CN105857278B - A kind of automatic parking system logic control method - Google Patents
A kind of automatic parking system logic control method Download PDFInfo
- Publication number
- CN105857278B CN105857278B CN201610359168.0A CN201610359168A CN105857278B CN 105857278 B CN105857278 B CN 105857278B CN 201610359168 A CN201610359168 A CN 201610359168A CN 105857278 B CN105857278 B CN 105857278B
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- automatic parking
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- wheel
- packing state
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012856 packing Methods 0.000 claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 230000005611 electricity Effects 0.000 claims 2
- 238000012423 maintenance Methods 0.000 claims 1
- 230000008859 change Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of automatic parking system logic control methods, the automatic parking system is divided into closed state, armed state and packing state, when system is closed, system is not responding to vehicle and driver intention variation, wheel brake pressure is not intervened, when system is standby, system monitoring state of motion of vehicle, it is ready to implement brake pressure, when system is in packing state, system can automatically keep wheel brake pressure, and vehicle is made to maintain parking in the case where driver does not step on brake pedal.This control method ensures automatic parking security performance, and vehicle start is made more to smooth out.
Description
Technical field
The present invention relates to automobile brake control technology field, specially a kind of automatic parking system logic control method.
Background technology
Automobile electron stabilization control system（ESC）It is gradually popularized on passenger car, using automobile stability control system,
The independent regulation and control of four-wheel brake brake pressure may be implemented, to derive a series of auxiliary functions, automatic parking function is just
It is one of them.Automatic parking function can automatically keep four wheels after driver's application braking makes vehicle come to a complete stop
Brake pressure so that driver in stationary vehicle do not have to constantly trample brake pedal, vehicle will not be because of outer
Boundary interferes or topography is uneven and car slipping.When vehicle start, automatic parking function can identify that the starting of driver is intended to, and
The brake pressure of four wheels is discharged at the time of appropriate so that vehicle is smoothly started to walk according to the intention of driver.As it can be seen that staying automatically
Vehicle function can mitigate driver in the manipulation strength of congestion road conditions, promote driver comfort.
Invention content
The purpose of the present invention is to provide a kind of automatic parking system logic controls with preferable safety and ease for use
Method.
Automatic parking system logic control method of the present invention, the automatic parking system are divided into closed state, wait for
Life state and packing state, wherein when system is closed, system is not responding to vehicle and driver intention variation, no
Wheel brake pressure is intervened, when system is standby, system monitoring state of motion of vehicle is ready to implement
Brake pressure, when system is in packing state, system can automatically keep wheel brake pressure, and vehicle is made not step on system in driver
Parking is maintained in the case of dynamic pedal, the automatic parking system includes an automatic parking switch controlled by driver, described
Automatic parking system is initially in closed state, if vehicle meets automatic parking unlocking condition, system is jumped to from closed state
Armed state, if vehicle is unsatisfactory for the automatic parking unlocking condition, parking system remains off, when standby
When, if detecting, vehicle meets automatic parking dwell condition, and system jumps to packing state, if being unsatisfactory for automatic parking pressurize item
Part then keeps armed state, and before entering above-mentioned packing state, system is obtained according to the sensor on vehicle where current vehicle
Road gradient, and then the four-wheel braking minimum pressure needed for current vehicle parking is calculated, when entering packing state, to wheel reality
Apply the four-wheel braking minimum pressure, the duration for the brake pressure that system monitoring is implemented is if the duration is more than limit value
System jumps to closed state, and sends request so that and the electronics hand brake system of vehicle works, in packing state, system monitoring
Each wheel steering angle judges that vehicle slips by slope trend, system actively increases the system to wheel if any wheel steering angle is more than limit value
Dynamic pressure, in packing state, whether system monitoring automatic parking release conditions meet, and such as discontented pedal system will keep pressurize shape
State jumps to armed state if meeting.
Preferably, the automatic parking unlocking condition refers to automatic parking switch by unlatching, closing of the door and safety belt
It has fastened.
Preferably, it is all 0 that the automatic parking dwell condition, which refers to each vehicle wheel rotational speed of vehicle, and maintains a period of time, and
Vehicle brake master cylinder pressure is more than 0.
Preferably, the automatic parking release conditions refer to each vehicle wheel rotational speed be zero, engine output actual torque be enough
Overcome current hill grade resistance, speed changer to be not at neutral gear and clutch not to be operated completely.
Preferably, in packing state, system monitors automatic parking switch in real time, if automatic parking switch is closed, system
Closed state is jumped to by packing state, and sends and asks to electronics hand brake system, electronics hand brake system is made to work.
Preferably, in packing state, when judging that vehicle slips by slope trend, and actively increase the brake pressure to wheel
Afterwards, if still slipping by slope trend, it is directly switch into the work of electronics hand brake system.
Preferably, meeting automatic parking release conditions, during system jumps to armed state by packing state, slowly
Discharge wheel brake pressure.
The advantages of control method of the present invention, is：
1, the automatic parking system logic control method proposed by the present invention for considering safety and ease for use has specific
Logic redirects condition, and each condition meets the operating habit of most drivers, and driver can be clearly understood that and adapt to this control
The action of system has good user interactivity and ease for use.
2, automatic parking function open judge in, add driver door close, pilot harness be condition,
Driver is forbidden to use automatic parking system in the case where not ensureing inherently safe；It monitors and protects in automatic parking pressure maintaining period
The time is pressed, is burnt to prevent locking system component；In automatic parking pressure maintaining period, if because change of external conditions leads to system
The state of exiting is jumped to, system can send out clamping request to electronics parking brake, so that electronics parking brake is taken over parking braking, avoid driving
The occurrence of automatic parking is accidentally used as long-term parking braking, prevents car slipping by member.By the above several points, this method is effective
Improve the security performance during vehicle automatic parking.
3, in automatic parking pressurize, it is intended to minimum four-wheel braking pressure is kept under the premise of ensureing not car slipping,
During automatic parking pressurize jumps to automatic parking and awaits orders, brake pressure controlledly slow release, and at the same time examining
Having considered engine output torque overcomes the ability of gradient resistance and driver to operate reflected starting intention.By above several
Point, this method ensure that the ride comfort of the comfort and Vehicle Starting Process of driver in operation.
Description of the drawings
Fig. 1 is the logic diagram of this method.
Specific implementation mode
The present invention is further elaborated with reference to the accompanying drawings and examples, and following embodiment is only used for explaining this
Invention, is not intended to limit the scope of the present invention..
Automatic parking system of the present invention is divided into three kinds of working conditions：Closed state, armed state and packing state.
Wherein, when system is closed, system is not responding to vehicle and driver intention variation, not to wheel braking
Pressure is intervened, and when system is standby, system monitoring state of motion of vehicle is ready to implement brake pressure,
When system is in packing state, system can automatically keep wheel brake pressure, and vehicle is made not step on brake pedal in driver
In the case of maintain parking.
The automatic parking system tool is switched there are one the automatic parking by driver's control, for controlling automatic parking system
System opening and closing.
The automatic parking system can be communicated with the electronics hand brake system of vehicle, make electronic hand by sending request
Brake system works.
Work-based logic shown in Figure 1, the automatic parking system are initially in closed state, if vehicle meets automatically
Parking unlocking condition, system jump to armed state from closed state, if vehicle is unsatisfactory for the automatic parking unlocking condition, stay
Vehicle system remains off.Above-mentioned automatic parking unlocking condition refers to：1, automatic parking switch is opened；2, closing of the door；
3, safety belt has been fastened.
When standby, if detecting, vehicle meets automatic parking dwell condition, and system jumps to packing state,
If being unsatisfactory for automatic parking dwell condition, the armed state, above-mentioned automatic parking dwell condition is kept to refer to：1, each wheel of vehicle
Rotating speed is all 0, and is maintained 0.1 second；2, vehicle brake master cylinder pressure is more than 0.
Before entering above-mentioned packing state, road gradient where system obtains current vehicle according to the sensor on vehicle,
And then the four-wheel braking minimum pressure needed for current vehicle parking is calculated, when entering packing state, described four are implemented to wheel
Wheel braking minimum pressure.As it can be seen that the control method of the present invention is to be inclined to the braking for keeping minimum under the premise of ensureing not car slipping
Pressure, to release stress make vehicle start when obtain comfortably smooth out starting impression.
After entering packing state, system monitors automatic parking switch in real time, if automatic parking switch is closed, system is by protecting
Pressure condition jumps to closed state, and sends and ask to electronics hand brake system, and electronics hand brake system is made to work.
System can monitor the duration of the brake pressure of implementation, if the duration is more than three minutes, system jumps to pass
Closed state, and send request so that the electronics hand brake system of vehicle works.The limitation to the dwell time is to protect liquid
Hydraulic control unit in braking system is pressed, avoids the holding of long-time brake pressure that system element overheat is caused to be burnt.
After entering packing state, if there are the gradients on parking area road surface, and vehicle weight changes（Above and below occupant）,
Respective change can occur for the corresponding gradient resistance of vehicle so that vehicle slips by slope trend.Therefore in packing state, system monitoring
Each wheel steering angle judges that vehicle slips by slope trend, system actively increases the system to wheel if any wheel steering angle is more than limit value
Dynamic pressure, and increased pressure increases with wheel steering angle and is increased, so that vehicle comes to a complete stop again in car slipping very short distance,
If still slipping by slope trend after increasing brake pressure, it is directly switch into the work of electronics hand brake system.
After entering above-mentioned packing state, system just starts to monitor whether automatic parking release conditions meet, described automatic
Parking release conditions refer to：1, each vehicle wheel rotational speed is zero；2, engine output actual torque is enough to overcome current hill grade resistance；3、
Speed changer is not at neutral gear；4, clutch is not operated completely.If being unsatisfactory for whole factors of above-mentioned automatic parking release conditions
System will keep packing state, jump to armed state if meeting, and during jumping to armed state, wheel braking
Pressure reduces the hydraulic punch of brake piping by controlledly slow release to ensure the ride comfort and comfort of vehicle start
Hit noise.
Claims (7)
1. a kind of automatic parking system logic control method, it is characterised in that：Automatic parking system is divided into closed state, shape of awaiting orders
State and packing state,
Wherein, when system is closed, system is not responding to vehicle and driver intention variation, not to wheel brake pressure
Intervened, when system is standby, system monitoring state of motion of vehicle is ready to implement brake pressure, when being
When system is in packing state, system can automatically keep wheel brake pressure, make vehicle the case where driver does not step on brake pedal
Lower maintenance parking,
The automatic parking system includes an automatic parking switch controlled by driver,
The automatic parking system is initially in closed state, if vehicle meets automatic parking unlocking condition, system is from closing shape
State jumps to armed state, if vehicle is unsatisfactory for the automatic parking unlocking condition, parking system remains off,
When standby, if detecting, vehicle meets automatic parking dwell condition, and system jumps to packing state, if not
Meet automatic parking dwell condition, then keep armed state,
Before entering above-mentioned packing state, road gradient where system obtains current vehicle according to the sensor on vehicle, in turn
The four-wheel braking minimum pressure needed for current vehicle parking is calculated, when entering packing state, the four-wheel system is implemented to wheel
Dynamic minimum pressure,
In packing state, the duration for the brake pressure that system monitoring is implemented, if the duration is more than limit value, system redirects
To closed state, and sending request so that the electronics hand brake system of vehicle works,
In packing state, each wheel steering angle of system monitoring judges that vehicle slips by slope if any wheel steering angle is more than limit value
Gesture, system actively increase the brake pressure to wheel,
In packing state, whether system monitoring automatic parking release conditions meet, and such as discontented pedal system will keep packing state,
Armed state is jumped to if meeting.
2. automatic parking system logic control method according to claim 1, it is characterised in that：The automatic parking is opened
Condition refers to that automatic parking switch has been fastened by unlatching, closing of the door and safety belt.
3. automatic parking system logic control method according to claim 1, it is characterised in that：The automatic parking pressurize
Condition refers to that each vehicle wheel rotational speed of vehicle is all 0, and maintains a period of time, and vehicle brake master cylinder pressure is more than 0.
4. automatic parking system logic control method according to claim 1, it is characterised in that：The automatic parking release
Condition refer to each vehicle wheel rotational speed be zero, engine output actual torque be enough that current hill grade resistance, speed changer is overcome to be not at sky
Gear and clutch are not operated completely.
5. automatic parking system logic control method according to claim 1, it is characterised in that：In packing state, it is
System monitoring automatic parking switch in real time, if automatic parking switch is closed, system jumps to closed state by packing state, and to electricity
Sub- hand brake system sends request, and electronics hand brake system is made to work.
6. automatic parking system logic control method according to claim 1, it is characterised in that：In packing state, when
After judging that vehicle slips by slope trend, and actively increase is to the brake pressure of wheel, if still slipping by slope trend, it is directly switch into electricity
Sub- hand brake system work.
7. automatic parking system logic control method according to claim 1, it is characterised in that：It is released meeting automatic parking
Condition is put, during system jumps to armed state by packing state, slow release wheel brake pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610359168.0A CN105857278B (en) | 2016-05-27 | 2016-05-27 | A kind of automatic parking system logic control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610359168.0A CN105857278B (en) | 2016-05-27 | 2016-05-27 | A kind of automatic parking system logic control method |
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| Publication Number | Publication Date |
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| CN105857278A CN105857278A (en) | 2016-08-17 |
| CN105857278B true CN105857278B (en) | 2018-07-13 |
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| CN201610359168.0A Active CN105857278B (en) | 2016-05-27 | 2016-05-27 | A kind of automatic parking system logic control method |
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Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MX2019003860A (en) * | 2016-10-04 | 2019-07-04 | Nissan Motor | Parking control method and parking control device. |
| CN108202729B (en) * | 2016-12-20 | 2020-11-13 | 宝沃汽车（中国）有限公司 | Method and device for parking control |
| CN108238050A (en) * | 2016-12-24 | 2018-07-03 | 宝沃汽车（中国）有限公司 | Neutral gear control method, system and vehicle |
| CN109910843B (en) * | 2017-12-13 | 2022-08-30 | 蔚来(安徽)控股有限公司 | Automatic parking method and device |
| CN110341698B (en) * | 2018-04-02 | 2021-07-06 | 长城汽车股份有限公司 | Automobile control method and automobile |
| CN110871789B (en) * | 2018-09-04 | 2022-01-07 | 比亚迪股份有限公司 | Method and device for controlling automatic parking of vehicle and vehicle |
| CN109466545B (en) * | 2018-11-16 | 2021-04-13 | 广州小鹏汽车科技有限公司 | Automatic parking method and vehicle-mounted control system |
| CN111231941B (en) * | 2018-11-28 | 2021-07-20 | 宝沃汽车（中国）有限公司 | Automatic parking method and device and vehicle |
| CN111746505B (en) * | 2019-03-28 | 2022-05-17 | 上汽通用汽车有限公司 | Automatic parking control system and method |
| CN112109690B (en) * | 2019-07-17 | 2022-06-21 | 上汽通用五菱汽车股份有限公司 | Automatic parking control method, device and computer readable storage medium |
| CN110758397A (en) * | 2019-11-06 | 2020-02-07 | 奇瑞汽车股份有限公司 | Control method of automobile ramp auxiliary system |
| CN113415262B (en) * | 2020-08-14 | 2022-09-09 | 中国第一汽车股份有限公司 | Engine starting and parking brake maintaining control method suitable for AT vehicle type |
| CN111959512B (en) * | 2020-08-25 | 2023-03-31 | 重庆长安汽车股份有限公司 | New energy automobile in-situ parking control method, device and system and automobile |
| CN112208357A (en) * | 2020-10-23 | 2021-01-12 | 大陆泰密克汽车***（上海）有限公司 | Control method for parking brake system, parking brake system and vehicle |
| CN112298130B (en) * | 2020-10-29 | 2022-02-22 | 中国第一汽车股份有限公司 | State control method, device and equipment for automatic parking holding and storage medium |
| CN115848328B (en) * | 2021-09-24 | 2024-04-19 | 重庆长安汽车股份有限公司 | Parking control system and method and vehicle |
| CN114458459A (en) * | 2022-01-27 | 2022-05-10 | 中国第一汽车股份有限公司 | Method and system for improving engine starting smoothness through hydraulic assistance |
| CN114559909B (en) * | 2022-03-21 | 2023-03-28 | 东风华神汽车有限公司 | Control method for commercial vehicle EPB system |
| CN114701487A (en) * | 2022-03-30 | 2022-07-05 | 重庆长安汽车股份有限公司 | Automatic parking control method and system |
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| CN105857278A (en) | 2016-08-17 |
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