reading the detailed description of embodiments of the present disclosure in conjunction with the following drawings.

FIG. 1 is a flow chart of an automatic park control method according to an embodiment of the invention;

FIG. 2 is a partial flow chart of an automatic park control method according to an embodiment of the invention;

FIG. 3 is a partial flow chart of an automatic park control method according to an embodiment of the invention;

fig. 4 is a block diagram illustrating an automatic parking control apparatus according to another aspect of the present invention.

Detailed Description

The following description is presented to enable one skilled in the art to make and use the invention and to incorporate it into the context of a particular application. Various modifications, as well as various uses in different applications will be readily apparent to persons skilled in the art, and the generic principles defined herein may be applied to a wide range of embodiments. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

In the following detailed description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without limitation to these specific details. In other instances, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the present invention.

The reader is directed to all documents and documents filed concurrently with this specification and open to public inspection with this specification, and the contents of all such documents and documents are incorporated herein by reference. All the features disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic set of equivalent or similar features.

Note that where used, the designations left, right, front, back, top, bottom, forward, reverse, clockwise, and counterclockwise are used for convenience only and do not imply any particular orientation of securement. In fact, they are used to reflect the relative position and/or orientation between the various parts of the object. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Note that, where used, further, preferably, further and more preferably, the brief description of another embodiment is made on the basis of the foregoing embodiment, and further, preferably, further or more preferably, the combination of the contents of the rear band with the foregoing embodiment is made as a complete construction of another embodiment. A further embodiment is composed of several further, preferably, still further or preferably arrangements of the strips after the same embodiment, which may be combined arbitrarily.

The invention is described in detail below with reference to the drawings and the specific embodiments. It is noted that the aspects described below in connection with the drawings and the specific embodiments are merely exemplary and should not be construed as limiting the scope of the invention in any way.

According to one aspect of the present invention, an automatic parking control method for assisting in achieving automatic parking on a driving vehicle is provided. The driving-assist vehicle means a vehicle having at least an electronic assist function, and includes a narrow-sense automatic driving vehicle. For ease of understanding, the concept opposed to driving-assisted vehicles is purely mechanical vehicles.

Alternatively, the automatic parking control method provided by the present invention may be associated with an automatic parking switch, and executed in response to the automatic parking switch being triggered; and stopping the execution in response to the automatic parking switch being turned off. I.e. the driver may choose whether to activate the automatic parking function. Meanwhile, the automatic parking switch associated with the automatic parking control method provided by the invention can be a different switch or the same switch as an automatic parking (Auto hold) switch in the prior art.

In one embodiment, as shown in fig. 1, the automatic parking control method 100 may include steps S110 to S130.

Wherein, step S110 is: an accelerator pedal signal for assisting in driving the vehicle is acquired.

The accelerator pedal signal may be a physical signal indicating an accelerator pedal opening of the assisted-drive vehicle; an electronic signal indicating the accelerator pedal opening degree of the drive-assisting vehicle, such as an electronic signal detected by a sensor for detecting the accelerator pedal opening degree, may be used. The "acquisition" may be a physical signal or an electronic signal that directly detects the opening degree of the accelerator pedal, or an electronic signal that is indirectly fetched from a communication network (such as a CAN network) of the driving-assisted vehicle, or an electronic signal that is received from a whole vehicle control module or a data detection module of the driving-assisted vehicle.

Step S120 is: a vehicle speed signal for assisting in driving the vehicle is obtained in response to the accelerator pedal signal indicating that the accelerator pedal is released.

Those skilled in the art will appreciate that an accelerator pedal signal indicating that the accelerator pedal is released means that the accelerator pedal is at a maximum opening and is not depressed at all, i.e., the vehicle is not in an accelerating state. It will be appreciated that in some cases, the release of the accelerator pedal may also be accompanied by depression of the brake pedal.

From the daily driving vehicle behavior, it is understood that the driver may be intending to coast the vehicle or may be intending to stop the vehicle when the accelerator pedal is released. In order to avoid confusing the driving intention of the driver, the automatic parking control method provided by the invention can increase the recognition and judgment of the vehicle speed, namely, ensure that the automatic parking behavior accords with the expectations of the driver.

Step S130 is: and controlling braking of the auxiliary driving vehicle to be parked in response to the vehicle speed signal indicating that the vehicle speed of the auxiliary driving vehicle is smaller than the preset vehicle speed.

The preset vehicle speed is the activation speed of the automatic parking function provided by the invention. That is, when the accelerator pedal of the assisted driving vehicle is released and the vehicle speed is less than the preset vehicle speed, the assisted driving vehicle starts to perform the automatic parking function provided by the present invention.

Those skilled in the art will appreciate that when the vehicle speed is small, it is more likely that the driver will be intending to stop the vehicle by releasing the accelerator pedal. Specifically, the activation speed of the automatic parking function may be set to be smaller than the idle speed of the vehicle, such as setting the preset vehicle speed to 3km/h.

When the assisted driving vehicle satisfies the activation condition of the automatic parking, the automatic parking function starts to be executed. The brake master cylinder is actively pressurized to enable the vehicle to decelerate until parking, and the specific increasing slope can be adjusted according to the actual situation of the vehicle. The automatic parking function may be implemented by a brake system of the assisted-driving vehicle.

Those skilled in the art may set the automatic parking process correspondingly based on the braking process of the auxiliary driving vehicle braking system. For example, the auxiliary driving vehicle is stopped for a certain period of time as a braking target to control the braking system to realize automatic parking.

Further, to prevent the vehicle from sliding, step S130 may further include: maintaining the auxiliary driving vehicle in a parking state.

Specifically, after the drive-assisted vehicle is parked, hydraulic pressure may be continuously supplied to the vehicle to maintain the parked state of the drive-assisted vehicle. That is, the braking system maintains the braking force when the vehicle speed is reduced to 0 after controlling the vehicle to decelerate to zero. Maintaining the assisted drive vehicle park may be generalized to: the final braking force is maintained to maintain the assisted drive vehicle in park. The final braking force is the braking force output by the braking system when the speed of the auxiliary driving vehicle is reduced to 0.

Further, when the drive-assisting vehicle is parked on a road surface having a large gradient, there may be a case where the final braking force is insufficient to maintain the drive-assisting vehicle stationary. Thus, in a preferred embodiment, maintaining the driver-assisted vehicle in park may further include steps S210-S230, as shown in fig. 2.

Wherein, step S210 is: the final braking force of the braking system is verified.

Verification refers to safety verification of whether the final braking force is sufficient to maintain the assisted driving vehicle at its position without slipping or the like.

In a specific case, the real-time posture of the driving-assisted vehicle is subjected to stress analysis to calculate the minimum braking force required by the driving-assisted vehicle in the current posture of the driving-assisted vehicle, and the minimum braking force is used as a verification standard of the final braking force.

In particular, the formula can be utilizedThe hydraulic pressure required to assist driving the piston in the brake caliper of each wheel of the vehicle is calculated. Where m is the mass of the drive-assisting vehicle, θ is the gradient of the current position of the drive-assisting vehicle, s is the cross-sectional area of the piston in the brake caliper of the drive-assisting vehicle, μ is the friction coefficient of the friction plate of the drive-assisting vehicle, r is the effective radius of the brake disc of the drive-assisting vehicle>Is the ground attachment coefficient.

It will be appreciated that the mass of the driving assisting vehicle, the cross-sectional area of the piston in the brake caliper of the driving assisting vehicle, the friction coefficient of the friction plate of the driving assisting vehicle and the effective radius of the brake disc of the driving assisting vehicle can be regarded as fixed parameters, the gradient of the current position of the driving assisting vehicle can be obtained according to the current posture of the driving assisting vehicle, and the ground attachment coefficient can be substituted by the attachment coefficient of the most common road surface, such as the attachment coefficient of dry asphalt ground.

Further, the obtained braking force required for assisting driving the vehicle is compared and verified with the final braking force of the braking system thereof.

Step S220 is: and judging that the final braking force passes the verification in response to the final braking force being greater than or equal to the parking braking force of the auxiliary driving vehicle.

The parking braking force is the minimum braking force required to assist in driving the vehicle in its current position.

Step S230 is: in response to the final braking force of the braking system being less than the parking braking force of the driver-assisted vehicle, the parking braking force of the driver-assisted vehicle is set to the final braking force of the braking system. That is, the wheel cylinders are pressurized again so that the braking force of the assisted-driving vehicle satisfies the need for safe parking.

Further, it can be understood that on a relatively gentle road surface, the vehicle is not easy to slip, so in an embodiment, the gradient of the current position of the driving assisting vehicle can be identified first, and the gradient of the current position of the driving assisting vehicle can be used to determine whether the above verification process is needed.

As shown in FIG. 3, in one embodiment, step S210 may be embodied as S211-S212.

Step S211 is: a grade of a current position of the driving assisting vehicle is identified.

The driving-assisting vehicle current position refers to a road surface position where the vehicle speed thereof is reduced to 0.

The gradient of the position of the vehicle can be identified by using a data detection device or a visual identification device on the vehicle for assisting driving. For example, a pitch angle of the assisted drive vehicle is detected as a gradient of a current position of the assisted drive vehicle by an inertial detection unit (IMU, inertial Measurement Unit) provided on the assisted drive vehicle; or a gyroscope is arranged on the vehicle which is not provided with the IMU so as to detect the pitch angle of the auxiliary driving vehicle. Those skilled in the art may employ existing or future slope identification methods to identify the slope of the current position of the driver-assist vehicle as desired.

Step S212 is: and verifying the final braking force of the braking system in response to the gradient of the current position of the auxiliary driving vehicle being greater than a preset gradient threshold. I.e. when the assisted driving vehicle is stopped on a large gradient, the final braking force is validated safely.

While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood and appreciated by those skilled in the art.

According to another aspect of the present invention, there is also provided an automatic parking control apparatus mountable on a driving-assisted vehicle to achieve automatic parking.

In one embodiment, as shown in fig. 4, the automatic parking control apparatus 400 includes a memory 410 and a processor 420.

The memory 410 is used to store a computer program.

The processor 420 is connected to the memory 410 for executing computer programs stored on the memory 410. The processor 420, when executing the computer program on the memory 410, implements the steps of the automatic parking control method as described in any of the embodiments above.

It will be appreciated that the automatic park control device 400 may be a module or device already existing on an existing driver-assisted vehicle, such as a body stability controller (ESC, electronic Stability Controller), or may be a module or device configured by the driver.

According to still another aspect of the present invention, there is also provided a computer storage medium having stored thereon a computer program which, when executed, implements the steps of the automatic parking control method according to any one of the embodiments described above.

Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disk) as used herein include Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disk) usually reproduce data magnetically, while discs (disk) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. It is to be understood that the scope of the invention is to be controlled by the appended claims and not limited to the specific constructions and components of the above-described embodiments. Various changes and modifications to the embodiments may be made by those skilled in the art within the spirit and scope of the invention, and such changes and modifications are intended to be included within the scope of the invention.

Claims (10)

1. An automatic parking control method adapted to assist in driving a vehicle, the automatic parking control method comprising:

acquiring an accelerator pedal signal of the driving assisting vehicle;

responding to the accelerator pedal signal to indicate that an accelerator pedal is released, and acquiring a speed signal of the auxiliary driving vehicle; and

and controlling the auxiliary driving vehicle to brake to a parking state in response to the vehicle speed signal indicating that the vehicle speed of the auxiliary driving vehicle is smaller than a preset vehicle speed.

2. The automatic parking control method according to claim 1, wherein the controlling assisting in driving the vehicle to brake to a parking further comprises:

maintaining the auxiliary driving vehicle in a parking state.

3. The automatic parking control method according to claim 2, wherein maintaining the driving-assisted vehicle in parking includes:

a final braking force, which is a braking force output by a braking system when a vehicle speed of the assisted driving vehicle decreases to 0, is maintained to maintain parking of the assisted driving vehicle.

4. The automatic parking control method according to claim 3, wherein maintaining the driving-assisted vehicle in parking further comprises:

verifying the final braking force of the braking system;

responding to the final braking force to be greater than or equal to the parking braking force of the auxiliary driving vehicle, and judging that the final braking force passes verification; and

in response to the final braking force of the brake system being less than the parking braking force of the driver-assist vehicle, the parking braking force of the driver-assist vehicle is set to the final braking force of the brake system, the parking braking force being a minimum braking force required for the driver-assist vehicle to park in its current position.

5. The automatic parking control method according to claim 4, wherein the verifying the final braking force of the brake system further comprises:

identifying a grade of a current position of the assisted driving vehicle; and

and verifying the final braking force of the braking system in response to the gradient of the current position of the auxiliary driving vehicle being greater than a preset gradient threshold.

6. The automatic parking control method according to claim 4, wherein maintaining the driving-assisted vehicle in parking further comprises:

using the formulaCalculating the parking braking force of the auxiliary driving vehicle, wherein m is the mass of the auxiliary driving vehicle, θ is the gradient of the current position of the auxiliary driving vehicle, s is the sectional area of a piston in a brake caliper of the auxiliary driving vehicle, μ is the friction coefficient of a friction plate of the auxiliary driving vehicle, r is the effective radius of a brake disc of the auxiliary driving vehicle, and%>Is the ground attachment coefficient.

7. The automatic parking control method according to any one of claims 1 to 6, characterized by further comprising:

the automatic parking control method is executed in response to an automatic parking switch of the drive-assisting vehicle being triggered.

8. An automatic parking control apparatus comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor is adapted to implement the steps of the automatic parking control method according to any one of claims 1 to 7 when executing the computer program stored on the memory.

9. The automatic parking control apparatus according to claim 8, wherein the automatic parking control apparatus is a vehicle body stability controller.

10. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the steps of the automatic parking control method according to any one of claims 1 to 7.