CN118323140A - Parking control method, device, equipment, medium and program product - Google Patents
Parking control method, device, equipment, medium and program product Download PDFInfo
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- CN118323140A CN118323140A CN202410597093.4A CN202410597093A CN118323140A CN 118323140 A CN118323140 A CN 118323140A CN 202410597093 A CN202410597093 A CN 202410597093A CN 118323140 A CN118323140 A CN 118323140A
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to the field of vehicle management technologies, and in particular, to a parking control method, apparatus, device, medium, and program product. The method comprises the following steps: responding to a parking mode entering instruction of the vehicle washing, acquiring a vehicle state, and judging whether entering conditions of the mode are met; if the entering condition of the mode is met, acquiring the current state of the electronic parking, and keeping/switching to a release state; monitoring a vehicle speed signal in real time, and determining the moment when the vehicle exits the vehicle washing area according to the change of the vehicle speed; if no user operation is detected within a certain time range taking the moment as a starting point, and the vehicle speed continuously increases within the time range, entering a dynamic parking mode, and executing dynamic parking control. According to the invention, under an automatic car washing scene, through comprehensively applying a plurality of parking modes, misoperation and possible risks caused by a user in the whole car washing process can be avoided to the greatest extent.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle management, in particular to a parking control method, device, equipment, medium and program product applied to an automatic car washing scene.
Background
With the improvement of vehicle control intelligence, convenience is provided for user parking, and an automatic parking function (AUTO HOLD) and an electronic parking function (ELECTRICAL PARKING Brake, EPB) are provided on many vehicles, so that unexpected movement of the vehicles can be prevented in various scenes, for example, the automatic parking function can provide braking force when the user parks for a short time, and the electronic parking function can be automatically pulled up when the user does not step on an accelerator pedal for a long time.
In the automatic car washing scenario, especially in the tunnel car washer equipped with the unilateral transmission mechanism, besides the operations of closing the car window, the windscreen wiper function, folding the rearview mirror, etc., attention is needed during parking: after the vehicle is stopped, the vehicle is switched to a neutral gear position, and meanwhile, the foot brake is released, the hand brake is kept released, and the vehicle can move to a vehicle washing area along with the guidance of the conveying mechanism. Because the automatic parking function of many users is in a normally open state, if the vehicle is forgotten to be closed before entering the car washer, the vehicle cannot be dragged or dragged to slide, and thus unnecessary damage is caused to the vehicle.
In addition, since the vehicle is in a neutral sliding state, the vehicle has a certain inertia when reaching the exit of the car washer, if the road at the exit is uneven or has a gradient (for example, patent document CN 212500278U), the vehicle may continue to move forward, even accelerate forward, and if the driver in the car does not react timely, there is a risk of collision.
Disclosure of Invention
The embodiment of the application provides a parking control method, device and equipment applied to an automatic car washing scene and a computer readable storage medium, which can be used for solving the problems in the related art.
The first aspect of the invention provides a parking control method applied to an automatic car washing scene, comprising the following steps:
Responding to a parking mode entering instruction of the vehicle washing, acquiring a vehicle state, and judging whether entering conditions of the mode are met;
if the entering condition of the mode is met, acquiring the current state of the electronic parking, and keeping/switching to a release state;
monitoring a vehicle speed signal in real time, and determining the moment when the vehicle exits the vehicle washing area according to the change of the vehicle speed;
If no user operation is detected within a certain time range taking the moment as a starting point, and the vehicle speed continuously increases within the time range, entering a dynamic parking mode, and executing dynamic parking control.
A second aspect of the present invention provides a parking control apparatus applied to an automatic car washing scene, comprising:
The car washing mode triggering module is configured to respond to a car washing parking mode entering instruction, acquire a vehicle state and judge whether entering conditions of the mode are met or not;
The car washing parking control module is configured to acquire the current state of the electronic parking if the entering condition of the mode is met, and keep/switch to a release state;
the vehicle state monitoring module is configured to monitor a vehicle speed signal in real time and determine the moment when the vehicle exits the vehicle washing area according to the change of the vehicle speed;
The vehicle exit protection module is configured to enter a dynamic parking mode and execute dynamic parking control if no user operation is detected within a certain time range taking the moment as a starting point and the vehicle speed continuously increases within the time range.
A third aspect of the invention provides an electronic device comprising a processor and a memory having stored thereon computer instructions which, when executed by the processor, cause the electronic device to perform the method.
A fourth aspect of the present invention provides a computer readable storage medium having stored therein at least one computer program loaded and executed by a processor to cause a computer to implement the method.
A fourth aspect of the invention provides a computer program product comprising computer executable instructions which when executed by a processor implement the method.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
under the automatic car washing scene, through comprehensive application multiple parking modes, misoperation caused by a user in the whole car washing process can be avoided to the greatest extent, meanwhile, through monitoring the motion state of the whole car washing process, whether a driver timely enters a driving state or not can be judged when the car exits a car washing area, and therefore dynamic parking is used as a standby protection measure under the condition that the driver does not respond timely.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, 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 application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of various parking modes provided by an embodiment of the present application;
Fig. 2 is a flowchart of a parking control method applied to an automatic car washing scene according to an embodiment of the present application;
fig. 3 is a schematic diagram of a parking control device applied to an automatic car washing scene according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description of the present application (if any) 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 application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The term "comprising" and its like are to be construed as open-ended, i.e., including, but not limited to. The term "based on" should be understood as "based at least in part on". The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application.
In order to facilitate the understanding of the technical solutions in the following embodiments, the following explanation is made on related terms:
The embodiment of the application provides a parking control method, and the implementation environment can be a vehicle controller. The vehicle controller is arranged on a vehicle and is used for executing the parking control method provided by the embodiment of the application. In addition, the vehicle is also provided with a sensor for acquiring vehicle states including, but not limited to, states of vehicle body structures such as windows and doors, and states in the form of gears, vehicle speeds and the like of the vehicle transmission, and the vehicle state information is transmitted to the vehicle controller after being acquired.
The requirements of different application scenes on parking are different, and the parking device specifically comprises a common parking mode, a car washing parking mode, a dynamic parking mode and the like. The ordinary parking mode is equivalent to the existing electronic parking mode, and when the user has a parking intention, and the vehicle speed is reduced to a set threshold value, the EPB works; the car washing parking mode is applied to an automatic car washing scene, and if the car speed is 0, the car is not moved or dragged, and the EPB is released; the dynamic parking mode aims at the parking requirement in the running process of the vehicle, when the vehicle speed is greater than a set threshold value, the EPB work is used for mechanically braking the wheels, and the dynamic parking mode can be used in the situations of brake failure or other emergency braking requirements.
In some embodiments, to reduce the complexity of operation, the parking control modes in different application scenarios are integrated together. As an example, the start-stop function of the above parking mode may be integrated into an EPB soft switch, where the pressing time of the soft switch is used as a distinction between different parking control modes, for example, a click (operation duration is less than or equal to 1 s) corresponds to a normal parking mode, a long press (operation duration is greater than 1s and less than or equal to 3 s) corresponds to a car washing parking mode, and a long press (operation duration is greater than 3 s) corresponds to a dynamic parking mode, and the EPB soft switch is connected to a vehicle controller. Of course, as another example, various parking control modes may be voice-entered through a voice input device connected to the vehicle-mounted multimedia system, and the vehicle-mounted multimedia system is equipped with a voice recognition function, which can recognize the parking intention of the user and transmit to the vehicle controller. And the vehicle controller responds to a designated parking mode entering instruction input by a user and executes a corresponding parking control strategy. Based on the plurality of parking modes, the parking requirements of users in various scenes can be met.
As shown in FIG. 1, in the normal parking mode, if the vehicle speed is more than 1km/h, EPB does not act; if the speed of the vehicle is less than or equal to 1km/h, the EPB is clamped; in the car washing parking mode, if the car speed=0 km/h, the EPB is released, and if the car speed is more than 0km/h, the EPB does not act; in a dynamic parking mode, if the speed of the vehicle is more than 1km/h, the EPB is clamped; if the speed is less than or equal to 1km/h, the EPB does not act.
As a specific implementation manner of the dynamic parking mode, the dynamic parking control does not adopt constant clamping force when controlling EPB clamping, but determines acceptable safe clamping force of an occupant on the vehicle according to the current motion state of the vehicle, so as to avoid too obvious jerk when the clamping force is applied to the wheels, and specifically comprises the following steps:
(1) Acquiring a mapping relation of speed, acceleration and clamping force applicable to a current vehicle;
(2) And (3) monitoring the vehicle speed and the acceleration at the current moment, determining the clamping force required at the current moment according to the mapping relation, controlling the wheel caliper motor to apply the clamping force to the wheels, releasing, repeatedly executing the step (2) until the vehicle speed is reduced below a set threshold value, and completing parking in a common parking mode.
The mapping relationship between the vehicle speed, the acceleration and the clamping force is obtained through pre-calibration, as an example, a vehicle manufacturer can test with different vehicle speeds and accelerations on the premise of full load of the vehicle to obtain the safe clamping force under different vehicle speeds and different accelerations, and the mapping relationship between the vehicle speed, the acceleration and the clamping force can be in the form of a mapping table or a function form obtained through fitting without specific limitation. The clamping force is applied in stages, so that uncomfortable feeling brought to passengers by directly adopting the fixed clamping force in the vehicle movement process can be avoided, and meanwhile, wheel locking can be avoided, and therefore safe and efficient braking parking is realized.
Those skilled in the art will appreciate that the above-described parking modes may be used as a side-by-side variety of control strategies, as desired by the user. In some special scenarios, the vehicle controller may also automatically switch between the plurality of parking modes according to the operating conditions of the vehicle.
As described in the background art, in an automatic car washing scene, in order to avoid damage to a vehicle, in a car washing process, in order to ensure that the vehicle smoothly enters a car washing area through a conveying mechanism, special requirements are provided for parking, specifically: the gear of the gearbox is neutral, the foot brake is released, and the hand brake is released. When the vehicle arrives at the exit of the washing area, no corresponding protection measures exist at present, which may lead to unexpected forward sliding due to the inertia of the vehicle. One or more embodiments of the present invention provide for overall protection of a vehicle during forward movement of the vehicle via a conveyor mechanism and during exit of the vehicle from a carwash area to a non-interfering area, based on at least two parking modes. Specifically, one or more embodiments of the present invention provide a parking control method applied in an automatic car washing scenario, which may be applied to the above-described vehicle controller, as shown in fig. 2, including, but not limited to, steps 101-104.
Step 101: responding to a vehicle washing parking mode entering instruction, acquiring a vehicle state, judging whether entering conditions of the mode are met, and executing step 102 if the entering conditions of the mode are met;
Step 102: and acquiring the current state of the electronic parking, and maintaining/switching to a release state. That is, if the current state is the released state, no operation is performed, and if the current state is the clamped state, the operation is switched to the released state.
Step 103: monitoring a vehicle speed signal in real time, and determining the moment when the vehicle exits the vehicle washing area according to the change of the vehicle speed;
step 104: if no user operation is detected within a certain time range taking the moment as a starting point, and the vehicle speed continuously increases within the time range, entering a dynamic parking mode, and executing dynamic parking control.
In step 101, after the vehicle is stationary, the user may input a command for entering a parking mode for washing the vehicle. The car washing mode entering instruction can be input to the vehicle-mounted multimedia system through voice, or can be input through a soft switch on the vehicle-mounted multimedia system, and as an example, the car washing parking mode entering instruction can be generated and transmitted to the vehicle controller after long-time pressing of the EPB soft switch.
The vehicle state comprises a vehicle door state, a vehicle window state, an air conditioner working state, a windscreen wiper start-stop state, a gear position of a gearbox, an automatic parking start-stop state and the like. When the vehicle door and the vehicle window are closed, the air conditioner external circulation is not opened, the windscreen wiper is not opened, the gear of the gearbox is in a neutral gear, and the automatic parking is not opened, the vehicle door and the vehicle window are considered to meet the entering condition of the vehicle washing parking mode. It will be appreciated by those skilled in the art that the vehicle state may be obtained by conventional methods, and is not limited thereto, for example, a sensor may be used to obtain a signal for opening and closing a door or a window.
In step 101, if it is determined that the current vehicle state does not meet the parking mode entry condition, an operation to be executed to meet the parking mode entry condition is determined, and a reminder is performed, and after all operations are detected to be completed, step 102 is executed. As one example, a reminder may be given to a user via the in-vehicle multimedia system, and the user may perform a corresponding operation based on the reminder. It will be appreciated by those skilled in the art that after determining the object to be operated, a control command may be sent to the corresponding actuator, for example, via a vehicle body controller, to a vehicle window, a door, or a mirror, so as to conform to the entry conditions of the car wash parking mode.
In step 103, when the vehicle speed is stable, the vehicle is considered to start to enter the vehicle washing area, the vehicle speed in the link is taken as a reference vehicle speed, the variation of the current vehicle speed relative to the reference vehicle speed is calculated in real time, and when the variation exceeds a set threshold value, the vehicle is considered to leave the vehicle washing area.
In the step 104, the vehicle speed signal is continuously monitored, if no user operation is detected within a certain time range: if the vehicle speed is continuously reduced to be smaller than the set threshold value within the time range, entering a common parking mode, executing common parking control, and reminding a user of finishing the vehicle washing; if the vehicle speed continues to increase within the time range, the vehicle enters a dynamic parking mode, and the dynamic parking control is executed.
In one or more embodiments, in an automatic car washing scene, through comprehensively applying multiple car washing modes, misoperation caused by a user in the whole car washing process can be avoided to the greatest extent, meanwhile, through monitoring the motion state of the whole car washing process, whether a driver enters a driving state in time or not can be judged when the vehicle exits a car washing area, and therefore, under the condition that the driver does not respond in time, certain protection measures are given through ordinary parking/dynamic parking.
Specifically, after the vehicle exits the vehicle washing area, if the driving operation of the driver is not detected within a period of time, when the vehicle speed is reduced to a set threshold value, a common parking mode is triggered, and the EPB clamping is directly controlled to stop the motion of the vehicle and remind a user of finishing the vehicle washing, and the vehicle is required to leave as soon as possible; if the vehicle speed has a continuous increasing trend in the period of time, a dynamic parking mode is triggered, the EPB clamping is controlled to force the vehicle to stop, and the risk possibly caused by inertia motion of the vehicle is avoided.
In addition, in the dynamic parking control process, the safe parking force can be determined according to the speed and the acceleration of the vehicle at each moment, so that uncomfortable feeling of passengers in the vehicle caused by sudden deceleration/stopping can be avoided in the process of decelerating the vehicle until stopping.
It should be noted that the dynamic parking mode is distinguished from a conventional parking function, which is a safety measure of a vehicle in a stopped state, by which a position of the vehicle is fixed in a stopped state of the vehicle; dynamic parking is a control strategy when there is a need for parking a vehicle while the vehicle is in a driving state. In addition, the dynamic parking mode is also different from an Anti-lock braking system (Anti-lock Braking System, ABS), when the Anti-lock braking system is a brake pedal, the electromagnetic valve and the pump are utilized to adjust the braking pressure so as to avoid the complete stopping of rotation of wheels in the braking process, and the dynamic parking mode is realized by comprehensively receiving related signals transmitted by other controllers or sensors, calculating the clamping force required by the current vehicle, outputting a target current signal to an EPB caliper motor, starting to rotate the caliper motor to output torque, realizing the speed reduction and torque increase of the motor through a speed reduction mechanism, forming the EPB caliper input torque, and converting the EPB caliper input torque into the piston clamping force through screw transmission or ball screw transmission.
Referring to fig. 3, an embodiment of the present application provides a parking control apparatus applied to an automatic car washing scene, the apparatus including:
the car-washing mode triggering module 201 is configured to respond to a car-washing parking mode entering instruction, acquire a vehicle state and judge whether entering conditions of the mode are met;
The car washing parking control module 202 is configured to acquire the current state of the electronic parking if the entering condition of the mode is met, and keep/switch to the release state;
A vehicle state monitoring module 203 configured to monitor a vehicle speed signal in real time, and determine a time when the vehicle exits the washing area according to a change in the vehicle speed;
The vehicle exit protection module 204 is configured to enter a dynamic parking mode and execute a dynamic parking control if no user operation is detected within a certain time range starting from the time point and the vehicle speed continues to increase within the time range.
In the car washing mode triggering module 201, the vehicle state includes a gear position where the gearbox is located and an automatic parking start-stop state. More specifically, the vehicle state further includes a door state, a window state, an air conditioning operation state, and a wiper start-stop state.
The vehicle state monitoring module 203 determines the moment when the vehicle exits the vehicle washing area according to the change of the vehicle speed specifically includes: when the vehicle speed is stable, the vehicle is considered to start to enter the vehicle washing area, the vehicle speed in the link is taken as a reference vehicle speed, the variation of the current vehicle speed relative to the reference vehicle speed is calculated in real time, and when the variation exceeds a set threshold value, the vehicle is considered to drive out of the vehicle washing area.
In the vehicle exit protection module 204, if no user operation is detected within a certain time range starting from the moment, and the vehicle speed is continuously reduced within the time range, and if the vehicle speed is reduced below a set threshold, parking is completed in a normal parking mode.
Wherein the dynamic parking control includes:
acquiring a mapping relation of speed, acceleration and clamping force applicable to a current vehicle;
And monitoring the vehicle speed and the acceleration at the current moment, determining the clamping force required at the current moment according to the mapping relation, controlling the wheel caliper motor to apply the clamping force to the wheels, releasing, repeatedly executing the steps until the vehicle speed is reduced below a set threshold value, and completing parking in a common parking mode.
It should be noted that, when the apparatus provided in the foregoing embodiment performs the functions thereof, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to perform all or part of the functions described above. In addition, the apparatus and the method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the apparatus and the method embodiments are detailed in the method embodiments and are not repeated herein.
One or more embodiments of the present invention also provide an electronic device that may be used to implement the parking control method in the above embodiments. The electronic device includes one or more processors, one or more memories coupled to the processors, and a communication module coupled to the processors.
The memory may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memory include, but are not limited to, at least one of: read-Only Memory (ROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, hard disk, compact Disc (CD), digital video disk (DIGITAL VERSATILE DISC, DVD), or other magnetic and/or optical storage. Examples of volatile memory include, but are not limited to, at least one of: random access memory (Random Access Memory, RAM), or other volatile memory that does not last for the duration of the power outage. The computer program may be stored in ROM. The processor implements the above-described parking control method when executing the computer program.
In some embodiments, the program may be tangibly embodied in a computer-readable medium, which may be included in a device (such as in a memory) or other storage device accessible by the device. The program may be loaded from a computer readable medium into RAM for execution. The computer readable medium may comprise any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, which stores a computer program which, when executed by a processor, implements the park control method described above.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof, and when implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions which, when loaded and executed on a server or terminal, fully or partially produce a process or function in accordance with embodiments of the present application. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer readable storage medium may be any available medium that can be accessed by a server or terminal or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape, etc.), an optical medium (e.g., digital video disk (digital video disk, DVD), etc.), or a semiconductor medium (e.g., solid state disk, etc.).
Moreover, although operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the application. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
Claims (10)
1. A parking control method applied to an automatic car washing scene, comprising:
Responding to a parking mode entering instruction of the vehicle washing, acquiring a vehicle state, and judging whether entering conditions of the mode are met;
if the entering condition of the mode is met, acquiring the current state of the electronic parking, and keeping/switching to a release state;
monitoring a vehicle speed signal in real time, and determining the moment when the vehicle exits the vehicle washing area according to the change of the vehicle speed;
If no user operation is detected within a certain time range taking the moment as a starting point, and the vehicle speed continuously increases within the time range, entering a dynamic parking mode, and executing dynamic parking control.
2. The method for controlling parking in an automatic car wash according to claim 1, wherein the vehicle state includes a gear position of a gearbox and an automatic parking start-stop state.
3. The parking control method applied to an automatic car washing scene as claimed in claim 2, wherein the vehicle state further includes a door state, a window state, an air conditioner operating state, and a wiper start-stop state.
4. The parking control method applied to an automatic car washing scene as claimed in claim 1, wherein determining the moment when the car exits the car washing area according to the change of the car speed comprises: when the vehicle speed is stable, the vehicle is considered to start to enter the vehicle washing area, the vehicle speed in the link is taken as a reference vehicle speed, the variation of the current vehicle speed relative to the reference vehicle speed is calculated in real time, and when the variation exceeds a set threshold value, the vehicle is considered to drive out of the vehicle washing area.
5. The parking control method applied to an automatic car washing scene as claimed in any one of claims 1 to 4, wherein if no user operation is detected within a certain time range starting from the moment, and the vehicle speed is continuously reduced within the time range, the parking is completed in a normal parking mode when the vehicle speed is reduced below a set threshold.
6. The parking control method applied in an automatic car wash scenario according to any one of claims 1-4, wherein the dynamic parking control comprises:
acquiring a mapping relation of speed, acceleration and clamping force applicable to a current vehicle;
And monitoring the vehicle speed and the acceleration at the current moment, determining the clamping force required at the current moment according to the mapping relation, controlling the wheel caliper motor to apply the clamping force to the wheels, releasing, repeatedly executing the steps until the vehicle speed is reduced below a set threshold value, and completing parking in a common parking mode.
7. A parking control device applied to an automatic car washing scene, comprising:
The car washing mode triggering module is configured to respond to a car washing parking mode entering instruction, acquire a vehicle state and judge whether entering conditions of the mode are met or not;
The car washing parking control module is configured to acquire the current state of the electronic parking if the entering condition of the mode is met, and keep/switch to a release state;
the vehicle state monitoring module is configured to monitor a vehicle speed signal in real time and determine the moment when the vehicle exits the vehicle washing area according to the change of the vehicle speed;
The vehicle exit protection module is configured to enter a dynamic parking mode and execute dynamic parking control if no user operation is detected within a certain time range taking the moment as a starting point and the vehicle speed continuously increases within the time range.
8. An electronic device comprising a processor and a memory having stored thereon computer instructions that, when executed by the processor, cause the electronic device to perform the method of any of claims 1 to 6.
9. A computer readable storage medium having stored therein at least one computer program loaded and executed by a processor to cause a computer to implement the method of any one of claims 1 to 6.
10. A computer program product comprising computer executable instructions, wherein the computer executable instructions when executed by a processor implement the method of any one of claims 1 to 6.
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| CN111469827A (en) * | 2020-04-28 | 2020-07-31 | 华晨鑫源重庆汽车有限公司 | Linkage control method for automobile emergency braking |
| CN117657181A (en) * | 2022-08-31 | 2024-03-08 | 华为技术有限公司 | A vehicle control method, device and vehicle |
| CN116142149A (en) * | 2023-03-08 | 2023-05-23 | 岚图汽车科技有限公司 | Parking control method, system, device and storage medium |
| CN117774860A (en) * | 2024-02-23 | 2024-03-29 | 江苏天一航空工业股份有限公司 | Pure electric unmanned transformation method for sweeping vehicle and installation component |
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