WO2020043176A1 - 车辆自动驻车控制方法及装置 - Google Patents

车辆自动驻车控制方法及装置 Download PDF

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Publication number
WO2020043176A1
WO2020043176A1 PCT/CN2019/103403 CN2019103403W WO2020043176A1 WO 2020043176 A1 WO2020043176 A1 WO 2020043176A1 CN 2019103403 W CN2019103403 W CN 2019103403W WO 2020043176 A1 WO2020043176 A1 WO 2020043176A1
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WIPO (PCT)
Prior art keywords
state
automatic parking
function
vehicle
signal
Prior art date
Application number
PCT/CN2019/103403
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English (en)
French (fr)
Inventor
孔凡茂
牛小锋
孙玉
徐楠
孟祥禄
周文国
Original Assignee
长城汽车股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Priority to AU2019330453A priority Critical patent/AU2019330453B2/en
Priority to EP19855563.3A priority patent/EP3858696A4/en
Publication of WO2020043176A1 publication Critical patent/WO2020043176A1/zh

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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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • 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
    • B60T2201/04—Hill descent control
    • 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
    • B60T2201/06—Hill holder; Start aid systems on inclined road
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B60W2510/186—Status of parking brakes
    • 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
    • B60W2520/04—Vehicle stop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position

Definitions

  • the present invention relates to the technical field of vehicles, and in particular, to a method and device for controlling automatic parking of a vehicle.
  • ACC Adaptive Cruise Control
  • AVH Auto Vehicle Hold
  • HDC Hill Descent Control
  • HHC Driving Mode and Hill-start Hold Control
  • the AVH function can improve driving comfort. After activating the key switch, the driver stops the vehicle by pressing the brake pedal. After releasing the brake pedal, the AVH function will affect the wheel cylinder pressure within a certain time range. The vehicle is parked inside the vehicle, and the function will be transferred to the electronic parking system (EPB) for a long time parking after a certain period of time. As shown in Figure 1, the AVH function assists the driver to park the vehicle when the vehicle is stationary. At this time, the driver does not need to step on the brake pedal, which can include the following processes:
  • the driver releases the brake pedal, and the AVH function maintains the pressure of the wheel cylinder (ie, the brake pressure) within a certain time range, so that the vehicle is in a parking state. If the vehicle has no intention of starting after a certain period of time, the parking function is assigned to the EPB for long-term parking. If the vehicle is detected to be rolling, increase the braking pressure by actively establishing pressure to ensure that the vehicle is at a standstill.
  • the AVH function maintains the pressure of the wheel cylinder (ie, the brake pressure) within a certain time range, so that the vehicle is in a parking state. If the vehicle has no intention of starting after a certain period of time, the parking function is assigned to the EPB for long-term parking. If the vehicle is detected to be rolling, increase the braking pressure by actively establishing pressure to ensure that the vehicle is at a standstill.
  • AVH Within a certain period of time, if AVH detects that the driver has intention to start, AVH releases wheel pressure. Specifically, when the pressure release threshold is reached, the brake pressure will be released according to a certain slope to assist the driver to start smoothly.
  • the AVH function realizes parking on a variety of roads, which frees the driver from stepping on the brake for a long time, and greatly improves driving comfort.
  • the existing AVH function control logic is based on whether the driver is wearing a seat belt, a door switch, and the vehicle is powered on and off to determine whether the driver is in the vehicle before activating or exiting the AVH function.
  • the present invention aims to propose a method for controlling an automatic parking of a vehicle to at least partially solve the above technical problems, especially the technical problem that the driver needs to frequently operate the AVH button to activate the AVH function.
  • An automatic parking control method for a vehicle includes real-time detection of a parking condition signal and an automatic parking function key signal generated by a driver operating a vehicle and associated with the automatic parking function of the vehicle; When the automatic parking function key signal is detected, if the corresponding parking condition signal detected meets the preset parking function working conditions, controlling the automatic parking function to enter an activated state or a standby state; and in the automatic parking When the function is in the activated state or the standby state, the following automatic parking control is performed:
  • the automatic parking function is controlled to enter a sleep state; for the automatic parking function in the sleep state, if The parking condition signal satisfies the working condition of the preset parking function again, and controls the automatic parking function to re-enter the active state or the standby state; and if the automatic parking function button is detected again Signal to control the automatic parking function to enter an exit state.
  • the vehicle automatic parking control method further includes: controlling the vehicle instrument to perform a light instruction when the automatic parking function enters the activated state or the standby state.
  • the vehicle automatic parking control method further includes: determining whether the automatic parking function can enter the activated state, the standby state, the exit state, or the hibernation state.
  • determining whether the automatic parking function can enter the standby state or the exit state includes: determining whether the automatic parking function is changed by changing the AVH button signal and the preset parking function working conditions. Can enter the exit state, the standby state or the hibernation state.
  • determining whether the automatic parking function can enter the activated state or the standby state includes: determining whether the automatic parking function can enter the activated state or the standby state through a brake pedal stroke signal. Wherein when the brake pedal travel signal is detected, the automatic parking function should be able to enter the activated state, otherwise it should be able to enter the standby state; and / or by detecting whether an electronic system is present after a predetermined time Use a parking signal to determine whether the automatic parking function can enter the activated state or the standby state, and if the electronic brake parking signal is present, the automatic parking function can enter the activated state Or the standby state.
  • the present invention is equipped with control logic for changes in the state of AVH functions, which makes up for the lack of AVH function control logic in the automotive market, and
  • the invention configures the sleep state for AVH, so that the driver only needs to press the AVH button when the AVH function is activated for the first time and needs to exit the AVH function, and the AVH function will enter a non-exit state when other AVH working conditions change.
  • Another object of the present invention is to provide a machine-readable storage medium for at least partially solving the foregoing technical problems.
  • a machine-readable storage medium has instructions stored on the machine-readable storage medium, which are used to cause a controller to execute the foregoing automatic parking control method for a vehicle.
  • Another object of the present invention is to provide an automatic parking control device for a vehicle, which is used to at least partially solve the above technical problems.
  • An automatic parking control device for a vehicle includes a detection module for detecting in real time a parking condition signal and an automatic parking function key signal generated by a driver's operation of the vehicle and associated with the automatic parking function of the vehicle;
  • a control module is configured to control the automatic parking function to be activated when the signal corresponding to the detected parking condition satisfies a preset parking function working condition when the automatic parking function key signal is detected for the first time. Or standby state; and a parking control module for performing the following automatic parking control when the automatic parking function is in the activated state or the standby state:
  • the automatic parking function is controlled to enter a sleep state; for the automatic parking function in the sleep state, if The parking condition signal satisfies the working condition of the preset parking function again, and controls the automatic parking function to re-enter the active state or the standby state; and if the automatic parking function button is detected again Signal to control the automatic parking function to enter an exit state.
  • the vehicle automatic parking control device further includes: a light control module, configured to control a vehicle meter to perform a light instruction when the automatic parking function enters the activated state or the standby state.
  • the vehicle automatic parking control device further includes a determination module for determining whether the automatic parking function can enter the activated state, the standby state, the exit state, or the hibernation state.
  • the determination module includes: a first determination sub-module, configured to determine whether the automatic parking function can enter the exit state by changing the AVH button signal and the preset parking function working conditions, The standby state or the dormant state; a second determination sub-module, configured to determine whether the automatic parking function can enter the activated state or the standby state by using a brake pedal stroke signal, wherein When the brake pedal travel signal is described, the automatic parking function should be able to enter the active state, otherwise it should be able to enter the standby state; and / or a third determination sub-module for detecting the presence or absence after a predetermined time An electronic brake parking signal to determine whether the automatic parking function can enter the activated state or the standby state, and if the electronic brake parking signal is present, the automatic parking function can enter the The active state or the standby state.
  • a first determination sub-module configured to determine whether the automatic parking function can enter the exit state by changing the AVH button signal and the preset parking function working conditions, The standby state or the do
  • the machine-readable storage medium and the automatic parking control device for a vehicle have the same advantages as the above-mentioned automatic parking control method for a vehicle over the prior art, and are not repeated here.
  • FIG. 1 is a timing chart of a vehicle operating an AVH function
  • FIG. 2 is a schematic flowchart of an automatic parking control method for a vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic flow chart of performing AVH control in a preferred embodiment
  • FIG. 4 is a framework diagram of a loop judgment logic for a change in the state of AVH function in the embodiment of the present invention
  • FIG. 5 is a schematic diagram of a loop judgment logic for activation and deactivation of the AVH function in the embodiment of the present invention
  • FIG. 6 is a schematic diagram of an overall control logic of a vehicle AVH control method according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a vehicle AVH control device according to an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of an automatic parking control method for a vehicle according to an embodiment of the present invention, and AVH is used to indicate the automatic parking therein. It should be noted that, in the embodiment of the present invention, the AVH can be used interchangeably with an IVH (Intelligent Vehicle Hold).
  • IVH Intelligent Vehicle Hold
  • the vehicle automatic parking control method may include the following steps:
  • step S210 a parking condition signal and an AVH function button signal associated with the AVH function of the vehicle generated by the driver operating the vehicle are detected in real time.
  • the AVH function key signal is a key signal generated by the driver operating the AVH key on the vehicle.
  • the AVH key can be electrically connected to the vehicle's Electronic Stability Program (ESP) through a hard wire.
  • ESP Electronic Stability Program
  • the ESP receives the After the AVH function key signal, you can control the corresponding AVH controller to start the AVH function.
  • the parking condition signal is, for example, a signal indicating a seat belt status, a main driving door status, a vehicle power-on status, and / or a vehicle intelligent start-stop function status, and the parking condition signal needs to meet a set condition to determine a driver While in the car, the AVH function can only be activated if the driver is in the car.
  • the following mainly takes the signals showing the status of the seat belt, the status of the main driving door, and the power-on status of the vehicle as examples, and also specifically introduces the control of the AVH function when the set conditions are met or not met. More details. Among them, “power on” can be used interchangeably with "ignition”.
  • step S220 when the AVH function key signal is detected for the first time, if the detected parking condition signal corresponding to the preset parking function working condition is detected, the AVH function is controlled to enter an activated state or a standby state.
  • the activated state refers to a state in which the AVH function has been activated and parking control has been performed.
  • the parking control here is shown in FIG. 1.
  • the standby state refers to a state in which the AVH function is activated but is still waiting to execute a control command (such as a brake pedal stroke signal) of the parking control. Once the control command is received, the standby state can be switched to the activated state.
  • the brake pedal stroke signal is also a brake pedal sensor signal, and the two can be used interchangeably in the embodiment of the present invention.
  • the vehicle stationary signal can also be used. (For example, the vehicle speed is 0 kph) as a control instruction for executing the parking control.
  • the "Active" state is used to indicate the active state
  • the "Standby" state is used to indicate the standby state.
  • the preset parking function working conditions include, for example, detecting a signal indicating that the driver has correctly fastened the seat belt, detecting a signal indicating that the main driving door is closed, and detecting a signal indicating that the vehicle has been re-ignited. A signal; and / or a signal indicating that the vehicle has successfully configured the smart start-stop function is detected. That is, the AVH function can only enter the "Active" state or "Standby" when the driver has pressed the AVH button and the driver has fastened his seat belt, closed the main driving door, the vehicle ignition and / or the intelligent start-stop function is successfully configured. "status.
  • the working conditions of the preset parking functions corresponding to the “Active” state or the “Standby” state may be different.
  • the working condition of the preset parking function corresponding to the “Active” state may also include receiving the brake pedal stroke signal
  • the working condition of the preset parking function corresponding to “Standby” may also include the absence of the brake pedal stroke signal. In this way, it is possible to detect whether there is a brake pedal stroke signal, and if it exists, control the AVH function to enter the activated state, otherwise enter the standby state.
  • the vehicle stationary signal can also be received at the same time to judge by both the brake pedal stroke signal and the vehicle stationary signal, for example, when the brake pedal stroke signal is received and the vehicle stationary signal (for example, the vehicle speed is 0 kph) , Go to the active state, otherwise enter the standby state.
  • an electronic parking signal (EPB signal) and / or a hand brake signal may be added for determination.
  • Step S230 Perform AVH control when the AVH function is in the activated state or the standby state.
  • FIG. 3 is a schematic flow chart of performing AVH control in a preferred embodiment. As shown in FIG. 3, performing AVH control in step S230 may include:
  • step S231 if the parking condition signal detected in real time no longer satisfies the working condition of the preset parking function, the AVH function is controlled to enter a sleep state.
  • the hibernation state is different from the standby state and the exit state, which refers to a state in which the AVH function has been activated but is in a state to be woken up to enter the activated state or the standby state, and it is a state of low power consumption.
  • the wake-up of the sleep state does not depend on the AVH button, but is awakened by judging whether the current parking condition signal satisfies the preset parking function working condition again.
  • Step S232 For the AVH function in the sleep state, if the parking condition signal meets the preset parking function working condition again, control the AVH function to re-enter the active state or the standby status.
  • step S233 if the AVH function key signal is detected again, the AVH function is controlled to enter an exit state.
  • the exit status refers to a state in which the AVH function is turned off.
  • the exit status may be referred to as an “OFF” status below.
  • detecting the AVH function button signal again means that the driver presses the AVH button again, that is, the AVH function can be turned off only when the driver presses the AVH button again.
  • the AVH function is controlled only when the AVH function key signal is detected again. The AVH function enters the "OFF" state.
  • the vehicle AVH control method of the embodiment of the present invention implements a circular logic judgment on the change of the AVH functional state.
  • FIG. A framework diagram of the changing judgment logic.
  • the AVH function when the BLS signal is 0, the AVH function is in the "Standby” state, and when the BLS signal is 1, the AVH function is in the "Active” state.
  • the AVH function when the BLS signal is 0 and the parking function working condition is satisfied, the AVH function is in a "Standby” state; when the BLS signal is 1 and the parking function working condition is satisfied, and the vehicle speed meets a preset condition (for example, the vehicle speed When reduced to 0kph to indicate that the vehicle is stationary), the AVH function transitions to the "Active" state.
  • FIG. 5 is a schematic diagram of a loop judgment logic for activation and deactivation of the AVH function in the embodiment of the present invention.
  • the AVH function will enter the OFF function ("OFF" state).
  • the AVH function will enter the "Standby” state at any time.
  • "Active” state condition the AVH function enters the “Active” state at any time.
  • the "Standby" or “Active” state is not satisfied, it directly enters the "sleep” state.
  • FIG. 6 is a schematic diagram of the overall control logic of the vehicle AVH control method according to the embodiment of the present invention.
  • the overall control logic of the vehicle AVH control method is implemented by an AVH controller, where the AVH controller is electrically connected to the EPB system and the AVH keys through a hard wire, and through a body control module (Body Control Module (BCM) is electrically connected to the corresponding control unit in the main driver's door, seat belt, and instrument to obtain the required signals.
  • BCM Body Control Module
  • the AVH controller receives the EPB signal, the AVH button signal, the main driving door signal, the seat belt signal, and the meter, and sends control instructions to the AVH button and meter according to the state of the corresponding AVH function in the overall control logic.
  • the AVH controller may be an independent controller or a control module configured in an electronic control unit (ECU) or ESP of the vehicle.
  • the AVH controller sends a control instruction to the instrument, which mainly causes the vehicle instrument to perform light instructions.
  • the vehicle AVH control method may further include: when the AVH function enters the activated state or the standby state, controlling a vehicle instrument to perform a light instruction.
  • the vehicle instrument can cooperate with the AVH button and various AVH function states to perform light display to assist the driver in controlling the vehicle.
  • the vehicle AVH control method further includes: determining whether the AVH function can enter an "Active” state, a "Standby” state, an “OFF” state, or a "Sleep” state. The purpose of this determination is to ensure that the AVH function is normal and can enter the "Active” state, the "Standby” state, the “OFF” state, or the "Sleep” state.
  • determining whether the AVH function can enter the standby state or the exit state may include: determining whether the AVH function can enter the AVH function by changing the AVH key signal and the preset parking function working conditions. "Standby" state, "OFF” state, or "Sleep" state.
  • the AVH function may be determined according to the AVH button signal and the vehicle status (the vehicle status includes whether the driver is wearing a seat belt and whether the main driving door is closed, whether the vehicle is ignition, and / or the EPB electronic parking status).
  • determining whether the AVH function can enter the "Active" state or the "Standby” state may include any one or more of the following methods:
  • the brake pedal stroke signal is one of the “Active” state conditions.
  • the driver steps on the brake pedal to generate Brake pedal stroke signal.
  • the signal indicator of the "Active” state is on to determine whether the AVH function can enter the "Active” state.
  • the signal indicator lights up to determine whether the AVH function can enter the "Standby” state.
  • corresponding logic can be configured to determine whether the AVH function can enter the "Active" state or "Standby" based on whether the vehicle can successfully implement the hand brake. status.
  • the brake pedal stroke signal, the vehicle stationary signal, and the EPB signal are all "Active” conditions.
  • the corresponding signals meet the preset conditions, observe whether the signal indicator of the "Active” state is on.
  • the signal indicator of the "Standby” state is on to determine whether the AVH function can enter the "Standby” state .
  • the third judgment method belongs to the improvement of the first judgment method, which is more suitable for judging the entry state of the AVH function in various scenarios.
  • the vehicle AVH control method is configured with control logic for changes in the state of AVH functions, which makes up for the defect that the AVH function control logic is not configured in the automotive market, and the present invention configures the AVH with a "Sleep" state. Therefore, the driver only needs to press the AVH button when the AVH function is activated for the first time and when the AVH function needs to be exited.
  • the AVH function When other AVH working conditions change, the AVH function will enter the "Sleep" state of the non-exit state, and once the AVH operation The conditions are met again, and the driver can return to the activated or standby state without pressing the AVH button, thereby solving the problem that the driver needs to frequently operate the AVH button to activate the AVH function, which reflects a more intelligent vehicle design concept. Let the vehicle truly assist driving. More specifically, it has the following advantages:
  • the vehicle AVH control method can implement intelligent AVH function cycle judgment logic at the software level, for example, the program code is written to the ECU, and the logic judgment is used to monitor the cycle judgment conditions, which is solved in a simple and flexible way. It solves the problem that the driver needs to turn on the AVH button frequently in daily driving.
  • the vehicle AVH control method according to the embodiment of the present invention can be implemented at the software level through an independent AVH controller. There are no other hardware switches or buttons in the cab or the operation panel, and no other additional cost investment, which saves development costs.
  • the vehicle AVH control method of the embodiment of the present invention not only saves vehicle development costs for the OEM, but also enhances the vehicle's independent design concept, enhances its competitiveness relative to other OEM vehicles, and brings greater value to the enterprise.
  • the vehicle AVH control method according to the embodiment of the present invention makes future vehicle function design more intelligent, and proposes functional technical requirements for designers, which has certain spurs.
  • the vehicle AVH control method of the embodiment of the present invention reflects the rationality of vehicle function development and the level of intelligent design in real vehicle performance, and reduces customers' complaints of unreasonable development.
  • the vehicle AVH control method according to the embodiment of the present invention can fully show the capability of the vehicle performance level.
  • Another embodiment of the present invention also provides a machine-readable storage medium.
  • the machine-readable storage medium stores instructions for causing a controller to execute the vehicle AVH control method according to any of the foregoing embodiments.
  • the controller is, for example, the AVH controller mentioned above.
  • FIG. 7 is a schematic structural diagram of a vehicle AVH control device according to an embodiment of the present invention.
  • the vehicle automatic parking control device may include: a detection module 100 configured to detect in real time a driver's operation with the vehicle.
  • the parking condition signal and the automatic parking function button signal associated with the automatic parking function of the vehicle are described; the initial control module 200 is configured to, when the automatic parking function button signal is detected for the first time, if corresponding to the detected The parking condition signal satisfies the preset parking function working conditions, and controls the automatic parking function to enter an "Active" state or a "Standby” state; and a parking control module 300 for In the "Active” state or the "Standby” state, automatic parking control is performed.
  • the automatic parking control performed by the parking control module 300 may include controlling the automatic parking function to "Sleep” if the parking condition signal detected in real time no longer meets the preset parking function working conditions. State; for the automatic parking function in the "Sleep” state, if the parking condition signal satisfies the working condition of the preset parking function again, control the automatic parking function to re-enter the " Active "state or said” Standby “state; and if the automatic parking function button signal is detected again, controlling the automatic parking function to enter the" OFF "state.
  • the vehicle automatic parking control device is, for example, the AVH controller mentioned above.
  • the vehicle automatic parking control device further includes: a light control module 400 for controlling the vehicle when the automatic parking function enters the "Active" state or the "Standby" state The meter indicates the light.
  • the vehicle automatic parking control device further includes a determination module 500 for determining whether the automatic parking function can enter the "Active" state, the "Standby” state, and "OFF" state or said "Sleep” state.
  • the determination module 500 may include a first determination sub-module 510 for determining by changing the AVH key signal and the preset parking function working conditions. Whether the automatic parking function can enter the "OFF" state, the "Standby” state, or the “Sleep” state; a second determination submodule 520 is configured to determine the automatic by a brake pedal stroke signal Whether the parking function can enter the "Active” state or the “Standby” state, where the AVH function should be able to enter the "Active” state when the brake pedal stroke signal is detected, otherwise it should be able to Enter the "Standby” state; and / or a third determination submodule 530, configured to determine whether the automatic parking function can enter the "Active” by detecting whether an electronic brake parking signal is present after a predetermined time State or the "Standby” state, wherein if the electronic brake parking signal is present, the automatic parking function can enter the "Active” state or the
  • the determination module 500 may further include a fourth determination sub-module (not shown in FIG. 7), configured to generate a brake pedal stroke signal and a vehicle stationary signal (for example, the vehicle speed is shown as 0 kph). Speed signal) and EPB signal to determine whether the AVH function can enter the "Active" state and "Standby” state, if the brake pedal stroke signal and vehicle stationary signal are detected, and the EPB signal shows that the EPB is not Work, the AVH function should be able to enter the "Active” state, otherwise it should be able to enter the "Standby” state.
  • a fourth determination sub-module (not shown in FIG. 7), configured to generate a brake pedal stroke signal and a vehicle stationary signal (for example, the vehicle speed is shown as 0 kph). Speed signal) and EPB signal to determine whether the AVH function can enter the "Active" state and "Standby” state, if the brake pedal stroke signal and vehicle stationary signal are detected, and the EPB signal shows that the
  • the program is stored in a storage medium and includes several instructions to enable a single chip microcomputer, a chip, or a processor. (processor) executes all or part of the steps of the method described in each embodiment of the present application.
  • the foregoing storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes .

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Abstract

一种车辆自动驻车控制方法及装置，车辆自动驻车（AVH）控制方法包括：实时检测驻车条件信号及自动驻车功能按键信号；在首次检测到自动驻车功能按键信号时，若驻车条件信号满足预设驻车功能工作条件，则控制自动驻车功能进入激活或待命状态；以及在自动驻车功能处于激活或待命状态时，若驻车条件信号不再满足预设驻车功能工作条件，则控制自动驻车功能进入休眠状态，若驻车条件信号重新满足预设驻车功能工作条件，则控制自动驻车功能重新进入激活或待命状态，若再次检测到自动驻车功能按键信号，则控制自动驻车功能进入退出状态。该控制方法及装置可以解决驾驶员需频繁操作自动驻车按键以激活自动驻车功能的问题。

Description

车辆自动驻车控制方法及装置 技术领域
本发明涉及车辆技术领域，特别涉及一种车辆自动驻车控制方法及装置。
背景技术
目前，大多数大汽车品牌都配备有车辆辅助系统，例如自适应巡航系统(Adaptive Cruise Control，ACC)、自动驻车(Auto Vehicle Hold，AVH)、陡坡缓解系统(Hill Descent Control，HDC)、驾驶模式(DrivingMode)和坡道驻车系统(Hill-start Hold Control,HHC)等辅助系统，这些辅助系统都是为了辅助驾驶员操控车辆、减轻驾驶员疲劳程度，以提高车辆驾驶舒适性和便捷性。
其中AVH功能是可以提高驾驶舒适性，此功能在激活按键开关后，驾驶员通过踩制动踏板，让车辆停止，松开制动踏板后，该AVH功能会对轮缸压力在一定的时间范围内进行保持，使车辆处于驻车状态，当超过一定时间后会把该功能交由电子驻车系统(Electrical Park Brake，EPB)进行长时间驻车。如图1所示，AVH功能辅助驾驶员在车辆静止时驻车，此时驾驶员不需要踩制动踏板，具体可以包括以下流程：
A)车辆以一定车速V行驶。
B)驾驶员通过踩制动踏板，施加一定的制动压力使车辆停止。
C)驾驶员松开制动踏板，AVH功能在一定的时间范围内对轮缸压力(即制动压力)进行保压，使车辆处于驻车状态。若一定时间后车辆无起步意图，则将驻车功能交由EPB进行长时驻车。若检测到车辆有溜车时，通过主动建压来增加制动压力，以确保车辆处于静止状态。
D)在一定时间内，若AVH检测到驾驶员有起步意图时，AVH释放轮压力。具体地，到了压力释放门限，制动压力就会按照一定的斜率释放，以辅助驾驶员顺利起步。
目前，AVH功能实现了多种路面驻车，将驾驶员从长时间的踩刹车中 解放出来，极大地改善了驾驶舒适性。但是，现有AVH功能的控制逻辑是基于驾驶员是否系安全带、车门开关和车辆上下电等情形，判断驾驶员是否在车内，才可以激活或退出AVH功能，其至少存在以下几点的弊端：
1)当AVH功能开启后，此时驾驶员松开安全带或打开车门，AVH功能从激活“Active”状态转移到退出“OFF”状态，并且当安全带系上、关闭车门或再次上电，AVH功能都不会自动开启，需要驾驶员再次按键，以激活AVH功能。
2)当AVH功能处于“Active”状态时，如果此时驾驶员发动机熄火，当再次上电时，此时AVH功能需要驾驶员再次按键以激活AVH功能。
3)当AVH功能开启后，AVH功能处于“Active”状态或待命“Standby”状态时，此时驾驶员松开安全带、打开车门或下电，AVH功能都不会自动开启，需要驾驶员再次按键，以激活AVH功能。
综上，当每次条件不满足AVH功能进入到“Active”状态或“Standby”状态时，即使条件再次满足相应要求时，AVH功能都需要驾驶员激活按键以开启AVH功能。另外，现有AVH控制逻辑较为繁琐，没有循环判断控制逻辑功能，给驾驶员带来一定不便利性。
发明内容
有鉴于此，本发明旨在提出一种车辆自动驻车控制方法，以至少部分地解决上述技术问题，特别是驾驶员需频繁操作AVH按键以激活AVH功能的技术问题。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆自动驻车控制方法，包括：实时检测驾驶员操作车辆所产生的与所述车辆的自动驻车功能相关联的驻车条件信号及自动驻车功能按键信号；在首次检测到所述自动驻车功能按键信号时，若对应检测到的所述驻车条件信号满足预设驻车功能工作条件，则控制所述自动驻车功能进入激活状态或待命状态；以及在所述自动驻车功能处于所述激活状态或所述待命状态时，进行以下的自动驻车控制：
若实时检测的所述驻车条件信号不再满足所述预设驻车功能工作条件，则控制所述自动驻车功能进入休眠状态；对于处于所述休眠状态的所述自动驻车功能，若所述驻车条件信号重新满足所述预设驻车功能工作条件，则控制所述自动驻车功能重新进入所述激活状态或所述待命状态；以及若 再次检测到所述自动驻车功能按键信号，则控制所述自动驻车功能进入退出状态。
进一步的，所述车辆自动驻车控制方法还包括：在所述自动驻车功能进入所述激活状态或所述待命状态时，控制车辆仪表进行灯光指示。
进一步的，所述车辆自动驻车控制方法还包括：判定所述自动驻车功能是否能进入所述激活状态、所述待命状态、所述退出状态或所述休眠状态。
进一步的，判定所述自动驻车功能是否能进入所述待命状态或所述退出状态包括：通过改变所述AVH按键信号及所述预设驻车功能工作条件来判定所述自动驻车功能是否能进入所述退出状态、所述待命状态或休眠状态。
进一步的，判定所述自动驻车功能是否能进入所述激活状态或所述待命状态包括：通过制动踏板行程信号来判定所述自动驻车功能是否能进入所述激活状态或所述待命状态，其中在检测到所述制动踏板行程信号时，所述自动驻车功能应能够进入所述激活状态，否则应能够进入所述待命状态；和/或通过在预定时间后检测是否存在电子制动驻车信号来判定所述自动驻车功能是否能进入所述激活状态或所述待命状态，其中若存在所述电子制动驻车信号，则所述自动驻车功能能够进入所述激活状态或所述待命状态。
相对于现有技术，本发明所述的车辆自动驻车控制方法具有以下优势：本发明配置了针对AVH功能状态变化的控制逻辑，弥补了汽车市场中没有配置有AVH功能控制逻辑的缺陷，且本发明为AVH配置了休眠状态，从而驾驶员只需在首次启动AVH功能及需要退出AVH功能时按下AVH按键，而在其他AVH工作条件发生变化的情况下，AVH功能会进入非退出状态的休眠状态，而一旦AVH工作条件再次满足，都无需驾驶员按下AVH按键就能恢复到激活状态或待命状态，从而可以解决驾驶员需频繁操作AVH按键以激活AVH功能的问题，体现了更加智能化的车辆设计理念思路，让车辆真正辅助驾驶。
本发明的另一目的在于提出一种机器可读存储介质，用于至少部分地解决上述技术问题。
为达到上述目的，本发明的技术方案是这样实现的：
一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令 用于使得控制器执行上述的车辆自动驻车控制方法。
本发明的又一目的在于提出一种车辆自动驻车控制装置，用于至少部分地解决上述技术问题。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆自动驻车控制装置，包括：检测模块，用于实时检测驾驶员操作车辆所产生的与所述车辆的自动驻车功能相关联的驻车条件信号及自动驻车功能按键信号；初始控制模块，用于在首次检测到所述自动驻车功能按键信号时，若对应检测到的所述驻车条件信号满足预设驻车功能工作条件，则控制所述自动驻车功能进入激活状态或待命状态；以及驻车控制模块，用于在所述自动驻车功能处于所述激活状态或所述待命状态时，进行以下的自动驻车控制：
若实时检测的所述驻车条件信号不再满足所述预设驻车功能工作条件，则控制所述自动驻车功能进入休眠状态；对于处于所述休眠状态的所述自动驻车功能，若所述驻车条件信号重新满足所述预设驻车功能工作条件，则控制所述自动驻车功能重新进入所述激活状态或所述待命状态；以及若再次检测到所述自动驻车功能按键信号，则控制所述自动驻车功能进入退出状态。
进一步的，所述车辆自动驻车控制装置还包括：灯光控制模块，用于在所述自动驻车功能进入所述激活状态或所述待命状态时，控制车辆仪表进行灯光指示。
进一步的，所述车辆自动驻车控制装置还包括：判定模块，用于判定所述自动驻车功能是否能进入所述激活状态、所述待命状态、所述退出状态或所述休眠状态。
进一步的，所述判定模块包括：第一判定子模块，用于通过改变所述AVH按键信号及所述预设驻车功能工作条件来判定所述自动驻车功能是否能进入所述退出状态、所述待命状态或所述休眠状态；第二判定子模块，用于通过制动踏板行程信号来判定所述自动驻车功能是否能进入所述激活状态或所述待命状态，其中在检测到所述制动踏板行程信号时，所述自动驻车功能应能够进入所述激活状态，否则应能够进入所述待命状态；和/或第三判定子模块，用于通过在预定时间后检测是否存在电子制动驻车信号来判定所述自动驻车功能是否能进入所述激活状态或所述待命状态，其中若存在所述电子制动驻车信号，则所述自动驻车功能能够进入所述激活状 态或所述待命状态。
所述机器可读存储介质及车辆自动驻车控制装置与上述车辆自动驻车控制方法相对于现有技术所具有的优势相同，在此不再赘述。
本发明的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是车辆操作AVH功能的时序图；
图2是本发明实施例的一种车辆自动驻车控制方法的流程示意图；
图3是优选的实施例中进行AVH控制的流程示意图；
图4是本发明实施例中针对AVH功能状态变化的循环判断逻辑的框架图；
图5是本发明实施例中针对AVH功能的激活与失效的循环判断逻辑的示意图；
图6是本发明实施例的车辆AVH控制方法的整体控制逻辑的示意图；以及
图7是本发明实施例的车辆AVH控制装置的结构示意图。
附图标记说明：
100、检测模块；200、初始控制模块；300、驻车控制模块；400、灯光控制模块；500、判定模块；510、第一判定子模块；520、第二判定子模块；530、第三判定子模块；
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施方式及实施方式中的特征可以相互组合。
下面将参考附图并结合实施方式来详细说明本发明。
图2是本发明实施例的一种车辆自动驻车控制方法的流程示意图，且下文用AVH表示其中的自动驻车。需说明的是，在本发明实施例中，所述AVH可与IVH(Intelligent Vehicle hold，智能驻车)互换使用。
如图2所示，所述车辆自动驻车控制方法可以包括以下步骤：
步骤S210，实时检测驾驶员操作车辆所产生的与所述车辆的AVH功能相关联的驻车条件信号及AVH功能按键信号。
其中，AVH功能按键信号是驾驶员操作车辆上的AVH按键所产生的按键信号，该AVH按键可通过硬线与车辆的车身电子稳定系统(Electronic Stability Program，ESP)电性连接，该ESP接收到AVH功能按键信号后，可控制相应的AVH控制器启动AVH功能。
其中，驻车条件信号例如是表示安全带状态、主驾驶门状态、车辆上电状态和/或车辆智能启停功能状态的信号，且该驻车条件信号需满足设定条件，以确定驾驶员处于车内，而只有驾驶员处于车内，才能启动AVH功能。需说明的是，下文主要以示出安全带状态、主驾驶门状态和车辆上电状态的信号为例，且还将具体介绍满足或不满足设定条件时对AVH功能的控制，在此不再赘述。其中，“上电”可与“点火”互换使用。
步骤S220，在首次检测到所述AVH功能按键信号时，若对应检测到的所述驻车条件信号满足预设驻车功能工作条件，则控制所述AVH功能进入激活状态或待命状态。
在此，所述激活状态是指所述AVH功能已启动并已开始执行驻车控制的状态，在此的驻车控制如图1所示。所述待命状态是指所述AVH功能已启动但还处于等待执行驻车控制的控制指令(如制动踏板行程信号)的状态，一旦收到控制指令，将可由待命状态转换至激活状态。其中，所述制动踏板行程信号也即是制动踏板传感器信号，两者在本发明实施例中可以互换使用，且除该所述制动踏板行程信号之外，还可将车辆静止信号(例如车速为0kph)作为执行驻车控制的控制指令。为便于描述，下文用“Active”状态表示激活状态，用“Standby”状态表示待命状态。
其中，所述预设驻车功能工作条件例如包括：检测到示出驾驶员已正确系好安全带的信号；检测到示出主驾驶门已关闭的信号；检测到示出车辆已重新点火的信号；和/或检测到示出车辆已成功配置智能启停功能的信号。即，只有在驾驶员按了AVH按键，且驾驶员已系好安全带、关好主驾驶门、车辆点火和/或智能启停功能配置成功时，AVH功能才能进入“Active”状态或“Standby”状态。
其中，“Active”状态或“Standby”状态分别对应的预设驻车功能工作条件可以不同。例如，“Active”状态对应的预设驻车功能工作条件还可 包括接收到制动踏板行程信号，而“Standby”对应的预设驻车功能工作条件还可包括没有制动踏板行程信号。如此，可检测是否存在制动踏板行程信号，若存在则控制所述AVH功能进入所述激活状态，否则进入所述待命状态。在优选的实施例中，还可同时接收车辆静止信号，以通过制动踏板行程信号和车辆静止信号两者进行判断，例如在接收到制动踏板行程信号且车辆静止信号(例如车速为0kph)时，进行到激活状态，否则进入到待命状态。在更为优选的实施例，还可增加电子驻车信号(EPB信号)和/或手刹信号进行判断。
步骤S230，在所述AVH功能处于所述激活状态或所述待命状态时，进行AVH控制。
图3是优选的实施例中进行AVH控制的流程示意图。如图3所示，步骤S230中进行AVH控制可以包括：
步骤S231，若实时检测的所述驻车条件信号不再满足所述预设驻车功能工作条件，则控制所述AVH功能进入休眠状态。
其中，休眠状态不同于待命状态和退出状态，其是指AVH功能已启动但处于待唤醒以进入所述激活状态或所述待命状态的状态，且其是一种低功耗的状态。其中，休眠状态的唤醒不依赖于AVH按键，而是通过判断当前驻车条件信号是否重新满足预设驻车功能工作条件来唤醒的。
步骤S232，对于处于所述休眠状态的所述AVH功能，若所述驻车条件信号重新满足所述预设驻车功能工作条件，则控制所述AVH功能重新进入所述激活状态或所述待命状态。
结合上述步骤S231及步骤S232，举例而言，在所述AVH功能当前处于所述“Active”状态或所述“Standby”状态时，若驾驶员解开安全带、打开主驾驶门或使整车下电时，则控制AVH功能从所述“Active”状态或所述“Standby”进入到休眠状态，若驾驶员重新系好安全带、关闭主驾驶门或使整车点火而使得预设驻车功能工作条件重新被满足时，则可退出所述休眠状态。
步骤S233，若再次检测到所述AVH功能按键信号，则控制所述AVH功能进入退出状态。
其中，所述退出状态是指AVH功能被关闭的状态，为便于描述，下文可将退出状态表示为“OFF”状态。其中，再次检测到所述AVH功能按键信号意味着驾驶员重新按下了AVH按键，即只有驾驶员重新按下了AVH 按键，AVH功能才能关闭。另外，对于处于所述“Active”状态、所述“Standby”状态和所述休眠状态中任意一者的所述AVH功能，都是在再次检测到所述AVH功能按键信号时，才控制所述AVH功能进入“OFF”状态。
因此，结合上述步骤S231-S233，本发明实施例的车辆AVH控制方法实现了对AVH功能状态变化的循环逻辑判断，而在本发明实施例中，图4是本发明实施例中针对AVH功能状态变化的循环判断逻辑的框架图。
如图4所示，驾驶员首次按下AVH按键并使AVH功能启动后，即使车辆当前状态不满足预设驻车功能工作条件，AVH功能也是会进入处于待唤醒状态的休眠状态，而非处于“OFF”状态，且一旦预设驻车功能工作条件再次被满足，则AVH功能会从“休眠”状态进入到“Active”状态或“Standby”状态，而无需驾驶员再次操作AVH按键。最后，当驾驶员再次手动按AVH按键后，此功能失效，AVH功能退出循环判断控制逻辑，并且进入到“OFF”状态。其中，BLS是制动踏板传感器信号，在一个示例中，当BLS信号为0时，AVH功能为“Standby”状态，当BLS信号为1时，AVH功能为“Active”状态。在另一个示例中，当BLS信号为0且满足驻车功能工作条件时，AVH功能为“Standby”状态；当BLS信号为1且满足驻车功能工作条件，且车速满足预设条件(例如车速降低到0kph时以表明车辆处于静止状态时)时，AVH功能迁移到“Active”状态。
进一步地，图5是本发明实施例中针对AVH功能的激活与失效的循环判断逻辑的示意图。参考图5，仅当驾驶员再次手动按键时，AVH功能会进入关闭功能(“OFF”状态)，其它任何操作，只要满足“Standby”状态条件，AVH功能随时进入到“Standby”状态，只要满足“Active”状态条件，AVH功能随时进入到“Active”状态，在不满足“Standby”或“Active”状态时，直接进入到“休眠”状态。
更进一步地，结合图4及图5所示出的循环判断逻辑，图6是本发明实施例的车辆AVH控制方法的整体控制逻辑的示意图。如图6所示，本发明实施例通过AVH控制器来实现车辆AVH控制方法的整体控制逻辑，其中该AVH控制器通过硬线电性连接EPB系统及AVH按键，并通过车身控制模块(Body Control Module，BCM)电性连接主驾驶门、安全带和仪表中的相应控制单元以获取需要的信号。另外，可知该AVH控制器接收EPB信号、AVH按键信号、主驾驶门信号、安全带信号和仪表，且根据整体控制逻辑中对应出现的AVH功能的状态，会向AVH按键及仪表发送控制指 令。其中，AVH控制器可以是独立的控制器，也可以是配置在车辆的电子控制单元(Electronic Control Unit，ECU)或ESP中的控制模块。
其中，AVH控制器向仪表发送控制指令，主要是使车辆仪表进行灯光指示。据此，在优选的实施例中，所述的车辆AVH控制方法还可以包括：在所述AVH功能进入所述激活状态或所述待命状态时，控制车辆仪表进行灯光指示。例如，在所述AVH功能进入所述激活状态或所述待命状态时，使车辆组合仪表IP中的指定LED灯亮起。需说明的是，在整个循环判断控制逻辑过程中，都可以使车辆仪表配合AVH按键及各个AVH功能状态来进行灯光显示，以辅助驾驶员操控车辆。
另外，通过图6的整体控制逻辑，可知AVH功能配置了“Active”状态、“Standby”状态、“OFF”状态和休眠状态(下文用“Sleep”表示休眠状态)，其中休眠状态属于一种中间状态，“Active”状态、“Standby”状态和“OFF”状态属于在控制逻辑中需要最终达到的状态。据此，在优选的实施例中，所述车辆AVH控制方法还包括：判定所述AVH功能是否能进入“Active”状态、“Standby”状态、“OFF”状态或“Sleep”状态。该判定的目的是保证AVH功能正常，能够进入“Active”状态、“Standby”状态、“OFF”状态或“Sleep”状态。
其中，判定所述AVH功能是否能进入所述待命状态或所述退出状态可以包括：通过改变所述AVH按键信号及所述预设驻车功能工作条件来判定所述AVH功能是否能进入所述“Standby”状态、“OFF”状态或“Sleep”状态。
参考图6，举例而言，可根据AVH按键信号及车辆状态(该车辆状态包括驾驶员是否系安全带和主驾驶车门是否关闭、车辆是否点火和/或EPB电子驻车状态)，判定AVH功能是否能进入到“OFF”状态或“Standby”状态或“Sleep”状态，例如若首次接收到AVH按键信号后，驾驶员系好安全带、主驾驶车门关闭、车辆点火(即满足了预设AVH功能工作条件)，观察“Standby”状态的信号指示灯是否亮起以判断AVH功能是否能够进入到“Standby”状态；再例如，当信号指示灯显示AVH功能处于“Standby”状态或“Active”状态时，驾驶员解开安全带或给整车下电，观察“Sleep”状态的信号指示灯是否亮起以判断AVH功能是否能够进入到“Sleep”状态；再例如在AVH功能已处于“Active”状态或“Standby”状态时，驾驶员再次按下AVH按键，观察“OFF”状态的信号指示灯是否亮起以判断AVH 功能是否能够进入到“OFF”状态。
其中，判定所述AVH功能是否能够进入所述“Active”状态或“Standby”状态可以包括以下方式中的任意一种或多种：
1)通过产生制动踏板行程信号来判定所述AVH功能是否能进入所述“Active”状态或“Standby”状态，若检测到所述制动踏板行程信号，则所述AVH功能应能够进入所述“Active”状态，否则应能够进入所述“Standby”状态。
举例而言，检测到所述制动踏板行程信号是“Active”状态条件之一，在首次接收到AVH按键信号且满足了预设AVH功能工作条件的情况下，驾驶员踩制动踏板以产生制动踏板行程信号，此时观察“Active”状态的信号指示灯是否亮起以判断AVH功能是否能够进入到“Active”状态；在没有制动踏板行程信号的情况下，观察“Standby”状态的信号指示灯是否亮起以判断AVH功能是否能够进入到“Standby”状态。
2)通过在预定时间后检测是否存在EPB信号来判定所述AVH功能是否能进入所述“Active”状态或“Standby”状态，其中若存在所述EPB信号，则所述AVH功能能够进入所述“Active”状态或“Standby”状态，包括从“Active”迁移到“Standby”状态或一直保持在“Standby”状态。
结合图1的相关描述可知，AVH功能保压一定时间后，若车辆无起步意图，则将驻车功能交由EPB进行长时驻车。如此，可知AVH功能的所述“Active”状态或“Standby”状态与EPB相承接，从而可通过判断驻车功能是否能切换至由EPB接管来判断AVH功能是否能进入所述“Active”状态或“Standby”状态。另外，对于具有手刹功能(包括电子手刹和机械手刹)的车辆，可类似于EPB，配置相应逻辑以通过车辆是否能成功实现手刹来判断AVH功能是否能进入所述“Active”状态或“Standby”状态。
3)通过产生制动踏板行程信号、车辆静止信号(例如示出车速为0kph的车速信号)和EPB信号来判定所述AVH功能是否能进入所述“Active”状态和“Standby”状态，若检测到所述制动踏板行程信号和车辆静止信号，以及EPB信号示出EPB未工作，则所述AVH功能应能够进入所述“Active”状态，否则应能够进入所述“Standby”状态。
举例而言，检测到所述制动踏板行程信号、车辆静止信号和EPB信号都是“Active”状态的条件，在相应信号满足预设条件时，观察“Active”状态的信号指示灯是否亮起以判断AVH功能是否能够进入到“Active”状 态；在“Active”状态的条件不满足的情况下，观察“Standby”状态的信号指示灯是否亮起以判断AVH功能是否能够进入到“Standby”状态。
在此，第3)种判断方式属于对第1)种判断方式的完善，其更能适应在各种场景下对AVH功能的进入状态的判断。
综上，本发明实施例的车辆AVH控制方法配置了针对AVH功能状态变化的控制逻辑，弥补了汽车市场中没有配置有AVH功能控制逻辑的缺陷，且本发明为AVH配置了“Sleep”状态，从而驾驶员只需在首次启动AVH功能及需要退出AVH功能时按下AVH按键，而在其他AVH工作条件发生变化的情况下，AVH功能会进入非退出状态的“Sleep”状态，而一旦AVH工作条件再次满足，都无需驾驶员按下AVH按键就能恢复到激活状态或待命状态，从而可以解决驾驶员需频繁操作AVH按键以激活AVH功能的问题，体现了更加智能化的车辆设计理念思路，让车辆真正辅助驾驶。更为具体地，其具有以下几个方面的优势：
1)本发明实施例的车辆AVH控制方法可以在软件层面实现智能化AVH功能循环判断逻辑，例如程序代码形式写入到ECU，通过逻辑架构，监控循环判断条件，以简单灵活的开发方式，解决了驾驶员日常开车中需要频繁开启AVH按键的问题。
2)本发明实施例的车辆AVH控制方法可通过独立的AVH控制器来软件层面实现，在驾驶室内或操作面板上无其它硬件开关或按键，无其它额外成本投入，节省了开发成本费用。
3)本发明实施例的车辆AVH控制方法不仅给主机厂节约车辆开发成本，还可以提升车辆自主设计理念，提升相对于其它主机厂车辆的竞争力，为企业带来更大利益价值。
4)本发明实施例的车辆AVH控制方法使得今后的车辆功能设计更加智能化，对设计人员提出了功能技术要求，具有一定鞭策。
5)本发明实施例的车辆AVH控制方法在实车表现上体现了车辆功能开发合理性与智能化设计水平，减少顾客抱怨开发不合理问题。
6)本发明实施例的车辆AVH控制方法可以充分显示出汽车性能水平能力。
本发明另一实施例还提供了一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得控制器执行上述任意实施例所述的车辆AVH控制方法。其中，该控制器例如是上文提及的AVH控制器。
本发明实施例还提供了一种车辆自动驻车控制装置其与上述实施例的车辆AVH控制方法基于同样的发明思路。图7是本发明实施例的车辆AVH控制装置的结构示意图，如图7所示，所述车辆自动驻车控制装置可以包括：检测模块100，用于实时检测驾驶员操作车辆所产生的与所述车辆的自动驻车功能相关联的驻车条件信号及自动驻车功能按键信号；初始控制模块200，用于在首次检测到所述自动驻车功能按键信号时，若对应检测到的所述驻车条件信号满足预设驻车功能工作条件，则控制所述自动驻车功能进入“Active”状态或“Standby”状态；以及驻车控制模块300，用于在所述自动驻车功能处于所述“Active”状态或所述“Standby”状态时，进行自动驻车控制。
其中，驻车控制模块300进行的自动驻车控制可以包括若实时检测的所述驻车条件信号不再满足所述预设驻车功能工作条件，则控制所述自动驻车功能进入“Sleep”状态；对于处于所述“Sleep”状态的所述自动驻车功能，若所述驻车条件信号重新满足所述预设驻车功能工作条件，则控制所述自动驻车功能重新进入所述“Active”状态或所述“Standby”状态；以及若再次检测到所述自动驻车功能按键信号，则控制所述自动驻车功能进入“OFF”状态。
其中，本发明实施例的车辆自动驻车控制装置例如是上文提及的AVH控制器。
在优选的实施例中，所述车辆自动驻车控制装置还包括：灯光控制模块400，用于在所述自动驻车功能进入所述“Active”状态或所述“Standby”状态时，控制车辆仪表进行灯光指示。
在优选的实施例中，所述车辆自动驻车控制装置还包括：判定模块500，用于判定所述自动驻车功能是否能进入所述“Active”状态、所述“Standby”状态、所述“OFF”状态或所述“Sleep”状态。
再次参考图7，在更为优选的实施例中，所述判定模块500可以包括：第一判定子模块510，用于通过改变所述AVH按键信号及所述预设驻车功能工作条件来判定所述自动驻车功能是否能进入所述“OFF”状态、所述“Standby”状态或所述“Sleep”状态；第二判定子模块520，用于通过制动踏板行程信号来判定所述自动驻车功能是否能进入所述“Active”状态或所述“Standby”状态，其中在检测到所述制动踏板行程信号时，所述AVH功能应能够进入所述“Active”状态，否则应能够进入所述“Standby”状 态；和/或第三判定子模块530，用于通过在预定时间后检测是否存在电子制动驻车信号来判定所述自动驻车功能是否能进入所述“Active”状态或所述“Standby”状态，其中若存在所述电子制动驻车信号，则所述自动驻车功能能够进入所述“Active”状态或所述“Standby”状态，包括从“Active”迁移到“Standby”状态或一直保持在“Standby”状态。
在优选的实施例中，所述判定模块500还可以包括：第四判定子模块(图7中未示出)，用于通过产生制动踏板行程信号、车辆静止信号(例如示出车速为0kph的车速信号)和EPB信号来判定所述AVH功能是否能进入所述“Active”状态和“Standby”状态，若检测到所述制动踏板行程信号和车辆静止信号，以及EPB信号示出EPB未工作，则所述AVH功能应能够进入所述“Active”状态，否则应能够进入所述“Standby”状态。
在此，本发明实施例的车辆自动驻车控制装置的具体实施例细节及优势与上述关于车辆自动驻车控制方法的实施例相同或相似，在此不再赘述。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，例如适应性改变步骤的执行顺序以及调节功能模块间的连接关系，均应包含在本发明的保护范围之内。
本领域技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得单片机、芯片或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
此外，本发明实施例的各种不同的实施例之间也可以进行任意组合，只要其不违背本发明实施例的思想，其同样应当视为本发明实施例所公开的内容。

Claims (11)

  1. 一种车辆自动驻车控制方法，其特征在于，所述车辆自动驻车控制方法包括：
    实时检测驾驶员操作车辆所产生的与所述车辆的自动驻车功能相关联的驻车条件信号及自动驻车功能按键信号；
    在首次检测到所述自动驻车功能按键信号时，若对应检测到的所述驻车条件信号满足预设驻车功能工作条件，则控制所述自动驻车功能进入激活状态或待命状态；以及
    在所述自动驻车功能处于所述激活状态或所述待命状态时，进行以下的自动驻车控制：
    若实时检测的所述驻车条件信号不再满足所述预设驻车功能工作条件，则控制所述自动驻车功能进入休眠状态；
    对于处于所述休眠状态的所述自动驻车功能，若所述驻车条件信号重新满足所述预设驻车功能工作条件，则控制所述自动驻车功能重新进入所述激活状态或所述待命状态；以及
    若再次检测到所述自动驻车功能按键信号，则控制所述自动驻车功能进入退出状态。
  2. 根据权利要求1所述的车辆自动驻车控制方法，其特征在于，所述车辆自动驻车控制方法还包括：
    在所述自动驻车功能进入所述激活状态或所述待命状态时，控制车辆仪表进行灯光指示。
  3. 根据权利要求1所述的车辆自动驻车控制方法，其特征在于，所述车辆自动驻车控制方法还包括：
    判定所述自动驻车功能是否能进入所述激活状态、所述待命状态、所述退出状态或所述休眠状态。
  4. 根据权利要求3所述的车辆自动驻车控制方法，其特征在于，判定所述自动驻车功能是否能进入所述待命状态或所述退出状态包括：
    通过改变所述AVH按键信号及所述预设驻车功能工作条件来判定所述自动驻车功能是否能进入所述退出状态、所述待命状态或休眠状态。
  5. 根据权利要求3所述的车辆自动驻车控制方法，其特征在于，判定所述自动驻车功能是否能进入所述激活状态或所述待命状态包括：
    通过制动踏板行程信号来判定所述自动驻车功能是否能进入所述激活状态或所述待命状态，其中在检测到所述制动踏板行程信号时，所述自动驻车功能应能够进入所述激活状态，否则应能够进入所述待命状态；和/或
    通过在预定时间后检测是否存在电子制动驻车信号来判定所述自动驻车功能是否能进入所述激活状态或所述待命状态，其中若存在所述电子制动驻车信号，则所述自动驻车功能能够进入所述激活状态或所述待命状态。
  6. 根据权利要求3所述的车辆自动驻车控制方法，其特征在于，判定所述自动驻车功能是否能进入所述激活状态或所述待命状态包括：
    通过制动踏板行程信号、车辆静止信号和电子驻车信号来判定所述自动驻车功能是否能进入所述激活状态和待命状态，若检测到所述制动踏板行程信号和所述车辆静止信号且所述电子驻车信号示出车辆的电子驻车系统未工作，则所述自动驻车功能应能够进入所述激活状态，否则应能够进入所述待命状态。
  7. 一种机器可读存储介质，该机器可读存储介质上存储有指令，该指 令用于使得控制器执行权利要求1至6中任意一项所述的车辆自动驻车控制方法。
  8. 一种车辆自动驻车控制装置，其特征在于，所述车辆自动驻车控制装置包括：
    检测模块，用于实时检测驾驶员操作车辆所产生的与所述车辆的自动驻车功能相关联的驻车条件信号及自动驻车功能按键信号；
    初始控制模块，用于在首次检测到所述自动驻车功能按键信号时，若对应检测到的所述驻车条件信号满足预设驻车功能工作条件，则控制所述自动驻车功能进入激活状态或待命状态；以及
    驻车控制模块，用于在所述自动驻车功能处于所述激活状态或所述待命状态时，进行以下的自动驻车控制：
    若实时检测的所述驻车条件信号不再满足所述预设驻车功能工作条件，则控制所述自动驻车功能进入休眠状态；
    对于处于所述休眠状态的所述自动驻车功能，若所述驻车条件信号重新满足所述预设驻车功能工作条件，则控制所述自动驻车功能重新进入所述激活状态或所述待命状态；以及
    若再次检测到所述自动驻车功能按键信号，则控制所述自动驻车功能进入退出状态。
  9. 根据权利要求8所述的车辆自动驻车控制装置，其特征在于，所述车辆自动驻车控制装置还包括：
    灯光控制模块，用于在所述自动驻车功能进入所述激活状态或所述待命状态时，控制车辆仪表进行灯光指示。
  10. 根据权利要求8所述的车辆自动驻车控制装置，其特征在于，所 述车辆自动驻车控制装置还包括：
    判定模块，用于判定所述自动驻车功能是否能进入所述激活状态、所述待命状态、所述退出状态或所述休眠状态。
  11. 根据权利要求10所述的车辆自动驻车控制装置，其特征在于，所述判定模块包括：
    第一判定子模块，用于通过改变所述AVH按键信号及所述预设驻车功能工作条件来判定所述自动驻车功能是否能进入所述退出状态、所述待命状态或所述休眠状态；
    第二判定子模块，用于通过制动踏板行程信号来判定所述自动驻车功能是否能进入所述激活状态或所述待命状态，其中在检测到所述制动踏板行程信号时，所述自动驻车功能应能够进入所述激活状态，否则应能够进入所述待命状态；
    第三判定子模块，用于通过在预定时间后检测是否存在电子制动驻车信号来判定所述自动驻车功能是否能进入所述激活状态或所述待命状态，其中若存在所述电子制动驻车信号，则所述自动驻车功能能够进入所述激活状态或所述待命状态；和/或
    第四判定子模块，用于通过制动踏板行程信号、车辆静止信号和电子驻车信号来判定所述自动驻车功能是否能进入所述激活状态和待命状态，若检测到所述制动踏板行程信号和所述车辆静止信号且所述电子驻车信号示出车辆的电子驻车系统未工作，则所述自动驻车功能应能够进入所述激活状态，否则应能够进入所述待命状态。
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