CN117698699A - Automatic parking method, system, electronic equipment and readable storage medium - Google Patents
Automatic parking method, system, electronic equipment and readable storage medium Download PDFInfo
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- CN117698699A CN117698699A CN202410050253.3A CN202410050253A CN117698699A CN 117698699 A CN117698699 A CN 117698699A CN 202410050253 A CN202410050253 A CN 202410050253A CN 117698699 A CN117698699 A CN 117698699A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000000994 depressogenic effect Effects 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 7
- 230000006870 function Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
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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
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Control Of Transmission Device (AREA)
Abstract
The embodiment of the invention provides an automatic parking method, an automatic parking system, electronic equipment and a readable storage medium, wherein gear information of a vehicle is obtained; under the condition that the vehicle is changed from the parking gear to the forward gear or the reverse gear based on the gear information, the electronic parking system EPB is controlled to be in a release state and the electronic stability control system ESC is controlled to be in a pressurized state; receiving an accelerator pedal signal from a vehicle; and under the condition that the accelerator pedal signal is in an on state, controlling the ESC to be in a pressure release state. In this way, the EPB is released when shifting gears, the ESC is adopted to apply pressure and brake, the accelerator is stepped on at the moment, the ESC is used for pressure relief, and the ESC pressure relief time is shorter than the EPB release time, so that the response speed of the accelerator pedal can be improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to an automatic parking method, an automatic parking system, an electronic device, and a readable storage medium.
Background
In the prior art, a vehicle generally has an automatic parking function after flameout, and after a driver starts the vehicle, an electronic parking system (EPB, electronic Parking Brake) of the vehicle is in a clamped state, the driver presses an accelerator pedal after shifting gears, and the EPB of the vehicle is in a released state, so that the vehicle can run. However, since the EPB is a mechanical structure, it takes a long time to switch from the clamped state to the unclamped state.
Therefore, the automatic parking of the vehicle in the prior art has the problem of slower throttle response when the vehicle starts.
Disclosure of Invention
The embodiment of the invention provides an automatic parking method, an automatic parking system, electronic equipment and a readable storage medium, which are used for solving the problem that in the prior art, the response of an accelerator is slower when a vehicle starts in automatic parking of the vehicle.
In a first aspect, an embodiment of the present invention provides an automatic parking method, including:
acquiring gear information of a vehicle;
under the condition that the vehicle is changed from the parking gear to the forward gear or the reverse gear based on the gear information, the electronic parking system EPB is controlled to be in a release state and the electronic stability control system ESC is controlled to be in a pressurized state;
receiving an accelerator pedal signal from a vehicle;
and under the condition that the accelerator pedal signal is in an on state, controlling the ESC to be in a pressure release state.
Optionally, after the receiving the gear information from the vehicle, the method further includes:
receiving running state information from a vehicle when the gear information is a forward gear;
and controlling the ESC to be in a pressurized state when the driving state information is that the driving is stopped.
Optionally, after controlling the ESC to be in the pressurized state in the case where the driving state information is that the vehicle stops driving, the method further includes:
acquiring the working time length of the ESC;
controlling the EPB to be in a clamping state under the condition that the working time length is greater than a preset time length threshold;
and controlling the ESC to be in a pressure release state under the condition that the EPB is in a clamping state.
Optionally, after controlling the ESC to be in the pressurized state, if the driving state information is to stop driving, the method further includes:
acquiring door state information and safety belt state information of a vehicle;
controlling the EPB to be in a clamping state when the door state information is a door opening state or the safety belt state information is a safety belt loosening state;
and controlling the ESC to be in a pressure release state under the condition that the EPB is in a clamping state.
Optionally, after the acquiring the gear information of the vehicle, the method further includes:
acquiring an automatic parking working state;
receiving brake pedal change information from a vehicle when the automatic parking operating state is deactivated and the gear information is a forward gear or a reverse gear;
if the brake pedal change information is that the brake pedal is changed from being depressed to being released, and then the brake pedal is changed from being released to being depressed, the ESC is controlled to be in a pressurized state;
and if the brake pedal change information is that the brake pedal is depressed and the brake pedal is released, controlling the ESC to be in a pressure release state.
Optionally, after acquiring the gear information of the vehicle, the method further includes:
acquiring door state information and safety belt state information of a vehicle;
receiving brake pedal change information from a vehicle when the door state information is a door open state or the safety belt state information is a belt release state;
if the brake pedal change information is that the brake pedal is changed from being depressed to being released, and then the brake pedal is changed from being released to being depressed, the EPB is controlled to be in a clamping state;
and if the brake pedal change information is that the brake pedal is depressed and the brake pedal is released, controlling the ESC to be in a pressure release state.
In a second aspect, an embodiment of the present invention further provides an automatic parking system, including:
the first acquisition module is used for acquiring gear information of the vehicle;
the first control module is used for controlling the electronic parking system EPB to be in a release state and controlling the electronic stability control system ESC to be in a pressurized state under the condition that the vehicle is determined to be changed from the parking gear to the forward gear or the reverse gear based on the gear information;
the first receiving module is used for receiving an accelerator pedal signal from a vehicle;
and the second control module is used for controlling the ESC to be in a pressure release state under the condition that the accelerator pedal signal is in an on state.
Optionally, the automatic parking system further comprises:
the second receiving module is used for receiving running state information from the vehicle when the gear information is a forward gear;
and the third control module is used for controlling the ESC to be in a pressurized state when the running state information is that the vehicle stops running.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a memory, and a program or instruction stored on the memory and executable on the processor, the program or instruction implementing the steps of the method according to the first aspect when executed by the processor.
In a fourth aspect, embodiments of the present invention provide a readable storage medium having stored thereon a program or instructions which when executed by a processor perform the steps of the method according to the first aspect.
In the embodiment of the invention, the gear information of the vehicle is acquired; under the condition that the vehicle is changed from the parking gear to the forward gear or the reverse gear based on the gear information, the electronic parking system EPB is controlled to be in a release state and the electronic stability control system ESC is controlled to be in a pressurized state; receiving an accelerator pedal signal from a vehicle; and under the condition that the accelerator pedal signal is in an on state, controlling the ESC to be in a pressure release state. In this way, the EPB is released when shifting gears, the ESC is adopted to apply pressure and brake, the accelerator is stepped on at the moment, the ESC is used for pressure relief, and the ESC pressure relief time is shorter than the EPB release time, so that the response speed of the accelerator pedal can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an automatic parking method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic parking system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the structures so used are interchangeable under appropriate circumstances such that embodiments of the invention are capable of operation in sequences other than those illustrated or otherwise described herein, and that the objects identified by "first," "second," etc. are generally of a type and do not limit the number of objects, for example, the first object can be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
As shown in fig. 1, an embodiment of the present invention provides an automatic parking method, including the following steps:
step 101, acquiring gear information of a vehicle;
102, controlling the electronic parking system EPB to be in a released state and controlling the electronic stability control system ESC to be in a pressurized state under the condition that the vehicle is determined to be changed from a parking gear to a forward gear or a reverse gear based on the gear information;
step 103, receiving an accelerator pedal signal from a vehicle;
step 104, controlling the ESC to be in a pressure release state under the condition that the accelerator pedal signal is in an on state.
The embodiment of the invention is applied to the automatic parking system 200 in an open state.
In the embodiment of the invention, the gear information of the vehicle can be acquired in real time or periodically, and the period length is smaller than the preset period length.
In step 102, one implementation of determining a vehicle change from park to forward or reverse based on the gear information is as follows: the gear information includes first sub-gear information and second sub-gear information, the automatic parking system 200 obtains the first sub-gear information at a first time and obtains the second sub-gear information at a second time, the second time is the current time, and the first time is earlier than the second time. The automatic parking system 200 will acquire first sub-gear information at a first time and store the first sub-gear information locally, and the automatic parking system 200 acquires second sub-gear information at a second time and compares the second sub-gear information with the first sub-gear information, so that it can be determined whether the vehicle is changed from the parking gear to the forward gear or the reverse gear. For example, the first sub-gear information is a park gear and the second sub-gear information is a forward gear.
Another implementation is as follows: the gear information acquired by the automatic parking system 200 is a gear condition within a preset time period including the current time and before the current time, and when the automatic parking system 200 obtains the gear information, the gear information is analyzed, so that the gear condition of the vehicle within the preset time period at the current time and before the current time is determined. For example, the gear information includes a reverse gear at a first time and a park gear at a second time, where the first time is a current time and the second time is a gear condition within a preset time period before the current time.
It should be understood that controlling the electronic parking system EPB to be in the released state means that the automatic parking system 200 transmits a first signal to the EPB, and the EPB controls itself to be in the released state in response to the first signal; controlling the electronic stability control system ESC to be in a pressurized state means that the automatic parking system 200 sends a second signal to the ESC, which in response to the second signal controls itself to be in a pressurized state.
It should be appreciated that EPB is in a vehicle where braking of the wheels is achieved by a brake. An electronic stability control system (Electronic Stability Controller, ESC) in a vehicle is hydraulically operated to effect braking of the wheels.
It should be appreciated that the accelerator pedal signal is determined based on whether the driver depresses the accelerator pedal;
firstly, a driver presses an accelerator pedal, and the accelerator pedal signal is determined to be in an open state according to the fact that the driver presses the accelerator pedal;
and secondly, the driver does not press the accelerator pedal, and the accelerator pedal signal is determined to be in a closed state according to the fact that the driver does not press the accelerator pedal.
Step 103, which may be understood as receiving an accelerator pedal signal from the vehicle in real time, may be understood as periodically receiving an accelerator pedal signal from the vehicle;
in step 104, it is understood that the ESC is in a depressurized state, i.e., the hydraulic machine in the ESC is in a depressurized state, and the brakes on the wheels are released while the hydraulic machine is in a depressurized state.
In the embodiment of the invention, the gear information of the vehicle is acquired; under the condition that the vehicle is changed from the parking gear to the forward gear or the reverse gear based on the gear information, the electronic parking system EPB is controlled to be in a release state and the electronic stability control system ESC is controlled to be in a pressurized state; receiving an accelerator pedal signal from a vehicle; and under the condition that the accelerator pedal signal is in an on state, controlling the ESC to be in a pressure release state. In this way, the EPB is released when shifting gears, the ESC is adopted to apply pressure and brake, the accelerator is stepped on at the moment, the ESC is used for pressure relief, and the ESC pressure relief time is shorter than the EPB release time, so that the response speed of the accelerator pedal can be improved.
Optionally, in some embodiments, after the receiving the gear information from the vehicle, the method further includes:
receiving running state information from a vehicle when the gear information is a forward gear;
and controlling the ESC to be in a pressurized state when the driving state information is that the driving is stopped.
It is to be understood that the running state information of the vehicle includes both a stop running, i.e., a vehicle running speed is zero, and a running, i.e., a vehicle running speed is non-zero.
Further, when the vehicle is stopped, the driver may press the brake pedal to stop the vehicle, or the vehicle may be allowed to lower the vehicle speed to zero by gravity when the vehicle is ascending.
For example, in application scenario 1, when the driver drives the vehicle to the traffic light intersection, the red light is turned on, and the driver presses the brake pedal until the vehicle stops driving, i.e., the vehicle driving speed is zero.
In the application scene 2, the driver drives the vehicle to travel on the uphill road section, and the power potential energy of the vehicle is gradually counteracted by the gravity potential energy of the vehicle due to insufficient opening degree of the driver when the driver does not press the accelerator pedal or presses the accelerator pedal, so that the traveling speed of the vehicle is zero.
The above examples are two implementations of the vehicle from a running state to a stopped running state.
It should be appreciated that the ESC is in a pressurized state, i.e., the hydraulic machine in the ESC is in a pressurized state, thereby braking the vehicle.
Further, in the application scenario 1, after the running speed of the vehicle is zero, the driver releases the brake pedal at this time, and the vehicle does not advance either, so that the foot of the driver is released while waiting for the traffic light;
in the application scenario 2, after the running speed of the vehicle is zero, the driver releases the brake pedal at this time, and the vehicle does not slide backward, so that the occurrence of a sliding accident is avoided, and the running safety is improved.
Optionally, in some embodiments, after controlling the ESC to be in the pressurized state, in a case where the driving state information is that the vehicle stops driving, the method further includes:
acquiring the working time length of the ESC;
controlling the EPB to be in a clamping state under the condition that the working time length is greater than a preset time length threshold;
and controlling the ESC to be in a pressure release state under the condition that the EPB is in a clamping state.
It should be understood that the operating duration of the ESC refers to the duration that the ESC is in a pressurized state.
In the embodiment of the present invention, the preset time period threshold may be determined empirically, and may be set to five minutes, for example.
Further, when the duration of the ESC in the pressurized state exceeds five minutes, the automatic parking system 200 controls the EPB in the clamped state, and in the case that the EPB is in the clamped state, controls the ESC in the depressurized state.
In the embodiment of the invention, the service life of the electromagnetic valve in the ESC is easy to be shortened because the ESC is in a pressurized state for a long time, so that the ESC is prevented from being used for a long time under the condition that a user does not press an accelerator pedal for a long time, and the EPB is adopted to brake a vehicle, thereby prolonging the service life of the electromagnetic valve in the ESC and improving the quality stability of the vehicle.
Optionally, in some embodiments, after controlling the ESC to be in the pressurized state, in a case where the driving state information is to stop driving, the method further includes:
acquiring door state information and safety belt state information of a vehicle;
controlling the EPB to be in a clamping state when the door state information is a door opening state or the safety belt state information is a safety belt loosening state;
and controlling the ESC to be in a pressure release state under the condition that the EPB is in a clamping state.
It should be appreciated that the door status information includes: a door open state and a door closed state. The security zone state information includes: a seatbelt fastened state and a seatbelt unfastened state.
In the embodiment of the invention, the door state information and the safety belt state information of the vehicle can be acquired in real time or periodically.
In the embodiment of the invention, the door state information and the safety belt state information of the vehicle are acquired in the mode, and when the door state information is in the door opening state or the safety belt state information is in the safety belt loosening state, the current driving intention of the driver can be known to be stopped, so that the EPB can be controlled to clamp, and when the EPB is in the clamping state, the ESC is controlled to be in the pressure release state. In this way, the operation steps of the driver getting off the vehicle can be simplified.
Optionally, in some embodiments, after the receiving the gear information from the vehicle, the method further includes:
acquiring an automatic parking working state;
receiving brake pedal change information from a vehicle when the automatic parking operating state is deactivated and the gear information is a forward gear or a reverse gear;
if the brake pedal change information is that the brake pedal is changed from being depressed to being released, and then the brake pedal is changed from being released to being depressed, the ESC is controlled to be in a pressurized state;
and if the brake pedal change information is that the brake pedal is depressed and the brake pedal is released, controlling the ESC to be in a pressure release state.
In the embodiment of the present invention, the application scenario 3 often needs to reduce the running speed of the vehicle to zero frequently when the driver needs to park the vehicle, and in general, the driver only wants to stop running the vehicle briefly, but does not stop running for a long time. In the prior art, a vehicle often starts an ESC to enable the ESC to be in a pressurized state, so that when a driver wants to drive again, the ESC needs to be in a pressure release state, and thus, resistance is brought to the driving flow of the driver.
In the embodiment of the invention, the ESC is not in a pressurized state when the brake pedal is first pressed, but is controlled to be in a pressurized state when the driver presses the brake pedal for the second time, so that the vehicle is controlled to stop running.
It should be appreciated that the automatic parking operating state includes: automatic park on and automatic park off. Automatic parking is a function on a vehicle. The automatic parking opening or closing can be input by voice of a driver, can be input by a button of the driver, and can be input by a control of the driver.
In the embodiment of the invention, in the above manner, since the brake pedal change information from the vehicle is received when the automatic parking operation state is disabled, the automatic parking can be realized even if the vehicle is not started.
Optionally, in some embodiments, after acquiring the automatic parking operation state, the method further includes:
acquiring door state information and safety belt state information of a vehicle;
receiving brake pedal change information from a vehicle when the door state information is a door open state or the safety belt state information is a belt release state;
if the brake pedal change information is that the brake pedal is changed from being depressed to being released, and then the brake pedal is changed from being released to being depressed, the EPB is controlled to be in a clamping state;
and if the brake pedal change information is that the brake pedal is depressed and the brake pedal is released, controlling the ESC to be in a pressure release state.
In the embodiment of the invention, the door state information and the safety belt state information of the vehicle are acquired; receiving brake pedal change information from a vehicle when the door state information is a door open state or the safety belt state information is a belt release state; if the brake pedal change information is that the brake pedal is changed from being depressed to being released, and then the brake pedal is changed from being released to being depressed, the EPB is controlled to be in a clamping state; and if the brake pedal change information is that the brake pedal is depressed and the brake pedal is released, controlling the ESC to be in a pressure release state.
It is to be understood that, in the case where the door state information is the door open state or the safety belt state information is the belt release state, it is regarded that the open condition of the function of automatic parking is not satisfied.
According to the embodiment of the invention, through the mode, when the starting condition of the automatic parking function is not met, whether the automatic parking is started or not can be ensured, the ESC can not be pressurized after a driver steps on the vehicle; if the driver presses the brake pedal again under the condition that the vehicle is stationary, the EPB is controlled to be in a clamping state, and the vehicle is ensured not to slide.
As shown in fig. 2, an embodiment of the present invention provides an automatic parking system 200, the automatic parking system 200 including:
a first obtaining module 201, configured to obtain gear information of a vehicle;
a first control module 202, configured to control the electronic parking system EPB to be in a released state and the electronic stability control system ESC to be in a pressurized state when it is determined that the vehicle is changed from the parking gear to the forward gear or the reverse gear based on the gear information;
a first receiving module 203 for receiving an accelerator pedal signal from a vehicle;
the second control module 204 is configured to control the ESC to be in a pressure release state when the accelerator pedal signal is in an on state.
Optionally, the automatic parking system 200 further includes:
the second receiving module is used for receiving running state information from the vehicle when the gear information is a forward gear;
and the third control module is used for controlling the ESC to be in a pressurized state when the running state information is that the vehicle stops running.
Optionally, the automatic parking system 200 further includes:
a second obtaining module, configured to obtain a working time length of the ESC;
the fourth control module is used for controlling the EPB to be in a clamping state under the condition that the working time length is larger than a preset time length threshold value;
and the fifth control module is used for controlling the ESC to be in a pressure release state under the condition that the EPB is in a clamping state.
Optionally, the automatic parking system 200 further includes:
the third acquisition module is used for acquiring door state information and safety belt state information of the vehicle;
a sixth control module for controlling the EPB to be in a clamped state in a case where the door state information is a door open state or the safety belt state information is a belt release state;
and a seventh control module, configured to control the ESC to be in a pressure release state when the EPB is in a clamping state.
Optionally, the automatic parking system 200 further includes:
the fourth acquisition module is used for acquiring an automatic parking working state;
the third receiving module is used for receiving brake pedal change information from a vehicle under the condition that the automatic parking working state is inactive and the gear information is a forward gear or a reverse gear;
the eighth control module is used for controlling the ESC to be in a pressurized state if the brake pedal change information is that the brake pedal is changed from being pressed down to being released, and then the brake pedal is changed from being released to being pressed down;
and the ninth control module is used for controlling the ESC to be in a pressure release state if the brake pedal change information is that the brake pedal is depressed to be changed into the brake pedal is released.
Optionally, the automatic parking system 200 further includes:
a fifth acquisition module for acquiring door state information and safety belt state information of the vehicle;
a fourth receiving module for receiving brake pedal change information from a vehicle in a case where the door state information is a door open state or the safety belt state information is a belt release state;
a tenth control module, configured to control the EPB to be in a clamped state if the brake pedal change information is changed from a brake pedal depression to a brake pedal release, and then from a brake pedal release to a brake pedal depression;
and the eleventh control module is used for controlling the ESC to be in a pressure release state if the brake pedal change information is that the brake pedal is depressed to be changed into the brake pedal is released.
The automatic parking system 200 can implement the processes of the method embodiment of fig. 1 in the embodiment of the present invention, and achieve the same beneficial effects, and for avoiding repetition, the description is omitted herein.
The embodiment of the invention also provides electronic equipment. Referring to fig. 3, an electronic device may include a processor 301, a memory 302, and a program 3021 stored on the memory 302 and executable on the processor 301.
The program 3021, when executed by the processor 301, may implement any steps and achieve the same advantageous effects in the method embodiment corresponding to fig. 1, which will not be described herein.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of implementing the methods of the embodiments described above may be implemented by hardware associated with program instructions, where the program may be stored on a readable medium.
The embodiment of the present invention further provides a readable storage medium, where a computer program is stored, where the computer program when executed by a processor may implement any step in the method embodiment corresponding to fig. 1, and may achieve the same technical effect, so that repetition is avoided, and no further description is given here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present invention is not limited to performing the functions in the order discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (10)
1. An automatic parking method, characterized in that the automatic parking method comprises:
acquiring gear information of a vehicle;
under the condition that the vehicle is changed from the parking gear to the forward gear or the reverse gear based on the gear information, the electronic parking system EPB is controlled to be in a release state and the electronic stability control system ESC is controlled to be in a pressurized state;
receiving an accelerator pedal signal from a vehicle;
and under the condition that the accelerator pedal signal is in an on state, controlling the ESC to be in a pressure release state.
2. The automatic parking method according to claim 1, characterized by further comprising, after the receiving of the gear information from the vehicle:
receiving running state information from a vehicle when the gear information is a forward gear;
and controlling the ESC to be in a pressurized state when the driving state information is that the driving is stopped.
3. The automatic parking method according to claim 2, wherein, in the case where the running state information is that the vehicle stops running, after controlling the ESC to be in a pressurized state, further comprising:
acquiring the working time length of the ESC;
controlling the EPB to be in a clamping state under the condition that the working time length is greater than a preset time length threshold;
and controlling the ESC to be in a pressure release state under the condition that the EPB is in a clamping state.
4. The automatic parking method according to claim 2, wherein, in the case where the running state information is stop running, after controlling the ESC to be in a pressurized state, further comprising:
acquiring door state information and safety belt state information of a vehicle;
controlling the EPB to be in a clamping state when the door state information is a door opening state or the safety belt state information is a safety belt loosening state;
and controlling the ESC to be in a pressure release state under the condition that the EPB is in a clamping state.
5. The automatic parking method according to claim 1, characterized by further comprising, after the acquiring of the gear information of the vehicle:
acquiring an automatic parking working state;
receiving brake pedal change information from a vehicle when the automatic parking operating state is deactivated and the gear information is a forward gear or a reverse gear;
if the brake pedal change information is that the brake pedal is changed from being depressed to being released, and then the brake pedal is changed from being released to being depressed, the ESC is controlled to be in a pressurized state;
and if the brake pedal change information is that the brake pedal is depressed and the brake pedal is released, controlling the ESC to be in a pressure release state.
6. The automatic parking method according to claim 1, characterized by further comprising, after acquiring the gear information of the vehicle:
acquiring door state information and safety belt state information of a vehicle;
receiving brake pedal change information from a vehicle when the door state information is a door open state or the safety belt state information is a belt release state;
if the brake pedal change information is that the brake pedal is changed from being depressed to being released, and then the brake pedal is changed from being released to being depressed, the EPB is controlled to be in a clamping state;
and if the brake pedal change information is that the brake pedal is depressed and the brake pedal is released, controlling the ESC to be in a pressure release state.
7. An automatic parking system, characterized in that the automatic parking system comprises:
the first acquisition module is used for acquiring gear information of the vehicle;
the first control module is used for controlling the electronic parking system EPB to be in a release state and controlling the electronic stability control system ESC to be in a pressurized state under the condition that the vehicle is determined to be changed from the parking gear to the forward gear or the reverse gear based on the gear information;
the first receiving module is used for receiving an accelerator pedal signal from a vehicle;
and the second control module is used for controlling the ESC to be in a pressure release state under the condition that the accelerator pedal signal is in an on state.
8. The automatic parking system of claim 7, further comprising:
the second receiving module is used for receiving running state information from the vehicle when the gear information is a forward gear;
and the third control module is used for controlling the ESC to be in a pressurized state when the running state information is that the vehicle stops running.
9. An electronic device, comprising: a processor, a memory and a program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the automatic parking method as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the automatic parking method as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410050253.3A CN117698699A (en) | 2024-01-12 | 2024-01-12 | Automatic parking method, system, electronic equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410050253.3A CN117698699A (en) | 2024-01-12 | 2024-01-12 | Automatic parking method, system, electronic equipment and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117698699A true CN117698699A (en) | 2024-03-15 |
Family
ID=90155485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410050253.3A Pending CN117698699A (en) | 2024-01-12 | 2024-01-12 | Automatic parking method, system, electronic equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117698699A (en) |
-
2024
- 2024-01-12 CN CN202410050253.3A patent/CN117698699A/en active Pending
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