WO2019119957A1 - 电子驻车控制方法、装置、可读存储介质和计算机设备 - Google Patents

电子驻车控制方法、装置、可读存储介质和计算机设备 Download PDF

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Publication number
WO2019119957A1
WO2019119957A1 PCT/CN2018/111275 CN2018111275W WO2019119957A1 WO 2019119957 A1 WO2019119957 A1 WO 2019119957A1 CN 2018111275 W CN2018111275 W CN 2018111275W WO 2019119957 A1 WO2019119957 A1 WO 2019119957A1
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WIPO (PCT)
Prior art keywords
parking
vehicle
state
message
controller
Prior art date
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Ceased
Application number
PCT/CN2018/111275
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English (en)
French (fr)
Inventor
陈镇升
魏丹
岳彬彬
王金航
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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Publication date
Application filed by Guangzhou Automobile Group Co Ltd filed Critical Guangzhou Automobile Group Co Ltd
Priority to US16/330,777 priority Critical patent/US11713037B2/en
Publication of WO2019119957A1 publication Critical patent/WO2019119957A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems

Definitions

  • the present application relates to the field of intelligent vehicle control technologies, and in particular, to an electronic parking control method, apparatus, computer readable storage medium, and computer device.
  • the current electronic parking brake system requires the driver to perform a parking operation. For example, the operation of the parking switch is pressed by the driver, and the zipper mechanism is used to perform parking by the EPB control, thereby realizing the electronic parking.
  • the current EPB control has a limited degree of intelligence, requiring the driver to perform manual operations, and the parking efficiency is low, and it is impossible to solve the parking problem of the driverless car with higher safety requirements.
  • An electronic parking control method includes the steps of:
  • the parking switch message is a message generated when the vehicle controller detects that the vehicle state is executable parking switching
  • the parking switching signal is pushed to the external electronic parking brake system, and the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes the tension state and the release state.
  • An electronic parking control method includes the steps of:
  • the automatic driving controller When the automatic driving controller detects that the vehicle is in the automatic driving mode and meets the preset parking control condition, the automatic driving controller is controlled to generate a parking switching request message, and sends a parking switching request message to the vehicle controller. ;
  • the automatic driving controller is controlled to push the parking switching signal to the external electronic parking brake system, and the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes the tension state and the release state.
  • An electronic parking control device includes:
  • a request message sending module configured to generate a parking switch request message when the vehicle is in the automatic driving mode and meet the preset parking control condition, and send a parking switch request message to the vehicle controller;
  • a switching message receiving module configured to receive a parking switching message fed back by the vehicle controller, where the parking switching message is a message generated when the vehicle controller detects that the vehicle state is executable parking switching;
  • a switching signal generating module configured to generate a parking switching signal corresponding to the parking switching message
  • the switching signal sending module is configured to push the parking switching signal to the external electronic parking brake system, and the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes a tension state and a release state.
  • An electronic parking control device includes an automatic driving controller and a vehicle controller connected to each other;
  • the automatic driving controller is configured to control the automatic driving controller to generate a parking switching request message when the vehicle is in the automatic driving mode and meet the preset parking control condition, and send the parking switching request message to the entire vehicle.
  • a controller the automatic driving controller is further configured to generate a parking switching signal corresponding to the parking switching message when receiving the parking switching message;
  • the automatic driving controller is further configured to push the parking switching signal to the external electronic parking system
  • the moving system, the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes a tension state and a release state;
  • the vehicle controller is configured to perform vehicle state detection when receiving the parking switch request message; the vehicle controller is further configured to control the vehicle controller to generate a parking switch message when detecting that the vehicle state is an executable parking switch And send a parking switch message to the autopilot controller.
  • a computer readable storage medium storing a computer program, when executed by a processor, causes the processor to perform the steps of the method as described above.
  • a computer apparatus comprising a memory and a processor, the memory storing a computer program, the computer program being executed by the processor, causing the processor to perform the steps of the method as described above.
  • the electronic parking control method, apparatus, computer readable storage medium, and computer device when detecting that the vehicle is in an automatic driving mode and satisfying a preset parking control condition, transmitting a parking switching request message to the vehicle controller Receiving a parking switching message fed back by the vehicle controller, and finally generating and pushing a corresponding parking switching signal according to the parking switching message, the parking switching signal switching the state of the external electronic parking brake system In order to achieve parking control of the external electronic parking brake system.
  • the solution of the present application sends a parking switch request message to the vehicle controller when the vehicle is in the automatic driving mode, and receives a parking switch message that is feedback by the vehicle controller when detecting that the vehicle state is an executable parking switch. And generating and pushing a corresponding parking switching signal according to the parking switching message to control the state switching of the electronic parking brake system, and realizing the control of the electronic parking brake system without the manual operation of the driver , parking efficiency is high.
  • FIG. 1 is a schematic flow chart of an electronic parking control method according to an embodiment of the present application.
  • FIG. 2 is a schematic block diagram showing the structure of an electronic parking control device according to an embodiment of the present application.
  • FIG. 3 is a schematic flow chart of an electronic parking control method according to an embodiment of the present application.
  • FIG. 4 is a schematic block diagram showing the structure of an electronic parking control device according to an embodiment of the present application.
  • 5 is a schematic flow chart of performing electronic parking control by the electronic parking control method of the present application in an embodiment
  • FIG. 6 is a flow chart showing the electronic parking control by the electronic parking control method of the present application in another embodiment.
  • the current status of EPB control is operated by the driver's button, and the EPB controls the zipper mechanism to perform parking.
  • the EPB controls the zipper mechanism to perform parking.
  • FIG. 1 is a schematic flow chart of an electronic parking control method according to an embodiment of the present application. As shown in FIG. 1 , in this embodiment, the electronic parking control method includes the following steps:
  • Step S101 When it is detected that the vehicle is in the automatic driving mode and meets the preset parking control condition, the parking switching request message is generated, and the parking switching request message is sent to the vehicle controller.
  • the artificial driving mode is similar to the current ordinary driving mode, that is, the driver driving operation is directly performed by the driver; and in the automatic driving mode, the automatic driving can be realized by the onboard computer system.
  • Vehicle autopilot technology relies on artificial intelligence, visual computing, radar, surveillance devices and global positioning systems to work together to allow on-board computers to operate motor vehicles automatically and safely without any human active operation.
  • the current driving mode of the vehicle is monitored, and when it is detected that the vehicle is in the automatic driving mode, it is further determined whether the preset parking control condition is satisfied.
  • the parking control condition may be whether the vehicle needs to release the parking or tighten the parking, that is, whether the parking condition is satisfied or whether the parking condition is satisfied. Further, when the vehicle is in the automatic driving mode and the vehicle starts driving when the vehicle is automatically started from the parking state, the current state of the vehicle can be acquired by the Self-piloting Control Unit (SCU), and according to the current state of the acquired vehicle. It is judged that the parking is required, that is, the parking control is required; after the vehicle arrives at the destination, the parking is required, that is, the parking control is also required.
  • SCU Self-piloting Control Unit
  • the order of detecting the driving mode of the vehicle and the judgment of the parking control condition is not limited, and the parking control condition determination may be performed while measuring the driving mode of the vehicle; or the preset parking control condition may be satisfied. After that, it is further detected whether the vehicle is in the automatic driving mode. When the vehicle is in the automatic driving mode and the parking control condition is satisfied, a parking switching request message is generated, and the parking switching request message is transmitted to the vehicle controller.
  • the vehicle control unit (VCU, Vehicle Control Unit) is one of the core components of the smart car, and is the assembly controller of the vehicle power system, which is responsible for coordinating the work of the engine, the drive motor, the gearbox, the power battery and the like.
  • the VCU can reasonably interpret the driver's operation, receive the feedback information of each subsystem of the vehicle, provide decision feedback for the driver, and send control commands to the subsystems of the vehicle to achieve normal driving of the vehicle.
  • the VCU can determine the driver's driving intention by collecting signals such as the accelerator pedal, the gear position, the brake pedal, etc.; by monitoring the vehicle state (vehicle speed, temperature, etc.) information, the VCU judges the processing, and then the power system and the power battery system are The vehicle's operating state control command is sent to control the working mode of the vehicle accessory power system; the VCU also has the vehicle system fault diagnosis protection and storage function.
  • the parking switch request message is used to request the VCU to perform vehicle state detection to determine whether the parking control is appropriate.
  • the generated parking switching request message may be sent by the automatic driving controller to the vehicle through a CAN (Controller Area Network) bus connected between the vehicle controller and the automatic driving controller.
  • the controller is configured to cause the vehicle controller to perform vehicle state detection and provide feedback according to the detection result.
  • Step S103 Receive a parking switching message fed back by the vehicle controller, and the parking switching message is a message generated when the vehicle controller detects that the vehicle state is executable parking switching.
  • the parking switch request message is used to request the vehicle controller to perform vehicle state detection to determine whether the parking control is corresponding, and generate a parking switch message when the vehicle state detection result is executable switching, and the parking device is to be parked.
  • the switching message is fed back to the autopilot controller. For example, when the vehicle performs automatic driving to reach the destination, it is necessary to tighten the parking at this time, that is, the parking control is required, and after the parking switching request message is sent to the vehicle controller, the parking switching message of the feedback is received. .
  • Step S105 Generate a parking switching signal corresponding to the parking switching message.
  • the parking switching signal may include a first switching signal and a second switching signal, where the first switching signal may be a switching signal for controlling switching from the tension state to the release state, and the second switching signal may be controlled by The switching signal for switching the state to the tightened state is released, and the first and second are merely descriptions, and are not limited thereto.
  • the switching signal may include a second switching signal for controlling the external electronic parking brake system to perform state switching to bring it into a tension state, thereby implementing parking.
  • Step S107 Pushing the parking switching signal to the external electronic parking brake system, the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes the tension state and the release state.
  • the parking switching signal is pushed to the external electronic parking brake system, and the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes the tension state and the release state.
  • the electronic parking brake system that is, the electronic hand brake
  • the working principle is the same as that of the mechanical handbrake, which is controlled by the friction between the brake disc and the brake pad to control the parking brake.
  • the working state of the electronic parking brake system includes a tension state and a release state, wherein the tension state realizes parking, and the release state realizes release of the parking.
  • the electronic parking control method described above when detecting that the vehicle is in the automatic driving mode and satisfying the preset parking control condition, sends a parking switching request message to the vehicle controller, and receives the feedback from the vehicle controller.
  • the vehicle switching message finally generates and pushes a corresponding parking switching signal according to the parking switching message, and the parking switching signal switches the state of the external electronic parking brake system to realize the external electronic parking brake system Parking control.
  • the solution of the present application sends a parking switch request message to the vehicle controller when the vehicle is in the automatic driving mode, and receives a parking switch message that is feedback by the vehicle controller when detecting that the vehicle state is an executable parking switch. And generating and pushing a corresponding parking switching signal according to the parking switching message to control the state switching of the electronic parking brake system, and realizing the control of the electronic parking brake system without the manual operation of the driver , parking efficiency is high.
  • generating a parking switching request message and transmitting the parking switching request message to the vehicle controller may be in the following form get on:
  • a parking switching request message is generated, and the parking switching request message is transmitted to the vehicle controller.
  • the operating state of the vehicle is detected, and the driving mode of the vehicle is determined according to the operating state. If the vehicle is detected to start the system autonomous operation function, when the vehicle startup system operates autonomously, it can be determined that the driving mode of the vehicle is the automatic driving mode, otherwise the manual driving mode. It is also possible to detect the object of each control command of the vehicle to determine the driving mode of the vehicle. For example, if the vehicle control object is detected as an on-board computer system, the vehicle can be determined to be in the automatic driving mode; if each control command is detected When the control is sent by the external control terminal, it can be determined that the vehicle is in the manual driving mode.
  • the parking switching control is required according to the traveling state of the vehicle.
  • the vehicle is in the automatic driving mode, it is necessary to determine when to perform the parking switching control according to the running state of the vehicle, such as when the destination is reached, the parking brake is started, the automatic driving mode ends, or the automatic driving mode is started to start the engine.
  • the driving state of the vehicle may include an starting state, a driving state, and a braking state, the starting state is starting the engine to start driving, the driving state is the driving process, and the braking state is the braking operation at the end of the driving.
  • the running state of the vehicle it can be determined whether the vehicle needs to perform parking switching control.
  • the step of determining whether the parking switching control is required according to the traveling state of the vehicle can be realized by the following form:
  • the determination result is that the vehicle needs to perform the parking switching control.
  • the traveling state of the vehicle is acquired.
  • the driving state of the vehicle may include an activated state, a driving state, and a braking state.
  • the determination result is configured such that the vehicle needs to perform the parking switching control.
  • the vehicle does not need to park the EPB during normal driving, that is, during normal driving. Only when the vehicle starts or brakes, the EPB needs to release the parking assist start or the auxiliary brake to tighten the parking to ensure Safe and smooth driving of the vehicle. Therefore, when it is determined that the running state of the vehicle is the braking state or the starting state, it can be determined that the vehicle needs to perform the parking switching control, and the determination result is configured by this.
  • a parking switching request message is generated, and the parking switching request message is transmitted to the vehicle controller. Specifically, the judgment result is obtained, and when the judgment result is that the parking control is required, the parking handover request message is generated and issued.
  • the driving state of the vehicle is in the starting state or the braking state, it may be determined that the parking switching control needs to be performed. At this time, a parking switching request message is generated, and the parking switching request message is sent to The vehicle controller is used to enable the vehicle controller to perform vehicle state detection.
  • step of pushing the parking switch signal to the external electronic parking brake system can be performed in the following form:
  • the timer is started to count
  • the parking switch signal is used to switch the state of the external electronic parking brake system.
  • the timer is started to perform timing, and the parking switch signal is continuously pushed.
  • the timer value reaches the preset delay time value, the push is stopped.
  • the delay time can be set according to the mechanical characteristics of the actuator of the EPB.
  • the EPB includes an electronic parking controller and an electronic parking actuator.
  • the electronic parking controller receives a control signal and controls the electronic parking actuator to perform a tightening or releasing action to switch the EPB to a tightened state or release. status. Due to the mechanical characteristics of the electronic parking actuator, the EPB will generate a certain delay when performing the corresponding tensioning or releasing action. By performing a certain delay judgment on the pushed parking switching signal, the normal operation of the EPB can be further ensured.
  • the electronic parking control method of the present application may further include the following steps:
  • the braking state and the vehicle state are messages generated when the parking switch can be performed.
  • the active switching message is a message generated when the vehicle controller monitors that the vehicle is in a braking state and the vehicle state is an executable parking switch.
  • the vehicle controller when the vehicle is in the automatic driving mode, the vehicle controller also monitors the running state of the vehicle, the vehicle speed, etc., when the vehicle is in a braking state, that is, the brake actuator is performing a braking operation, such as a brake pedal.
  • the vehicle controller actively performs vehicle state detection.
  • the state detection result is that the parking switch can be performed, an active switching message is generated and sent.
  • the first speed may be set according to the minimum speed detected by the vehicle speed sensor, for example, may be preset to 1.5 km/h; the first time threshold may be according to a driver's usual habit of stepping on the brake from the time when the vehicle stops to the handle brake. Calibration, for example, can be preset to 6 seconds.
  • the electronic parking control can be performed by the vehicle controller.
  • the automatic driving controller fails to request the parking control in time due to device failure or other reasons
  • the vehicle controller with higher performance and greater security actively sends the active switching message to realize the parking control of the EPB, which can further ensure the safe parking in the automatic driving mode of the vehicle.
  • the electronic parking control method of the present application may further include the steps of:
  • an emergency braking request is sent to the vehicle controller, and the emergency braking request is used to request the vehicle controller to directly switch the state of the electronic parking brake system.
  • the emergency situation is monitored in real time.
  • the preset emergency braking condition such as sudden sudden deceleration of the vehicle in front, sudden occurrence of the road, sudden overspeed of the rear vehicle, forced robbing, etc.
  • an emergency braking request is generated. And sent to the vehicle controller to request the vehicle to control its direct switching state of the electronic parking brake system.
  • the emergency braking condition may be configured according to the situation in the vehicle driving process that requires emergency braking, which may include, but is not limited to, a vehicle failure, which may affect the life safety of the occupant; Such as overtaking the road, emergency braking in the front, and roads in front of the road.
  • emergency braking is required, an emergency braking request is sent to the vehicle controller to request the vehicle controller to directly participate, and the state of the electronic parking brake system is switched, so that the emergency emergency braking can be realized in an emergency situation. control.
  • the electronic parking control method of the present application may further include the following steps:
  • the duration of the external control message is recorded; when the duration of the external control message exceeds the preset erroneous operation time threshold, the step of generating a parking switch request message is entered.
  • the duration of the external control message is recorded, and when the preset operation time threshold is operated for the duration, the step of generating the parking switch request message is entered.
  • the external control message is sent by an external control terminal, which may include, but is not limited to, an electronic parking switch and a remote remote control switch.
  • the remote control switch can communicate with the automatic driving controller through radio signals, thereby realizing the control of the EPB and satisfying the remote control function of the automatic driving.
  • the misoperation time threshold can be configured according to the length of the erroneous operation delay. For example, it can be preset to 2 seconds. In the automatic driving mode, if the duration of receiving the external control message exceeds 2 seconds, the operation is considered not to be the external control terminal.
  • the electronic parking control method of the present application may further include the steps of:
  • the current smart car still supports the manual driving mode, that is, the driver drives the vehicle.
  • the external control message is further monitored.
  • the external control message is received, a corresponding external switching signal is generated, and the external switching signal is pushed to the EPB to enable the EPB to switch its state.
  • the electronic parking control method of the present application is still compatible with the manual operation EPB mode, and can perform electronic parking control in the manual driving mode.
  • the present application also provides an electronic parking control device.
  • FIG. 2 is a schematic block diagram showing the structure of an electronic parking control device according to an embodiment of the present application. As shown in FIG. 2, in this embodiment, the electronic parking control device includes:
  • the request message sending module 201 is configured to: when detecting that the vehicle is in the automatic driving mode and meet the preset parking control condition, generate a parking switch request message, and send a parking switch request message to the vehicle controller;
  • the switching message receiving module 203 is configured to receive a parking switching message fed back by the vehicle controller, where the parking switching message is a message generated when the vehicle controller detects that the vehicle state is executable parking switching;
  • the switching signal generating module 205 is configured to generate a parking switching signal corresponding to the parking switching message
  • the switching signal sending module 207 is configured to push the parking switching signal to the external electronic parking brake system, and the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes a tension state and a release state.
  • the electronic parking control device sends a parking switch request message to the vehicle controller through the request message sending module when detecting that the vehicle is in the automatic driving mode and meets the preset parking control condition, by switching the message receiving module Receiving a parking switching message fed back by the vehicle controller, and generating a corresponding parking switching signal according to the parking switching message by the switching signal generating module, and finally pushing the parking switching signal to the external electronic parking by the switching signal sending module
  • the brake system switches the state of the external electronic parking brake system to achieve parking control of the external electronic parking brake system.
  • the electronic parking control device realizes the control of the electronic parking brake system without requiring the driver to perform manual operation, and the parking efficiency is high.
  • the present application also provides an electronic parking control method.
  • FIG. 3 is a schematic flow chart of an electronic parking control method according to an embodiment of the present application. As shown in FIG. 3, in this embodiment, the electronic parking control method includes the following steps:
  • Step S301 When the automatic driving controller detects that the vehicle is in the automatic driving mode and meets the preset parking control condition, the automatic driving controller is controlled to generate a parking switching request message, and sends a parking switching request message to the whole. Car controller.
  • the driving mode of the vehicle is detected by the automatic driving controller.
  • the vehicle is in the automatic driving mode and the preset parking control condition is met, such as when the vehicle needs to be braked or needs to be started, the control is performed.
  • the autopilot controller generates a parking switch request message and sends it to the vehicle controller.
  • Step S303 The control vehicle controller performs vehicle state detection when receiving the parking switch request message.
  • the vehicle controller When receiving the parking switching request message by the vehicle controller, the vehicle controller is controlled to perform vehicle state detection.
  • the vehicle state detection may include, but is not limited to, detecting a current state of the brake pedal state, a vacuum pump state, an emergency brake command state, a vehicle torque state, and a vehicle state of each transmission component.
  • Step S305 When it is detected by the vehicle controller that the vehicle state is an executable parking switch, the control vehicle controller generates a parking switch message and sends a parking switch message to the automatic driving controller.
  • the vehicle controller detects the state of the vehicle, and when the detected vehicle state is an executable parking switch, further controls the vehicle controller to generate a parking switch message and transmits it to the automatic driving controller.
  • the vehicle controller only detects the state of the vehicle related to the electronic parking, and when the states are normal, the vehicle state can be an executable parking switch, further generating a parking switching message, and the parking is performed. The switching message is sent to the autopilot controller.
  • Step S307 The control automatic driving controller generates a parking switching signal corresponding to the parking switching message when receiving the parking switching message.
  • the automatic driving controller When receiving the parking switching message by the automatic driving controller, the automatic driving controller is controlled to generate a parking switching signal corresponding to the parking switching message, and the parking switching signal is used to switch the state of the external electronic parking brake system.
  • This state includes a tensioned state and a released state.
  • Step S309 Control the automatic driving controller to push the parking switching signal to the external electronic parking brake system, and the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes the tension state and the release state.
  • the automatic driving controller is further controlled to push the parking switching signal to the external electronic parking brake system to switch the EPB state, thereby realizing the EPB. Parking control.
  • the automatic driving controller when the vehicle is parked, that is, when the vehicle is stopped, if the automatic driving controller detects that the preset parking control condition is met, that is, when the vehicle needs to be started, the automatic driving controller
  • the vehicle controller sends a parking switch request message
  • the parking switch request message may include a vehicle driving torque value
  • the vehicle controller determines that the vehicle driving torque value is greater than a preset driving torque value
  • the vehicle controller performs vehicle state Detecting, when the detection result is that the parking switch can be performed, sending a parking switch message to the automatic driving controller, and after receiving the parking switching message, the automatic controller pushes the parking switch to the electronic parking brake system through the hard line.
  • the signal is used to switch the state of the electronic parking brake system.
  • the EPB is released, the switch is switched to the released state, and the vehicle is automatically started.
  • the preset driving torque value may be calibrated according to the characteristics of the engine or the driving motor, and the preset value may be ⁇ 50 Nm.
  • the electronic parking control method further controls the automatic driving controller to send a parking switching request message to the vehicle controller when the automatic driving controller detects that the vehicle is in the automatic driving mode and meets the preset parking control condition.
  • the vehicle switching controller receives the parking switching request message, the vehicle controller is controlled to perform vehicle state detection; when the vehicle state detected by the vehicle controller is executable parking switching, the vehicle controller is controlled to generate The parking switching message is fed back to the automatic driving controller; the parking control message is received by the automatic driving controller, and controlled to generate a corresponding parking switching signal; finally, the automatic driving controller is controlled to push the parking switching signal to An electronic parking brake system for switching the state of the external electronic parking brake system to achieve parking control of the external electronic parking brake system.
  • the above electronic parking control method realizes parking control of the electronic parking brake system by combining the vehicle controller and the automatic driving controller when the vehicle is in the automatic driving mode, and does not require the driver to perform manual operation, thereby realizing the pair
  • the control of the electronic parking brake system has high parking efficiency.
  • the automatic driving controller may also detect whether the electronic parking brake system completes the state switching, and if not, A fault is reported to ensure that the electronic parking control is properly completed.
  • the electronic parking control method of the present application may further include:
  • the control vehicle controller When the vehicle controller detects that the vehicle is in the braking state and the vehicle state is the executable parking switch, the control vehicle controller sends an active switching message to the automatic driving controller;
  • the automatic driving controller is controlled to push the active switching signal to the external electronic parking brake system, and the parking switching signal is used to switch the state of the external electronic parking brake system.
  • the vehicle driving state and the vehicle speed are monitored by the vehicle controller, and when the vehicle is in the braking state, the brake actuator is performing the braking operation, such as the brake pedal is stepping on
  • the vehicle controller is further controlled to perform vehicle state detection.
  • the state detection result is that the parking switch can be performed
  • the vehicle controller is controlled to generate an active switch.
  • the message is sent to the autopilot controller.
  • the first speed may be set according to the minimum speed detected by the vehicle speed sensor, for example, may be preset to 1.5 km/h; the first time threshold may be according to a driver's usual habit of stepping on the brake from the time when the vehicle stops to the handle brake.
  • Calibration for example, can be preset to 6 seconds.
  • the control vehicle controller After receiving the active switching message by the automatic driving controller, the automatic driving controller is controlled to generate a corresponding active switching signal, and finally the automatic driving controller is controlled to push the active switching signal to the external electronic parking brake system, and the parking switching signal is used. Switching the state of the external electronic parking brake system.
  • the electronic parking control is carried out by the vehicle controller.
  • the electronic parking control method of the present application may further include:
  • the automatic driving controller When the automatic driving controller detects that the preset emergency braking condition is met, the automatic driving controller is controlled to generate an emergency braking request, and the emergency braking request is sent to the vehicle controller;
  • the control vehicle controller When the vehicle controller detects that the current speed of the vehicle is less than the preset emergency parking speed, the control vehicle controller sends a tension control signal to the electronic parking brake system, and the tension control signal is used to control the electronic parking.
  • the brake system enters the tension state.
  • the automatic driving controller when the automatic braking controller detects that the preset emergency braking condition is met, such as a vehicle failure, the failure may affect the life safety of the occupant; If the overtaking is robbing, the front car is in emergency braking, the front road is not open, etc., the automatic driving controller is controlled to generate an emergency braking request and is sent to the vehicle controller.
  • the duration of the emergency braking request is recorded by the vehicle controller, and when the duration of the emergency braking request recorded by the vehicle controller is greater than the preset emergency braking time threshold, the vehicle controller is controlled to perform vehicle state detection.
  • the emergency braking time threshold can be set according to the emergency braking demand and the brake pedal stroke depth.
  • the vehicle controller When it is detected by the vehicle controller that the vehicle state is an executable parking switch, the vehicle controller is controlled to send an emergency brake message to the brake controller to cause the brake controller to enter the brake working state. Further, the vehicle controller may transmit the emergency brake message to the brake controller via the CAN bus according to the vehicle speed and the vehicle deceleration to proportionally output the braking force to the vehicle. After the brake controller enters the brake working state, the brake controller controls the brake actuator, such as setting the pedal for emergency braking. When the vehicle controller detects that the current speed of the vehicle is less than the preset emergency parking speed, the control vehicle controller sends a tension control signal to the electronic parking brake system, and the tension control signal is used to control the electronic parking. The brake system enters the tension state.
  • the emergency parking speed can be set according to the vehicle speed and the deceleration, and the preset range can be 0 to 5 km/h. Further, when the vehicle controller detects that the vehicle speed is lower than the emergency parking speed, the control vehicle controller sends a tension control signal to the electronic parking brake system through the CAN bus to realize the emergency braking. Parking control.
  • the present application also provides an electronic parking control device.
  • the electronic parking control device 40 includes an automatic driving controller 401 and a vehicle controller 402;
  • the automatic driving controller 401 is configured to control the automatic driving controller 401 to generate a parking switching request message and send a parking switching request message when detecting that the vehicle is in the automatic driving mode and satisfying the preset parking control condition.
  • the automatic driving controller 401 is further configured to generate a parking switching signal corresponding to the parking switching message when receiving the parking switching message;
  • the automatic driving controller 401 is further configured to push the parking switching signal
  • the parking switching signal is used to switch the state of the external electronic parking brake system, and the state includes the tension state and the release state;
  • the vehicle controller 402 is configured to perform vehicle state detection when receiving the parking switch request message; the vehicle controller 402 is further configured to control the vehicle controller 402 to generate when detecting that the vehicle state is executable parking switch The parking switch message is sent and a parking switch message is sent to the automatic driving controller 401.
  • the electronic parking control device further controls the automatic driving controller to send a parking switching request message to the vehicle controller when the automatic driving controller detects that the vehicle is in the automatic driving mode and meets the preset parking control condition.
  • the vehicle switching controller receives the parking switching request message, the vehicle controller is controlled to perform vehicle state detection; when the vehicle state detected by the vehicle controller is executable parking switching, the vehicle controller is controlled to generate The parking switching message is fed back to the automatic driving controller; the parking control message is received by the automatic driving controller, and controlled to generate a corresponding parking switching signal; finally, the automatic driving controller is controlled to push the parking switching signal to An electronic parking brake system for switching the state of the external electronic parking brake system to achieve parking control of the external electronic parking brake system.
  • the above electronic parking control method realizes parking control of the electronic parking brake system by combining the vehicle controller and the automatic driving controller when the vehicle is in the automatic driving mode, and does not require the driver to perform manual operation, thereby realizing the pair
  • the control of the electronic parking brake system has high parking efficiency.
  • the automatic driving controller 401 is respectively connected to the vehicle controller 402 and the EPB, and the automatic driving controller 401 is also respectively connected with the electronic parking switch and the remote control switch; the vehicle controller 402 is also connected with the brake controller and brakes The controller is also connected to the brake actuator.
  • the EPB includes an electronic parking controller and an electronic parking actuator, wherein the electronic parking controller is coupled to the automatic driving controller 401, the vehicle controller 402, and the electronic parking actuator, respectively.
  • the vehicle controller 402 is respectively connected to the automatic driving controller 401, the electronic parking controller and the brake controller via the CAN bus, and the automatic driving controller 401 is connected by hard-wired electronic parking switch and electronic parking control.
  • the remote control switch is connected to the wireless transceiver built in the automatic driving controller 401 by a radio signal, and the brake controller is connected to the brake actuator through a hard wire, and the electronic parking controller is also connected to the electronic parking actuator through a hard wire. .
  • FIG. 5 is a flow chart showing the electronic parking control by the electronic parking control method of the present application in an embodiment.
  • each controller is first initialized, which may include, but is not limited to, a vehicle controller, an automatic steering controller, an electronic parking controller in the EPB, and a brake controller. Monitor whether the vehicle is in the automatic driving mode. If not, the parking control is implemented by the driver by manually operating the EPB method. If the vehicle is in the automatic driving mode, the initial state of the EPB is further confirmed, that is, the state in which the EPB is in the state of being tightened or released, and the state of the brake pedal is further detected.
  • the vehicle controller can determine that the EPB is allowed to release, thereby controlling the automatic driving controller SCU to send a release hard line signal to cause the EPB to perform a release action. Conversely, if the state of the EPB is in the released state and the brake pedal is depressed, it is further detected whether the vehicle speed is lower than or equal to the preset deceleration speed value v1 and the duration exceeds the preset deceleration time T1, when both are satisfied.
  • the vehicle controller can determine that the EPB is allowed to be tightened, thereby controlling the automatic driving controller SCU to send a tightening hard line signal to enable the EPB to perform the parking action. Finally, monitor whether the EPB completes the corresponding parking action or release action. If not, report the fault and prompt the parking control result to ensure that the electronic parking control can be completed normally.
  • FIG. 6 is a flow chart showing the electronic parking control by the electronic parking control method of the present application in another embodiment. As shown in FIG. 6, compared with the embodiment shown in FIG. 5, in the present embodiment, after confirming the initial state of the EPB, it is monitored whether the automatic driving controller SCU requests to tighten the EPB, and if so, whether or not a fault has occurred.
  • the vehicle controller can determine that the EPB is allowed to be tightened, thereby controlling the automatic driving controller SCU to send the tightening hard line signal, so that The EPB performs the parking action; if not, the emergency braking function is activated by the automatic driving controller SCU, and the brake pedal is automatically depressed by the vehicle controller VCU, thereby controlling the emergency braking of the vehicle, when the vehicle controller monitors The vehicle speed is lower than or equal to the preset emergency parking speed v2, and if so, the step of controlling the EPB to perform the tightening is performed, thereby realizing the electronic parking control in the case of emergency braking.
  • the present application also provides a computer readable storage medium.
  • a computer readable storage medium provided by the present application stores a computer program that, when executed by a processor, causes the processor to perform the steps of the electronic parking control method as described above.
  • the present application also provides a computer device based on the above electronic parking control method, apparatus, and computer readable storage medium.
  • a computer device provided by the present application includes a memory and a processor, the memory storing a computer program, when the computer program is executed by the processor, causing the processor to execute an electronic station as described above The steps of the car control method.
  • Non-volatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in a variety of formats, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronization chain.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • Synchlink DRAM SLDRAM
  • Memory Bus Radbus
  • RDRAM Direct RAM
  • DRAM Direct Memory Bus Dynamic RAM
  • RDRAM Memory Bus Dynamic RAM

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  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

一种电子驻车控制方法、装置、可读存储介质和计算机设备。所述方法包括当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器；接收整车控制器反馈的驻车切换消息，驻车切换消息为整车控制器检测到车辆状态为可执行驻车切换时生成的消息；生成与驻车切换消息对应的驻车切换信号；推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态。本申请的方案在车辆处于自动驾驶模式时，不需要驾驶员进行人工操作，就实现了对电子驻车制动系统的控制，驻车效率高。

Description

电子驻车控制方法、装置、可读存储介质和计算机设备 技术领域
本申请涉及智能汽车控制技术领域，特别是涉及一种电子驻车控制方法、装置、计算机可读存储介质和计算机设备。
背景技术
随着智能汽车技术的发展，现代汽车对于机械控制电子化的运用已经越来越广泛，从基本电子方向助力到复杂主动转向比例控制这些以往都是采用液压以及机械控制为主的部分，也逐渐向电子化控制靠拢，现代汽车要求在各项功能上都实现智能化，驾驶者能通过直接机械连接来自主控制的部分已经越来越少。其中，自动电子驻车功能是智能汽车的一项重要功能，其通过电子驻车制动系统(EPB，Electrical Park Brake)实现。电子驻车制动系统与传统的驻车手刹相比具有驻车方便可靠、紧凑、可实现车辆辅助起步功能等优点。
目前的电子驻车制动系统需要驾驶员进行驻车操作，如由驾驶员按动驻车开关的操作，通过EPB控制执行拉锁机构进行驻车，从而实现了电子驻车。目前的EPB控制智能化程度有限，需要驾驶员进行人工操作，驻车效率低，更无法解决安全性要求更高的无人驾驶汽车的驻车问题。
发明内容
基于此，有必要针对上述问题，提供一种无需人工参与控制，驻车效率高的电子驻车控制方法、装置、计算机可读存储介质和计算机设备。
一种电子驻车控制方法，包括步骤：
当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器；
接收整车控制器反馈的驻车切换消息，驻车切换消息为整车控制器检测到车辆状态为可执行驻车切换时生成的消息；
生成与驻车切换消息对应的驻车切换信号；
推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态。
一种电子驻车控制方法，包括步骤：
当通过自动驾驶控制器侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，控制自动驾驶控制器生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器；
控制整车控制器在接收到驻车切换请求消息时，进行车辆状态检测；
当通过整车控制器检测到车辆状态为可执行驻车切换时，控制整车控制器生成驻车切换消息，并发送驻车切换消息至自动驾驶控制器；
控制自动驾驶控制器在接收到驻车切换消息时，生成与驻车切换消息对应的驻车切换信号；
控制自动驾驶控制器推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态。
一种电子驻车控制装置，包括：
请求消息发送模块，用于当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器；
切换消息接收模块，用于接收整车控制器反馈的驻车切换消息，驻车切换消息为整车控制器检测到车辆状态为可执行驻车切换时生成的消息；
切换信号生成模块，用于生成与驻车切换消息对应的驻车切换信号；
切换信号发送模块，用于推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态。
一种电子驻车控制装置，包括相互连接的自动驾驶控制器和整车控制器；
其中，自动驾驶控制器用于在侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，控制自动驾驶控制器生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器；自动驾驶控制器还用于在接收到驻车切换消息时，生成与驻车切换消息对应的驻车切换信号；自动驾驶控制器还用于推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态；
整车控制器用于在接收到驻车切换请求消息时，进行车辆状态检测；整车控制器还用于在检测到车辆状态为可执行驻车切换时，控制整车控制器生成驻车切换消息，并发送驻车切换消息至自动驾驶控制器。
一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行如上所述方法的步骤。
一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如上所述方法的步骤。
上述电子驻车控制方法、装置、计算机可读存储介质和计算机设备，在侦 测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，向整车控制器发送驻车切换请求消息，并接收由整车控制器反馈的驻车切换消息，最后根据该驻车切换消息生成并推送对应的驻车切换信号，该驻车切换信号切换所述外部电子驻车制动系统所处状态，从而实现对外部电子驻车制动系统的驻车控制。本申请的方案在车辆处于自动驾驶模式时，通过向整车控制器发送驻车切换请求消息，并接收由整车控制器在检测到车辆状态为可执行驻车切换时反馈的驻车切换消息，再根据该驻车切换消息生成并推送对应的驻车切换信号，以控制电子驻车制动系统的状态切换，不需要驾驶员进行人工操作，就实现了对电子驻车制动系统的控制，驻车效率高。
附图说明
图1为本申请一个实施例中电子驻车控制方法的流程示意图；
图2为本申请一个实施例中电子驻车控制装置的结构示意框图；
图3为本申请一个实施例中电子驻车控制方法的流程示意图；
图4为本申请一个实施例中电子驻车控制装置的结构示意框图；
图5为一实施例中通过本申请的电子驻车控制方法进行电子驻车控制的流程示意图；
图6为另一实施例中通过本申请的电子驻车控制方法进行电子驻车控制的流程示意图。
具体实施方式
为使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步的详细说明。应当理解，此处所描述的具体实施方式仅仅用以解释本申请，并不限定本申请的保护范围。
目前EPB控制现状是通过驾驶员按键操作，EPB控制执行拉锁机构进行驻车。在车辆行驶过程中，若人为通过按键控制EPB拉紧，容易造成车轮抱死乃至车辆失控情况。如此，在高速或大扭矩情况下可能因为EPB控制不当造成车辆发生甩尾、侧滑或者碰撞，对驾驶性和安全性造成较大影响。另外，对于安全性要求更高的无人驾驶汽车来说，除了上述情况外，如何实现全自动驻车功能，这对EPB的控制提出了更严格的要求。
图1为本申请一个实施例中电子驻车控制方法的流程示意图。如图1所示，本实施例中，电子驻车控制方法包括步骤：
步骤S101：当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器。
随着智能汽车技术的发展，车辆可以支持人工驾驶模式，也可以实现自动驾驶模式。其中，人工驾驶模式与目前普通汽车驾驶方式类似，即直接由驾驶员进行车辆驾驶操作；而自动驾驶模式下，可以通过车载的计算机系统实现自动驾驶。车辆自动驾驶技术依靠人工智能、视觉计算、雷达、监控装置和全球定位系统等技术协同合作，让车载计算机可以在没有任何人类主动的操作下，自动安全地操作机动车辆。具体的，监测车辆的当前驾驶模式，当侦测到车辆处于自动驾驶模式时，进一步判断是否满足预设的驻车控制条件。其中，驻车控制条件可以为车辆是否需要进行释放驻车或拉紧驻车，即是否满足释放驻车条件或是否满足拉紧驻车条件。进一步地，当车辆处于自动驾驶模式、车辆从停车状态自动启动开始进行驾驶行车时，此时可由自动驾驶控制器(SCU，Self-piloting Control Unit)获取车辆当前状态，并根据获取的车辆当前状态判断需要释放驻车，即需要进行驻车控制；在车辆行车到达目的地后，需要进行拉紧驻车，即也需要进行驻车控制。在具体应用时，并不限定侦测车辆驾驶模式和驻车控制条件判断的先后顺序，可以在测车辆驾驶模式的同时进行驻车控制条件判断；也可以在判断满足预设的驻车控制条件后，进一步侦测车辆是否处于自动驾驶模式。当车辆处于自动驾驶模式、且满足驻车控制条件时，生成驻车切换请求消息，并发送该驻车切换请求消息至整车控制器。其中，整车控制器(VCU，Vehicle Control Unit)是智能汽车的核心部件之一，是车辆动力系统的总成控制器，负责协调发动机、驱动电机、变速箱、动力电池等各部件的工作。VCU能够合理解释驾驶员操作，能接收整车各子系统的反馈信息，为驾驶员提供决策反馈，能对整车各子系统的发送控制指令，以实现车辆的正常行驶。具体的，VCU可以通过采集油门踏板、挡位、刹车踏板等信号来判断驾驶员的驾驶意图；通过监测车辆状态(车速、温度等)信息，由VCU判断处理后，向动力系统、动力电池系统发送车辆的运行状态控制指令，同时控制车载附件电力系统的工作模式；VCU还具有整车系统故障诊断保护与存储功能。驻车切换请求消息用于请求VCU进行车辆状态检测，以决策是否相应驻车控制。在具体实现时，可以通过整车控制器和自动驾驶控制器之间连接的CAN(Controller Area Network，控制器局域网络)总线，由自动驾驶控制器将生成的驻车切换请求消息发送至整车控制器，以使整车控制器进行车辆状态检测并根据检测结果进行反馈。
步骤S103：接收整车控制器反馈的驻车切换消息，驻车切换消息为整车控制器检测到车辆状态为可执行驻车切换时生成的消息。
在将驻车切换请求消息发送至整车控制器后，接收整车控制器反馈的驻车切换消息，其中，驻车切换消息为整车控制器检测到车辆状态为可执行驻车切 换时生成的消息。具体的，驻车切换请求消息用于请求整车控制器进行车辆状态检测，以决策是否相应驻车控制，在车辆状态检测结果为可执行切换时，生成驻车切换消息，并将该驻车切换消息反馈至自动驾驶控制器。例如，当车辆进行自动驾驶抵达目的地后，此时需要拉紧驻车，即需要进行驻车控制，在将驻车切换请求消息发送至整车控制器后，接收其反馈的驻车切换消息。
步骤S105：生成与驻车切换消息对应的驻车切换信号。
在接收到由整车控制器反馈的驻车切换消息后，根据该驻车切换消息，生成对应的驻车切换信号。具体的，驻车切换信号可以包括第一切换信号和第二切换信号，其中，第一切换信号可以为控制由拉紧状态向松开状态进行切换的切换信号，第二切换信号可以为控制由松开状态向拉紧状态进行切换的切换信号，此处第一、第二仅为描述说明，并不限于此。例如，当车辆进行自动驾驶抵达目的地、并将驻车切换请求消息发送至整车控制器，接收到整车控制器反馈的驻车切换消息后，生成对应的驻车切换信号，该驻车切换信号可以包括第二切换信号，用于控制外部电子驻车制动系统进行状态切换，使其进入拉紧状态，从而实现驻车。
步骤S107：推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态。
生成驻车切换信号后，将该驻车切换信号推送至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态。其中，电子驻车制动系统，即电子手刹，为实现将行车过程中的临时性制动和停车后的长时性制动功能整合在一起，并且由电子控制方式实现停车制动技术的系统。其工作原理与机械式手刹相同，均是通过刹车盘与刹车片产生的摩擦力来达到控制停车制动。电子驻车制动系统的工作状态包括拉紧状态和松开状态，其中拉紧状态实现驻车，松开状态实现释放驻车。在得到驻车切换信号后，可以通过硬线将其推送至电子驻车制动系统，从而使其切换所处状态，实现了车辆的驻车控制。
上述电子驻车控制方法，在侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，向整车控制器发送驻车切换请求消息，并接收由整车控制器反馈的驻车切换消息，最后根据该驻车切换消息生成并推送对应的驻车切换信号，该驻车切换信号切换所述外部电子驻车制动系统所处状态，从而实现对外部电子驻车制动系统的驻车控制。本申请的方案在车辆处于自动驾驶模式时，通过向整车控制器发送驻车切换请求消息，并接收由整车控制器在检测到车辆状态为可执行驻车切换时反馈的驻车切换消息，再根据该驻车切换消息生成并推送对应的驻车切换信号，以控制电子驻车制动系统的状态切换，不需要驾驶 员进行人工操作，就实现了对电子驻车制动系统的控制，驻车效率高。
进一步地，当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并将驻车切换请求消息发送至整车控制器的步骤可以通过以下形式进行：
侦测车辆的操作状态，根据操作状态确定车辆的驾驶模式；
当车辆处于自动驾驶模式时，根据车辆的行驶状态判断是否需要进行驻车切换控制；
当判断结果为需要进行驻车切换控制时，生成驻车切换请求消息，并将驻车切换请求消息发送至整车控制器。
具体的，侦测车辆的操作状态，并根据该操作状态确定车辆的驾驶模式。如侦测车辆是否启动系统自主操作功能，当车辆启动系统自主操作时，即可确定车辆的驾驶模式为自动驾驶模式，否则为人工驾驶模式。也可以侦测车辆的各控制指令的发出对象，来确定车辆的驾驶模式，如侦测车辆各控制指令发出对象为车载计算机系统，即可确定车辆处于自动驾驶模式；若侦测到各控制指令由外部控制端控制发出，则可确定车辆处于人工驾驶模式。
当确定车辆处于自动驾驶模式时，根据车辆的行驶状态判断是否需要进行驻车切换控制。车辆处于自动驾驶模式，则需要根据车辆的行驶状态判断何时进行驻车切换控制，如抵达目的地，启动停车制动，自动驾驶模式结束时，或者启动自动驾驶模式，开始启动发动机时。其中，车辆的行驶状态可以包括启动状态、行车状态和制动状态，启动状态为启动发动机开始行驶，行车状态为行驶过程中，制动状态为行驶结束时的刹车操作。根据车辆的行驶状态，可以判断车辆是否需要进行驻车切换控制。
更进一步地，当车辆处于自动驾驶模式时，根据车辆的行驶状态确定是否需要进行驻车切换控制的步骤可以通过以下形式实现：
当车辆处于自动驾驶模式时，获取车辆的行驶状态；
当车辆的行驶状态为制动状态或启动状态时，将判断结果设为车辆需要进行驻车切换控制。
具体的，当车辆处于自动驾驶模式时，获取车辆的行驶状态。其中，车辆的行驶状态可以包括启动状态、行车状态和制动状态。当获取得到车辆的行驶状态为制动状态或启动状态时，将判断结果配置为车辆需要进行驻车切换控制。一般的，车辆在正常行车状态，即正常行驶过程中，无需对EPB进行驻车控制，仅在车辆启动或制动时，需要EPB释放驻车辅助启动或辅助制动拉紧驻车，以保证车辆的安全、平稳驾驶。所以，在确定车辆的行驶状态为制动状态或启动状态时，可以判断出车辆需要进行驻车切换控制，并以此配置判断结果。
当根据车辆的行驶状态判断出需要进行驻车切换控制时，生成驻车切换请求消息，并将该驻车切换请求消息发送至整车控制器。具体的，获取判断结果，当判断结果为需要进行驻车控制时，生成并下发驻车切换请求消息。具体实现时，可以配置为在车辆的行驶状态处于启动状态或制动状态时，判断出需要进行驻车切换控制，此时，生成驻车切换请求消息，并将该驻车切换请求消息发送至整车控制器，以使整车控制器进行车辆状态检测。
进一步的，推送驻车切换信号至外部电子驻车制动系统的步骤可以通过以下形式进行：
在推送驻车切换信号至外部电子驻车制动系统时，启动计时器进行计时；
持续推送该驻车切换信号；
当计时数值达到预设延时时间的数值时，停止推送驻车切换信号。
具体的，驻车切换信号是用于切换外部电子驻车制动系统所处状态。在推送驻车切换信号至外部电子驻车制动系统时，启动计时器进行计时，持续推送该驻车切换信号，当计时数值达到预设延时时间的数值时，停止推送。其中，延时时间可以根据EPB的执行器的机械特性来设定。一般的，EPB包括电子驻车控制器和电子驻车执行器，电子驻车控制器接收控制信号，控制电子驻车执行器执行拉紧或释放动作，以使EPB切换为拉紧状态或松开状态。由于电子驻车执行器的机械特性，EPB在执行相应拉紧或释放动作时会产生一定延迟，通过对推送的驻车切换信号进行一定的延时判断，可以进一步保证EPB的正常工作。
进一步地，在推送驻车切换信号至外部电子驻车制动系统的步骤之后，还可以侦测电子驻车制动系统是否完成状态切换，若否，则报出故障，以及时提示驻车控制结果，从而确保电子驻车控制能够切实正常完成。
进一步地，本申请的电子驻车控制方法还可以包括以下步骤：
当接收到整车控制器发送的主动切换消息时，根据主动切换消息生成对应的主动切换信号；推送主动切换信号至外部电子驻车制动系统；主动切换消息为整车控制器监测到车辆处于制动状态、且车辆状态为可执行驻车切换时生成的消息。
具体的，在自动驾驶模式过程中，若接受到整车控制器发送的主动切换消息，根据该主动切换消息生成对应的主动切换信号并将其推送至电子驻车制动系统，以使电子驻车制动系统执行状态切换。其中，主动切换消息为整车控制器监测到车辆处于制动状态、且车辆状态为可执行驻车切换时生成的消息。具体应用中，车辆处于自动驾驶模式时，整车控制器还会监测车辆的行驶状态、和车辆速度等，当车辆处于制动状态，即制动执行机构正在执行制动操作，如 制动踏板处于踩下状态，且车辆速度低于第一速度并持续第一时间阈值时，整车控制器会主动进行车辆状态检测，当状态检测结果为可执行驻车切换时，生成主动切换消息并发送至自动驾驶控制器。其中，第一速度可以根据车速传感器检测到最低车速来设定，例如可以预设为1.5km/h；第一时间阈值可以根据驾驶员一般习惯踩刹车从车辆停止后到拉手刹的时间段来标定，例如可以预设为6秒。除自动驾驶控制器进行驻车控制请求外，另一方面可以还可以通过整车控制器进行电子驻车控制，如此，在自动驾驶控制器因器件故障或其他原因，未及时请求驻车控制时，由性能更高、保障性更强的整车控制器主动发送主动切换消息以实现对EPB的驻车控制，可以进一步保障车辆自动驾驶模式下的安全驻车。
进一步地，本申请的电子驻车控制方法还可以包括步骤：
当满足预设的紧急制动条件时，发送紧急制动请求至整车控制器，紧急制动请求用于请求整车控制器直接切换电子驻车制动系统所处状态。
具体的，实时监测紧急情况，当满足预设的紧急制动条件时，如前方车辆突然大幅减速，道路出现突发状况，后方车辆突然超速、强行抢道等紧急情况，生成紧急制动请求，并发送至整车控制器，以请求整车控制其直接切换电子驻车制动系统所处状态。在具体应用中，可以根据车辆驾驶过程中出现的需要紧急制动的情况配置紧急制动条件，可以包括但不限于车辆出现故障，该故障会影响乘车人员生命安全时；道路出现突发状况，如超车抢道、前车紧急制动、前方道路不通等状况。在需要紧急制动时，发送紧急制动请求至整车控制器，以请求整车控制器直接参与，切换电子驻车制动系统的状态，从而可以在紧急情况下实现辅助紧急制动驻车控制。
进一步地，本申请的电子驻车控制方法还可以包括以下步骤：
当接收到外部控制消息时，记录外部控制消息的持续时间；当外部控制消息的持续时间超过预设误操作时间阈值时，进入生成驻车切换请求消息的步骤。
具体的，在接收到外部控制端发送的外部控制消息时，记录外部控制消息的持续时间，当持续时间操作预设误操作时间阈值时，进入生成驻车切换请求消息的步骤。其中，外部控制消息由外部控制端发送，外部控制端可以包括但不限于电子驻车开关和远程遥控开关。遥控开关可以通过无线电信号与自动驾驶控制器进行收发通信，从而实现对EPB的控制，可以满足自动驾驶的远程遥控功能。误操作时间阈值可以根据误操作延时时长进行配置，例如可以预设为2秒，则在自动驾驶模式中，若接收到外部控制消息的持续时间超过2秒，则认为此操作不是外部控制端的误操作，而进入生成驻车切换请求消息的步骤；否则，认为此操作为外部控制端的误操作，而忽略该误操作，从而可以防止因驾 驶员误操作而触碰电子驻车开关容易导致车轮抱死乃至车辆失控的情况。一般的，车辆处于自动驾驶模式时，车辆的驾驶控制包括电子驻车控制均由系统自主控制，若乘车人员误操作电子驻车开关或遥控开关，进行误操作判断，若判断为误操作则忽略该操作，否则执行外部控制端的控制。
进一步地，本申请的电子驻车控制方法还可以包括步骤：
当侦测到车辆处于人工驾驶模式、且接收到外部控制消息时，根据外部控制消息，生成对应的外部切换信号；推送外部切换信号至外部电子驻车制动系统，外部切换信号用于切换外部电子驻车制动系统所处状态。
目前的智能汽车仍然支持人工驾驶模式，即由驾驶员进行车辆驾驶。当侦测到车辆处于人工驾驶模式时，进一步监测外部控制消息，当接收到外部控制消息时，生成对应的外部切换信号，并推送该外部切换信号至EPB，以使EPB切换其所处状态。本申请的电子驻车控制方法仍然兼容了人工操作EPB模式，可以在人工驾驶模式时进行电子驻车控制。
基于上述电子驻车控制方法，本申请还提供一种电子驻车控制装置。
图2为本申请一个实施例中电子驻车控制装置的结构示意框图。如图2所示，本实施例中，电子驻车控制装置包括：
请求消息发送模块201，用于当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器；
切换消息接收模块203，用于接收整车控制器反馈的驻车切换消息，驻车切换消息为整车控制器检测到车辆状态为可执行驻车切换时生成的消息；
切换信号生成模块205，用于生成与驻车切换消息对应的驻车切换信号；
切换信号发送模块207，用于推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态。
上述电子驻车控制装置，通过请求消息发送模块在侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，向整车控制器发送驻车切换请求消息，通过切换消息接收模块接收由整车控制器反馈的驻车切换消息，并通过切换信号生成模块根据该驻车切换消息生成对应的驻车切换信号，最后由切换信号发送模块推送该驻车切换信号至外部电子驻车制动系统，以切换所述外部电子驻车制动系统所处状态，从而实现对外部电子驻车制动系统的驻车控制。上述电子驻车控制装置在车辆处于自动驾驶模式时，不需要驾驶员进行人工操作，就实现了对电子驻车制动系统的控制，驻车效率高。
此外，本申请还提供一种电子驻车控制方法。
图3为本申请一个实施例中电子驻车控制方法的流程示意图。如图3所示，本实施例中，电子驻车控制方法包括步骤：
步骤S301：当通过自动驾驶控制器侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，控制自动驾驶控制器生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器。
本实施例中，通过自动驾驶控制器侦测车辆的驾驶模式，当车辆处于自动驾驶模式、且监测到满足预设的驻车控制条件，如车辆需要进行制动或需要进行启动时，控制该自动驾驶控制器生成驻车切换请求消息，并将其发送至整车控制器。
步骤S303：控制整车控制器在接收到驻车切换请求消息时，进行车辆状态检测。
通过整车控制器接收该驻车切换请求消息时，控制该整车控制器进行车辆状态检测。其中，车辆状态检测可以包括但不限于检测当前制动踏板状态、真空泵状态、紧急制动指令状态、车辆扭矩状态以及各传动部件故障状态等车辆状态。在具体实现时，可以只对与电子驻车相关的车辆状态进行检测，如车辆速度、制动控制器状态、真空泵状态和EPB传动部件故障状态等进行检测，以确保电子驻车可以安全执行。
步骤S305：当通过整车控制器检测到车辆状态为可执行驻车切换时，控制整车控制器生成驻车切换消息，并发送驻车切换消息至自动驾驶控制器。
整车控制器对车辆状态进行检测，当检测到的车辆状态为可执行驻车切换时，进一步控制整车控制器生成驻车切换消息，并将其发送至自动驾驶控制器。具体应用中，如整车控制器仅对与电子驻车相关的车辆状态进行检测，各状态正常时，即可车辆状态为可执行驻车切换，进一步生成驻车切换消息，并将该驻车切换消息发送至自动驾驶控制器。
步骤S307：控制自动驾驶控制器在接收到驻车切换消息时，生成与驻车切换消息对应的驻车切换信号。
通过自动驾驶控制器接收到驻车切换消息时，控制自动驾驶控制器生成与该驻车切换消息对应的驻车切换信号，驻车切换信号用于切换外部电子驻车制动系统所处状态，该状态包括拉紧状态和松开状态。
步骤S309：控制自动驾驶控制器推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态。
通过自动驾驶控制器生成与驻车切换消息对应的驻车切换信号后，进一步控制自动驾驶控制器推送该驻车切换信号至外部电子驻车制动系统，以切换 EPB状态，从而实现对EPB的驻车控制。
例如，自动驾驶模式下，在车辆驻车状态时，即车辆停止时，若此时自动驾驶控制器侦测到满足预设的驻车控制条件，即需要启动车辆时，则自动驾驶控制器向整车控制器发送驻车切换请求消息，该驻车切换请求消息可以包括车辆驱动扭矩值，当整车控制器判断该车辆驱动扭矩值大于预设驱动扭矩值时，整车控制器进行车辆状态检测，当检测结果为可执行驻车切换时，向自动驾驶控制器发送驻车切换消息，自动控制器接收到该驻车切换消息后，通过硬线向电子驻车制动系统推送驻车切换信号，以切换电子驻车制动系统所处状态，此时EPB释放，切换进入松开状态，车辆实现自动起步。其中，预设驱动扭矩值可以根据发动机或驱动电机的特性进行标定，预设值可以为±50Nm。
上述电子驻车控制方法，通过自动驾驶控制器在侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，进一步控制自动驾驶控制器向整车控制器发送驻车切换请求消息；通过整车控制器接收到驻车切换请求消息时，控制该整车控制器进行车辆状态检测；当整车控制器检测到的车辆状态为可执行驻车切换时，控制整车控制器生成驻车切换消息并将其反馈至自动驾驶控制器；通过自动驾驶控制器接收驻车切换消息，并控制其生成对应的驻车切换信号；最后控制自动驾驶控制器将该驻车切换信号推送至电子驻车制动系统，以切换所述外部电子驻车制动系统所处状态，从而实现对外部电子驻车制动系统的驻车控制。上述电子驻车控制方法在车辆处于自动驾驶模式时，通过结合整车控制器和自动驾驶控制器共同对电子驻车制动系统进行驻车控制，不需要驾驶员进行人工操作，就实现了对电子驻车制动系统的控制，驻车效率高。
进一步地，在控制自动驾驶控制器推送该驻车切换信号至外部电子驻车制动系统的步骤之后，还可以通过自动驾驶控制器侦测电子驻车制动系统是否完成状态切换，若否，则报出故障，从而确保电子驻车控制能够切实正常完成。
进一步地，本申请的电子驻车控制方法还可以包括：
当通过整车控制器监测到车辆处于制动状态、且车辆状态为可执行驻车切换时，控制整车控制器发送主动切换消息至自动驾驶控制器；
控制自动驾驶控制器在接收到主动切换消息时，生成对应的主动切换信号；
控制自动驾驶控制器推送主动切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态。
具体的，在车辆处于自动驾驶模式时，通过整车控制器监测车辆的行驶状态和车辆速度等，当车辆处于制动状态，即制动执行机构正在执行制动操作，如制动踏板处于踩下状态，且车辆速度低于第一速度并持续第一时间阈值时，控制整车控制器进一步进行车辆状态检测，当状态检测结果为可执行驻车切换 时，控制整车控制器生成主动切换消息并发送至自动驾驶控制器。其中，第一速度可以根据车速传感器检测到最低车速来设定，例如可以预设为1.5km/h；第一时间阈值可以根据驾驶员一般习惯踩刹车从车辆停止后到拉手刹的时间段来标定，例如可以预设为6秒。具体实现时，如第一速度设为1.5km/h，第一时间阈值设为6秒，则通过整车控制器检测到车辆处于制动状态，且车辆速度低于1.5km/h超过6秒，则控制整车控制器生成主动切换消息并将其发送至自动驾驶控制器。通过自动驾驶控制器接收到主动切换消息后，控制自动驾驶控制器生成对应的主动切换信号，最后控制该自动驾驶控制器将主动切换信号推送至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态。通过整车控制器进行电子驻车控制，如此，在自动驾驶控制器因器件故障或其他原因，未及时请求驻车控制时，由性能更高、保障性更强的整车控制器主动发送主动切换消息以实现对EPB的驻车控制，可以进一步保障车辆自动驾驶模式下的安全驻车。
进一步地，本申请的电子驻车控制方法还可以包括：
当通过自动驾驶控制器侦测到满足预设的紧急制动条件时，控制自动驾驶控制器生成紧急制动请求，并发送紧急制动请求至整车控制器；
通过整车控制器记录紧急制动请求的持续时间；
当紧急制动请求的持续时间大于预设紧急制动时间阈值时，控制整车控制器进行车辆状态检测；
当通过整车控制器检测到车辆状态为可执行驻车切换时，控制整车控制器发送紧急制动消息至制动控制器，以使制动控制器进入制动工作状态；
当通过整车控制器侦测到车辆的当前速度小于预设紧急驻车速度时，控制整车控制器发送拉紧控制信号至电子驻车制动系统，拉紧控制信号用于控制电子驻车制动系统进入拉紧状态。
具体的，在自动驾驶模式下，当通过自动驾驶控制器侦测到满足预设的紧急制动条件时，如车辆出现故障，该故障会影响乘车人员生命安全时；道路出现突发状况，如超车抢道、前车紧急制动、前方道路不通等状况时，控制自动驾驶控制器生成紧急制动请求，并将其至整车控制器。通过整车控制器记录紧急制动请求的持续时间，当通过整车控制器记录到紧急制动请求的持续时间大于预设紧急制动时间阈值时，控制整车控制器进行车辆状态检测。其中，紧急制动时间阈值可以根据紧急制动需求和制动踏板行程深度来设定。当通过整车控制器检测到车辆状态为可执行驻车切换时，控制整车控制器发送紧急制动消息至制动控制器，以使制动控制器进入制动工作状态。进一步地，整车控制器可以根据车辆速度和车辆减速度通过CAN总线向制动控制器发送该紧急制动消 息，以对整车实现制动力按比例输出。制动控制器进入制动工作状态后，制动控制器会控制制动执行机构，如制定踏板进行紧急刹车动作。当通过整车控制器侦测到车辆的当前速度小于预设紧急驻车速度时，控制整车控制器发送拉紧控制信号至电子驻车制动系统，拉紧控制信号用于控制电子驻车制动系统进入拉紧状态。其中，紧急驻车速度可以根据车辆速度和减速度来设定，预设范围可以为0～5km/h。进一步地，当通过整车控制器侦测到车辆速度低于紧急驻车速度时，控制整车控制器通过CAN总线向电子驻车制动系统发送拉紧控制信号，以实现紧急制动时的驻车控制。
基于上述电子驻车控制方法，本申请还提供一种电子驻车控制装置。
图4为本申请一个实施例中电子驻车控制装置的结构示意框图。如图4所示，本实施例中，电子驻车控制装置40包括相互连接的自动驾驶控制器401和整车控制器402；
其中，自动驾驶控制器401用于在侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，控制自动驾驶控制器401生成驻车切换请求消息，并发送驻车切换请求消息至整车控制器402；自动驾驶控制器401还用于在接收到驻车切换消息时，生成与驻车切换消息对应的驻车切换信号；自动驾驶控制器401还用于推送驻车切换信号至外部电子驻车制动系统，驻车切换信号用于切换外部电子驻车制动系统所处状态，状态包括拉紧状态和松开状态；
整车控制器402用于在接收到驻车切换请求消息时，进行车辆状态检测；整车控制器402还用于在检测到车辆状态为可执行驻车切换时，控制整车控制器402生成驻车切换消息，并发送驻车切换消息至自动驾驶控制器401。
上述电子驻车控制装置，通过自动驾驶控制器在侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，进一步控制自动驾驶控制器向整车控制器发送驻车切换请求消息；通过整车控制器接收到驻车切换请求消息时，控制该整车控制器进行车辆状态检测；当整车控制器检测到的车辆状态为可执行驻车切换时，控制整车控制器生成驻车切换消息并将其反馈至自动驾驶控制器；通过自动驾驶控制器接收驻车切换消息，并控制其生成对应的驻车切换信号；最后控制自动驾驶控制器将该驻车切换信号推送至电子驻车制动系统，以切换所述外部电子驻车制动系统所处状态，从而实现对外部电子驻车制动系统的驻车控制。上述电子驻车控制方法在车辆处于自动驾驶模式时，通过结合整车控制器和自动驾驶控制器共同对电子驻车制动系统进行驻车控制，不需要驾驶员进行人工操作，就实现了对电子驻车制动系统的控制，驻车效率高。
进一步地，如图4所示，为电子驻车控制装置40的一个应用场景。其中，自动驾驶控制器401分别和整车控制器402以及EPB连接，自动驾驶控制器401 还分别与电子驻车开关及遥控开关连接；整车控制器402还与制动控制器连接，制动控制器还与制动执行机构连接。EPB包括电子驻车控制器和电子驻车执行机构，其中，电子驻车控制器分别与自动驾驶控制器401、整车控制器402及电子驻车执行机构连接。更进一步地，整车控制器402通过CAN总线分别与自动驾驶控制器401、电子驻车控制器及制动控制器连接，自动驾驶控制器401通过硬线连接电子驻车开关和电子驻车控制器，遥控开关通过无线电信号和自动驾驶控制器401内置的无线收发器连接，制动控制器通过硬线与制动执行机构连接，电子驻车控制器也通过硬线与电子驻车执行机构连接。
图5为一实施例中通过本申请的电子驻车控制方法进行电子驻车控制的流程示意图。如图5所示，首先初始化各控制器，可以包括但不限于整车控制器、自动驾驶控制器、EPB中的电子驻车控制器和制动控制器。监测车辆是否处于自动驾驶模式，若否，则由驾驶员通过手动操作EPB方法实现驻车控制。若车辆处于自动驾驶模式，则进一步确认EPB初始状态，即确认EPB所处状态为拉紧状态或松开状态，进一步侦测制动踏板状态。当EPB所处状态为松开状态，且制动踏板未被踩下时，判断自动驾驶控制器SCU请求的驱动扭矩值是否大于预设驱动扭矩值F1且持续时间是否超过预设驱动时间T2，当均满足时，整车控制器可以判定允许EPB松开，从而控制自动驾驶控制器SCU发送松开硬线信号，以使EPB执行释放动作。相反的，若EPB所处状态为松开状态且制动踏板被踩下，进一步侦测车辆速度是否低于等于预设减速速度值v1且持续时间是否超过预设减速时间T1，当均满足时，整车控制器可以判定允许EPB拉紧，从而控制自动驾驶控制器SCU发送拉紧硬线信号，以使EPB执行驻车动作。最后，监测EPB是否完成相应的驻车动作或释放动作，若未完成，则报出故障，以及时提示驻车控制结果，确保电子驻车控制能够切实正常完成。
图6为另一实施例中通过本申请的电子驻车控制方法进行电子驻车控制的流程示意图。如图6所示，相比于图5所示实施例，本实施例中，在确认EPB的初始状态后，监测自动驾驶控制器SCU是否请求拉紧EPB，若是，进一步判断是否出现故障。若不存在故障，则判断车辆速度是否低于等于预设减速速度值v1，若是，则整车控制器可以判定允许EPB拉紧，从而控制自动驾驶控制器SCU发送拉紧硬线信号，以使EPB执行驻车动作；若否，则通过自动驾驶控制器SCU激活紧急制动功能，通过整车控制器VCU控制制动踏板自动踩下，从而控制车辆紧急制动，当整车控制器监测到车辆速度低于等于预设紧急驻车速度v2，若是，则进入控制EPB进行拉紧的步骤，从而实现了在紧急制动情况下的电子驻车控制。
基于上述电子驻车控制方法，本申请还提供一种计算机可读存储介质。
在一个实施例中，本申请提供的计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行如上所述电子驻车控制方法的步骤。
基于上述电子驻车控制方法、装置和计算机可读存储介质，本申请还提供一种计算机设备。
在一个实施例中，本申请提供的计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如上所述电子驻车控制方法的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一非易失性计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (13)

  1. 一种电子驻车控制方法，其特征在于，包括步骤：
    当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并发送所述驻车切换请求消息至整车控制器；
    接收整车控制器反馈的驻车切换消息，所述驻车切换消息为所述整车控制器检测到车辆状态为可执行驻车切换时生成的消息；
    生成与所述驻车切换消息对应的驻车切换信号；
    推送所述驻车切换信号至外部电子驻车制动系统，所述驻车切换信号用于切换所述外部电子驻车制动系统所处状态，所述状态包括拉紧状态和松开状态。
  2. 根据权利要求1所述的方法，其特征在于，所述当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并将所述驻车切换请求消息发送至整车控制器的步骤包括：
    侦测车辆的操作状态，根据所述操作状态确定所述车辆的驾驶模式；
    当所述车辆处于自动驾驶模式时，根据所述车辆的行驶状态判断是否需要进行驻车切换控制；
    当判断结果为需要进行驻车切换控制时，生成驻车切换请求消息，并将所述驻车切换请求消息发送至整车控制器。
  3. 根据权利要求2所述的方法，其特征在于，所述当所述车辆处于自动驾驶模式时，根据所述车辆的行驶状态确定是否需要进行驻车切换控制的步骤包括：
    当所述车辆处于自动驾驶模式时，获取所述车辆的行驶状态；
    当所述车辆的行驶状态为制动状态或启动状态时，将判断结果设为所述车辆需要进行驻车切换控制。
  4. 根据权利要求1所述的方法，其特征在于，所述推送所述驻车切换信号至外部电子驻车制动系统的步骤包括：
    在推送所述驻车切换信号至外部电子驻车制动系统时，启动计时器进行计时；
    持续推送所述驻车切换信号；
    当计时数值达到预设延时时间的数值时，停止推送所述驻车切换信号。
  5. 根据权利要求1所述的方法，其特征在于，还包括下列两项中的至少一项：
    当接收到所述整车控制器发送的主动切换消息时，根据所述主动切换消息生成对应的主动切换信号；推送所述主动切换信号至所述外部电子驻车制动系统；所述主动切换消息为所述整车控制器监测到所述车辆处于制动状态、且车 辆状态为可执行驻车切换时生成的消息；
    当满足预设的紧急制动条件时，发送紧急制动请求至所述整车控制器，所述紧急制动请求用于请求所述整车控制器直接切换所述电子驻车制动系统所处状态。
  6. 根据权利要求1所述的方法，其特征在于，还包括下列两项中的至少一项：
    当接收到外部控制消息时，记录所述外部控制消息的持续时间；当所述外部控制消息的持续时间超过预设误操作时间阈值时，进入所述生成驻车切换请求消息的步骤；
    当侦测到所述车辆处于人工驾驶模式、且接收到外部控制消息时，根据所述外部控制消息，生成对应的外部切换信号；推送所述外部切换信号至所述外部电子驻车制动系统，所述外部切换信号用于切换所述外部电子驻车制动系统所处状态。
  7. 一种电子驻车控制方法，其特征在于，包括步骤：
    当通过自动驾驶控制器侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，控制所述自动驾驶控制器生成驻车切换请求消息，并发送所述驻车切换请求消息至整车控制器；
    控制所述整车控制器在接收到所述驻车切换请求消息时，进行车辆状态检测；
    当通过所述整车控制器检测到所述车辆状态为可执行驻车切换时，控制所述整车控制器生成驻车切换消息，并发送所述驻车切换消息至所述自动驾驶控制器；
    控制所述自动驾驶控制器在接收到所述驻车切换消息时，生成与所述驻车切换消息对应的驻车切换信号；
    控制所述自动驾驶控制器推送所述驻车切换信号至外部电子驻车制动系统，所述驻车切换信号用于切换所述外部电子驻车制动系统所处状态，所述状态包括拉紧状态和松开状态。
  8. 根据权利要求7所述的方法，其特征在于，还包括：
    当通过所述整车控制器监测到所述车辆处于制动状态、且所述车辆状态为可执行驻车切换时，控制所述整车控制器发送主动切换消息至所述自动驾驶控制器；
    控制所述自动驾驶控制器在接收到所述主动切换消息时，生成对应的主动切换信号；
    控制所述自动驾驶控制器推送所述主动切换信号至所述外部电子驻车制动 系统，所述驻车切换信号用于切换所述外部电子驻车制动系统所处状态。
  9. 根据权利要求7所述的方法，其特征在于，还包括：
    当通过所述自动驾驶控制器侦测到满足预设的紧急制动条件时，控制所述自动驾驶控制器生成紧急制动请求，并发送所述紧急制动请求至所述整车控制器；
    通过所述整车控制器记录所述紧急制动请求的持续时间；
    当所述紧急制动请求的持续时间大于预设紧急制动时间阈值时，控制所述整车控制器进行车辆状态检测；
    当通过所述整车控制器检测到所述车辆状态为可执行驻车切换时，控制所述整车控制器发送紧急制动消息至制动控制器，以使所述制动控制器进入制动工作状态；
    当通过所述整车控制器侦测到所述车辆的当前速度小于预设紧急驻车速度时，控制所述整车控制器发送拉紧控制信号至所述电子驻车制动系统，所述拉紧控制信号用于控制所述电子驻车制动系统进入拉紧状态。
  10. 一种电子驻车控制装置，其特征在于，包括：
    请求消息发送模块，用于当侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，生成驻车切换请求消息，并发送所述驻车切换请求消息至整车控制器；
    切换消息接收模块，用于接收整车控制器反馈的驻车切换消息，所述驻车切换消息为所述整车控制器检测到车辆状态为可执行驻车切换时生成的消息；
    切换信号生成模块，用于生成与所述驻车切换消息对应的驻车切换信号；
    切换信号发送模块，用于推送所述驻车切换信号至外部电子驻车制动系统，所述驻车切换信号用于切换所述外部电子驻车制动系统所处状态，所述状态包括拉紧状态和松开状态。
  11. 一种电子驻车控制装置，其特征在于，包括相互连接的自动驾驶控制器和整车控制器；
    其中，所述自动驾驶控制器用于在侦测到车辆处于自动驾驶模式、且满足预设的驻车控制条件时，控制所述自动驾驶控制器生成驻车切换请求消息，并发送所述驻车切换请求消息至整车控制器；所述自动驾驶控制器还用于在接收到所述驻车切换消息时，生成与所述驻车切换消息对应的驻车切换信号；所述自动驾驶控制器还用于推送所述驻车切换信号至外部电子驻车制动系统，所述驻车切换信号用于切换所述外部电子驻车制动系统所处状态，所述状态包括拉紧状态和松开状态；
    所述整车控制器用于在接收到所述驻车切换请求消息时，进行车辆状态检 测；所述整车控制器还用于在检测到所述车辆状态为可执行驻车切换时，控制所述整车控制器生成驻车切换消息，并发送所述驻车切换消息至所述自动驾驶控制器。
  12. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行如权利要求1至9中任一项所述方法的步骤。
  13. 一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如权利要求1至9中任一项所述方法的步骤。
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