CN110979311A - Auxiliary braking method for remote control parking - Google Patents
Auxiliary braking method for remote control parking Download PDFInfo
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- CN110979311A CN110979311A CN201911166758.1A CN201911166758A CN110979311A CN 110979311 A CN110979311 A CN 110979311A CN 201911166758 A CN201911166758 A CN 201911166758A CN 110979311 A CN110979311 A CN 110979311A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 208000035139 partial with pericentral spikes epilepsy Diseases 0.000 claims abstract description 10
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- 230000003213 activating effect Effects 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 2
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- 238000010586 diagram Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an auxiliary braking method for remote control parking, which comprises the following steps: starting a remote control automatic parking system; the parking system sends out a command for executing braking; the parking system judges whether the EPB executes the command or not; if yes, entering the last step; if not, entering the next step; the EGS controls the TCU to enter the P gear, and the RPA control unit controls the EPB to be started; the PEPS controls the engine to be shut down; the vehicle achieves braking parking. By adopting the technical scheme, the deceleration stopping method of the vehicle is provided under the condition that the active braking function of the remote control parking fails, so that the life and property safety of personnel around the vehicle is ensured; the original hardware architecture of the vehicle is ensured to be unchanged to the maximum extent, only the functions of the relevant controllers are added, the problems caused by structural change are reduced, and the cost is reduced.
Description
Technical Field
The invention belongs to the technical field of automatic driving of automobiles, and particularly relates to an automobile electronic control technology. More particularly, the present invention relates to a method for assisting remote controlled parking brake failure.
Background
With the continuous development of automotive electronic technology, automobiles gradually become the main means of transportation for people to go out. Parking is a technical test for every driver, remote control parking of a vehicle assistance system is more and more expected by consumers, and meanwhile, higher safety requirements are also put forward on a remote control parking function.
Because the driver is not in the vehicle during remote control parking, when the active brake actuator fails, the vehicle cannot be stopped, and surrounding personnel may be injured, so that backup of the brake execution function is the key for ensuring safety of remote control parking.
Disclosure of Invention
The invention provides an auxiliary braking method for remote control parking, and aims to avoid the danger generated when the basic braking function fails when a vehicle is remotely controlled to automatically park.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention relates to an auxiliary braking method for remote control parking, which is applied to a remote control automatic parking system of a vehicle; the vehicle is provided with an EGS, an EPB, a PEPS, an ESP, a basic braking system and a monitoring system; the remote control automatic parking system is provided with an RPA control unit;
the auxiliary braking method comprises the following steps:
1. starting a remote control automatic parking system;
2. the parking system sends out a braking executing command;
3. the parking system judges whether the EPB executes the command or not; if yes, go to step 6; if not, entering step 4;
4. the EGS controls the TCU to enter a P gear, and the RPA control unit controls the EPB to be started;
5. the PEPS controls the engine to be shut down;
6. the vehicle achieves braking parking.
In the step 1, the remote control automatic parking system is started after the ignition switch is turned on; the system is self-checked; after the self-checking is free from problems, the system is activated;
in the step 2, during the remote control parking driving process, the parking system remote control RPA control unit, EGS, EPB and PEPS keeps monitoring the state of the vehicle brake system.
In the step 4, once the vehicle brake system sends out a fault signal or does not send out a signal, the RPA control unit immediately stops sending forward or backward commands; meanwhile, the EGS controls the vehicle to be in a P gear, and the EPB starts electronic parking.
In the step 5, the PEPS controls the engine to be shut down, so that the dragging force of the engine can give the vehicle deceleration force, the vehicle can be rapidly stopped through triple braking force, and after the brake of the parking vehicle fails, the danger of runaway is avoided to the maximum extent through auxiliary brake remote control.
The RPA control unit is in signal connection with a camera and an ultrasonic radar on the vehicle body; and the RPA control unit acquires information collected by a camera and an ultrasonic radar on the vehicle body.
The ESP is in signal connection with the RPA control unit, the EPB, the EGS and the basic brake system respectively; the ESP receives the information transmitted by the RPA control unit, the EPB and the EGS; the ESP sends control information.
The RPA control unit is in signal connection with the HMI and transmits parking information to the HMI.
The RPA control unit is in signal connection with the BCM; and the RPA control unit sends the automatic parking state information to the BCM.
By adopting the technical scheme, the invention provides a deceleration stopping method of the vehicle under the condition that the active braking function of the remote control parking is invalid, and the life and property safety of personnel around the vehicle is ensured; the original hardware architecture of the vehicle is ensured to be unchanged to the maximum extent, only the functions of the relevant controllers are added, the problems caused by structural change are reduced, and the cost is reduced.
Drawings
The contents of the drawings and the reference numbers in the drawings are briefly described as follows:
FIG. 1 is a block diagram of a remote parking brake redundancy system of the present invention;
fig. 2 is a schematic diagram of a remote parking brake redundancy system of the present invention.
Labeled as:
1. the system comprises a camera, 2, an ultrasonic radar, 3, a PEPS (intelligent entry and start system, also called a keyless entry system), 4, a BCM (vehicle body controller), 5, an RPA control unit (or called a remote control parking control unit), 6, an EPB (electronic parking brake system), 7, an ESP (electronic stability system for vehicle body), 8, an EGS (gearbox gear controller), 9, an HMI (human-machine interaction system), 10, a basic brake unit, 11 and a TCU (automatic gearbox control unit).
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The structure of the present invention, as shown in fig. 1, is a remote controlled automatic parking system for a vehicle. The auxiliary braking method for remote control parking is applied to an operation scheme of a remote control automatic parking system of a vehicle after remote control parking braking fails. The vehicle is provided with EGS8, EPB6, PEPS3, ESP7, a basic brake system 10 and a monitoring system; the remote control automatic parking system is provided with an RPA control unit 5.
The invention specifically relates to a redundant remote control parking braking system which is added by functions of a gear controller, an electronic parking controller 6 and a keyless starting system 3 under the condition of keeping the original hardware architecture system arrangement of a vehicle unchanged. The EGS8, the EPB6, the PEPS3, the RPA control unit 5 and the monitoring system form the redundant brake system, and the monitoring system is used for triggering the multiple brake functions of the system to ensure safety.
In order to solve the problems and overcome the defects of the prior art and achieve the aim of avoiding the danger generated when the basic braking function fails during the remote control automatic parking of the vehicle, the invention adopts the technical scheme of triggering a redundant braking system as follows:
as shown in fig. 2, the process of the auxiliary braking method of the present invention is:
1. starting a remote control automatic parking system;
2. the parking system sends out a braking executing command;
3. the parking system judges whether the EPB6 executes a command; if yes, go to step 6; if not, entering step 4;
4. the EGS8 controls the TCU11 to enter a P gear, and the RPA control unit 5 controls the EPB6 to be opened;
5. the PEPS3 controls the engine to be shut down;
6. the vehicle achieves braking parking.
When the remote control parking is carried out, after the original braking system of the vehicle breaks down, the original braking system of the vehicle can be automatically switched into a P gear by the gear controller and automatically started by electronic parking, then the engine is closed by the keyless starting system, and braking force is provided for the vehicle by the dragging force of the engine, so that the damage to surrounding personnel when the active braking system of the vehicle breaks down during the remote control parking is reduced.
In the step 1, the remote control automatic parking system is started after the ignition switch is turned on; the system is self-checked; after the self-checking is free from problems, the system is activated;
in the step 2, during the remote control parking driving, the parking system remote control RPA control unit 5, the EGS8, the EPB6, and the PEPS3 maintain the state of monitoring the vehicle brake system. Namely: after the remote control parking is finished with the handshake protocol, the remote control parking controller, the gear controller, the electronic parking controller and the keyless entry system controller keep monitoring the state of the vehicle braking system in the remote control parking driving process.
In said step 4, the RPA control unit 5 immediately stops sending forward or reverse commands as soon as the vehicle braking system sends out a fault signal or does not signal; meanwhile, the EGS8 controls the vehicle to be in the P gear, and the EPB6 starts electronic parking.
Once the vehicle braking system sends out a fault signal or does not send a signal, the remote control parking controller 5 immediately stops sending forward or backward commands, meanwhile, the gear controller 8 controls the vehicle to be in the P gear, and the electronic parking controller 6 starts electronic parking.
In the step 5, the keyless entry system controller 3 stops and extinguishes, so that the dragging force of the engine gives the deceleration force to the vehicle, the vehicle is rapidly stopped through triple braking force, after the brake of parking fails, the danger of out-of-control is avoided to the greatest extent through auxiliary brake remote control, and the injury to surrounding personnel after the brake of remote control parking fails is avoided.
The RPA control unit 5 is in signal connection with the camera 1 and the ultrasonic radar 2 on the vehicle body; the RPA control unit 5 acquires information collected by the camera 1 and the ultrasonic radar 2 on the vehicle body.
The ESP7 is respectively in signal connection with the RPA control unit 5, the EPB6, the EGS8 and the foundation brake system 10; the ESP7 receives the information transmitted by the RPA control unit 5, the EPB6 and the EGS 8; the ESP7 sends control information.
The RPA control unit 5 is in signal connection with the HMI9, and the RPA control unit 5 transmits parking information to the HMI 9.
The RPA control unit 5 is in signal connection with the BCM 4; the RPA control unit 5 sends the automatic parking status information to the BCM 4.
Through the technical scheme, the invention has the following beneficial effects:
1. under the condition that the active braking function of remote control parking fails, a deceleration stopping method of the vehicle is provided, and the life and property safety of people around the vehicle is ensured;
2. the original hardware architecture of the vehicle is guaranteed to be unchanged to the greatest extent, only the functions of the relevant controllers are increased, and the design, processing and assembly burdensome degree and production cost are reduced.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (9)
1. An auxiliary braking method for remote control parking is applied to a remote control automatic parking system of a vehicle; the vehicle is provided with an EGS (8), an EPB (6), a PEPS (3), an ESP (7), a basic brake system (10) and a monitoring system; the remote control automatic parking system is provided with an RPA control unit (5);
the method is characterized in that: the auxiliary braking method comprises the following steps:
1) starting the remote control automatic parking system;
2) the parking system sends out a command for executing braking;
3) the parking system judges whether the EPB (6) executes the command; if yes, go to step 6); if not, entering step 4);
4) the EGS (8) controls the TCU (11) to enter a P gear, and the RPA control unit (5) controls the EPB (6) to be opened;
5) the PEPS (3) controls the engine to be shut down;
6) and the vehicle realizes braking parking.
2. An auxiliary braking method for remotely controlled parking according to claim 1, wherein: in the step 1), starting a remote control automatic parking system after an ignition switch is turned on; the system is self-checked; and after the self-checking is free from problems, activating the system.
3. An auxiliary braking method for remotely controlled parking according to claim 1, wherein: in the step 2), in the remote control parking driving process, the parking system remote control RPA control unit (5), the EGS (8), the EPB (6) and the PEPS (3) keep monitoring the state of the vehicle brake system.
4. An auxiliary braking method for remotely controlled parking according to claim 1, wherein: in the step 4), once the vehicle brake system sends out a fault signal or does not send out a signal, the RPA control unit (5) immediately stops sending forward or backward commands; meanwhile, the EGS (8) controls the vehicle to be in a P gear, and the EPB (6) starts electronic parking.
5. An auxiliary braking method for remotely controlled parking according to claim 1, wherein: in the step 5), the PEPS (3) controls the engine to be shut down, so that the dragging force of the engine can give the vehicle deceleration force, the vehicle can be rapidly stopped through triple braking force, and after the brake of the parking vehicle fails, the out-of-control danger can be avoided to the greatest extent through auxiliary brake remote control.
6. An auxiliary braking method for remotely controlled parking according to claim 1, wherein: the RPA control unit (5) is in signal connection with a camera (1) and an ultrasonic radar (2) on a vehicle body; the RPA control unit (5) acquires information collected by a camera (1) and an ultrasonic radar (2) on the vehicle body.
7. An auxiliary braking method for remotely controlled parking according to claim 1, wherein: the ESP (7) is in signal connection with the RPA control unit (5), the EPB (6), the EGS (8) and the basic brake system (10) respectively; the ESP (7) receives the information transmitted by the RPA control unit (5), the EPB (6) and the EGS (8); the ESP (7) transmits control information.
8. An auxiliary braking method for remotely controlled parking according to claim 1, wherein: the RPA control unit (5) is in signal connection with the HMI (9), and the RPA control unit (5) transmits parking information to the HMI (9).
9. An auxiliary braking method for remotely controlled parking according to claim 1, wherein: the RPA control unit (5) is in signal connection with the BCM (4); the RPA control unit (5) sends automatic parking state information to the BCM (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911166758.1A CN110979311A (en) | 2019-11-25 | 2019-11-25 | Auxiliary braking method for remote control parking |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911166758.1A CN110979311A (en) | 2019-11-25 | 2019-11-25 | Auxiliary braking method for remote control parking |
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| CN201911166758.1A Pending CN110979311A (en) | 2019-11-25 | 2019-11-25 | Auxiliary braking method for remote control parking |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208519A (en) * | 2020-10-21 | 2021-01-12 | 奇瑞汽车股份有限公司 | Vehicle remote control parking system and control method thereof |
| CN112339749A (en) * | 2020-11-27 | 2021-02-09 | 安徽工程大学 | Short-range remote control parking system and control method thereof |
| CN112744214A (en) * | 2021-01-19 | 2021-05-04 | 广州橙行智动汽车科技有限公司 | Control system and control method for remote control parking of vehicle and vehicle |
| CN113370971A (en) * | 2021-07-21 | 2021-09-10 | 浙江吉利控股集团有限公司 | Backup method for automatic parking, control system thereof and vehicle |
| CN113602259A (en) * | 2021-09-13 | 2021-11-05 | 安徽江淮汽车集团股份有限公司 | Remote control parking control method and system for pure electric vehicle |
| CN114715102A (en) * | 2021-01-05 | 2022-07-08 | 广州汽车集团股份有限公司 | Vehicle redundant braking method and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112208519A (en) * | 2020-10-21 | 2021-01-12 | 奇瑞汽车股份有限公司 | Vehicle remote control parking system and control method thereof |
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| CN114715102A (en) * | 2021-01-05 | 2022-07-08 | 广州汽车集团股份有限公司 | Vehicle redundant braking method and vehicle |
| CN112744214A (en) * | 2021-01-19 | 2021-05-04 | 广州橙行智动汽车科技有限公司 | Control system and control method for remote control parking of vehicle and vehicle |
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| CN113370971B (en) * | 2021-07-21 | 2022-06-17 | 浙江吉利控股集团有限公司 | Backup method for automatic parking, control system thereof and vehicle |
| CN113602259A (en) * | 2021-09-13 | 2021-11-05 | 安徽江淮汽车集团股份有限公司 | Remote control parking control method and system for pure electric vehicle |
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