CN111873964A - Automatic parking control method, device, storage medium and apparatus - Google Patents
Automatic parking control method, device, storage medium and apparatus Download PDFInfo
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- CN111873964A CN111873964A CN202010786579.4A CN202010786579A CN111873964A CN 111873964 A CN111873964 A CN 111873964A CN 202010786579 A CN202010786579 A CN 202010786579A CN 111873964 A CN111873964 A CN 111873964A
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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
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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
- 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
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
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- Regulating Braking Force (AREA)
Abstract
The invention relates to the technical field of automatic parking, and discloses an automatic parking control method, automatic parking control equipment, a storage medium and an automatic parking control device. The method comprises the steps of obtaining the current working state of a target vehicle; judging whether the current working state meets an automatic parking triggering condition or not; when the current working state meets the automatic parking triggering condition, monitoring the running time of a brake pedal from a stepping-on state to a releasing state; when the running time is less than the preset time, starting an electronic stability system (ESC) to enable the ESC to actively build voltage; and when the running time is greater than or equal to the preset time, starting the electronic parking brake system EPB to enable the EPB to perform parking brake, so that the running state of a brake pedal is monitored to realize interactive control of the ESC and the EPB, a driver is not required to perform frequent brake operation, interactive control of the ESC and the EPB is automatically performed, and the purpose of improving convenience of automatic parking is achieved.
Description
Technical Field
The present invention relates to the field of automatic parking technologies, and in particular, to an automatic parking control method, device, storage medium, and apparatus.
Background
The Auto Hold function (Auto Hold for short) is used to automatically and reliably stop the stopped car at a certain position even on a slope, and has the functions of automatically helping the car to start on the slope and providing auxiliary brake when necessary. Conventional parking brake systems typically require the use of mechanical actuation mechanisms rather than hydraulic or pneumatic systems.
When a driver stops on a slope, stops on traffic signals and the like or runs on a road section needing frequent stopping or starting through a traditional parking brake system, the driver needs to frequently perform operations of braking, parking, gear shifting and the like when stopping or starting frequently, and therefore inconvenience is brought to the driver.
Disclosure of Invention
The invention mainly aims to provide an automatic parking control method, automatic parking control equipment, a storage medium and an automatic parking control device, and aims to improve the convenience of automatic parking.
In order to achieve the above object, the present invention provides an automatic parking control method including the steps of:
acquiring the current working state of a target vehicle;
judging whether the current working state meets an automatic parking triggering condition or not;
when the current working state meets the automatic parking triggering condition, monitoring the running time of a brake pedal from a stepping-on state to a releasing state;
when the running time is less than the preset time, starting an electronic stability system (ESC) to enable the ESC to actively build voltage;
and when the running time is greater than or equal to the preset time, starting an electronic parking brake system (EPB) to enable the EPB to perform parking brake.
Preferably, the current working state comprises an automatic parking system state, a safety belt state, a vehicle door state and an engine working state;
the judging whether the current working state meets the automatic parking triggering condition or not comprises the following steps:
judging whether the automatic parking system has a fault according to the state of the automatic parking system;
when the automatic parking system does not have a fault, judging whether a safety belt is fastened or not according to the safety belt state;
when the safety belt is fastened, judging whether the vehicle door is closed or not according to the vehicle door state;
and when the vehicle door is closed tightly, judging whether the engine normally runs according to the working state of the engine so as to realize the judgment of the automatic parking triggering condition.
Preferably, the current operating state further includes a gradient value at which the target vehicle is located;
after judging whether the engine normally runs according to the working state of the engine when the vehicle door is closed, the method further comprises the following steps:
when the engine runs normally, acquiring a gradient value of the target vehicle;
judging whether the gradient value is smaller than or equal to a preset gradient threshold value or not;
and monitoring the running time of the brake pedal from a treading state to a releasing state when the gradient value is less than or equal to a preset gradient threshold value.
Preferably, the activating the electronic parking brake system EPB when the operation time is greater than or equal to a preset time includes:
when the running time is greater than or equal to the preset time, judging whether the current working state reaches an EPB triggering condition;
when the current working state reaches an EPB triggering condition, generating an EPB starting request;
and starting the EPB according to the EPB starting request so as to enable the EPB to perform parking braking.
Preferably, after the EPB is activated when the operation time is greater than or equal to a preset time, the method further includes:
judging whether the target vehicle is on a slope;
when the target vehicle is on a slope, acquiring gear information, accelerator information and engine information of the target vehicle;
obtaining the driving force of the whole vehicle according to the gear information, the accelerator information and the engine information, and obtaining the resistance of the whole vehicle according to the vehicle parameter information of the target vehicle;
judging whether the whole vehicle driving force is larger than the whole vehicle resistance;
and when the driving force of the whole vehicle is greater than the resistance of the whole vehicle, closing the automatic parking.
Preferably, after determining whether the current operating state satisfies an automatic parking triggering condition, the method further includes:
when the current working state meets an automatic parking triggering condition, judging whether the current working state meets an automatic parking dangerous use condition;
when the current working state does not meet the automatic parking dangerous use condition, generating an EPB starting request;
and starting the EPB according to the EPB starting request, and closing the automatic parking.
Preferably, after determining whether the current operating state satisfies an automatic parking triggering condition, the method further includes:
when the current working state meets an automatic parking triggering condition, judging whether the current working state meets an emergency auxiliary condition;
when the current working state meets the emergency auxiliary condition, generating an ESC starting request;
and starting the ESC according to the ESC starting request.
Further, to achieve the above object, the present invention also proposes an automatic parking control apparatus comprising: memory, a processor and an automatic parking control program stored on the memory and running on the processor, the automatic parking control program when executed by the processor implementing the steps of the automatic parking control method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon an automatic parking control program which, when executed by a processor, implements the steps of the automatic parking control method as described above.
Further, to achieve the above object, the present invention also proposes an automatic parking control device including:
the acquisition module is used for acquiring the current working state of the target vehicle;
the judging module is used for judging whether the current working state meets an automatic parking triggering condition or not;
the monitoring module is used for monitoring the running time of the brake pedal from a stepping-on state to a releasing state when the current working state meets the automatic parking triggering condition;
the starting module is used for starting the ESC to actively build voltage when the running time is less than the preset time;
the starting module is further used for starting an electronic parking brake system EPB when the running time is greater than or equal to the preset time, so that the EPB can perform parking brake.
According to the technical scheme provided by the invention, the current working state of the target vehicle is obtained; judging whether the current working state meets an automatic parking triggering condition or not; when the current working state meets the automatic parking triggering condition, monitoring the running time of a brake pedal from a stepping-on state to a releasing state; when the running time is less than the preset time, starting an electronic stability system (ESC) to enable the ESC to actively build voltage; and when the running time is greater than or equal to the preset time, starting the electronic parking brake system EPB to enable the EPB to perform parking brake, so that the running state of a brake pedal is monitored to realize interactive control of the ESC and the EPB, a driver is not required to perform frequent brake operation, interactive control of the ESC and the EPB is automatically performed, and the purpose of improving convenience of automatic parking is achieved.
Drawings
FIG. 1 is a schematic structural diagram of an automatic parking control apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of an automatic parking control method of the present invention;
FIG. 3 is a system frame diagram of Auto hold according to an embodiment of the automatic parking control method of the present invention;
FIG. 4 is a schematic diagram of an Auto Hold hardware circuit overall framework according to an embodiment of the automatic parking control method of the present invention;
FIG. 5 is a schematic diagram of an automatic parking logic of an embodiment of the automatic parking control method of the present invention;
FIG. 6 is a flowchart illustrating a second embodiment of an automatic parking control method of the present invention;
FIG. 7 is a flowchart illustrating an automatic parking control method according to a third embodiment of the present invention;
FIG. 8 is a logic diagram of auto-release and hill hold for an embodiment of an automatic parking control method of the present invention;
FIG. 9 is a logic diagram of an automatic parking safety function according to an embodiment of the automatic parking control method of the present invention;
FIG. 10 is a schematic diagram of an emergency assistance of automatic parking according to an embodiment of the automatic parking control method of the present invention;
fig. 11 is a block diagram showing the structure of the automatic parking control apparatus according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: acquiring the current working state of a target vehicle; judging whether the current working state meets an automatic parking triggering condition or not; when the current working state meets the automatic parking triggering condition, monitoring the running time of a brake pedal from a stepping-on state to a releasing state; when the running time is less than the preset time, starting an electronic stability system (ESC) to enable the ESC to actively build voltage; and when the running time is greater than or equal to the preset time, starting the electronic parking brake system EPB to enable the EPB to perform parking brake, so that the running state of a brake pedal is monitored to realize interactive control of the ESC and the EPB, a driver is not required to perform frequent brake operation, interactive control of the ESC and the EPB is automatically performed, and the purpose of improving convenience of automatic parking is achieved.
The main technical terms related to the embodiments of the present application include:
EPB: an electric park brake System, namely an electronic parking brake System, realizes a System for parking a vehicle in an electronic control mode.
ESC: an Electronic Stability Control System, namely an Electronic Stability System of a whole vehicle, is an active safety System, and can prevent the vehicle from understeering and oversteering interference through proper braking; the propelling force is increased and the driving stability is improved by adjusting the braking pressure on the wheels and the torque of the engine; the system helps a driver to overcome emergency and keep vehicle safety control and dynamic and static parking control by actively increasing the direction stable braking force function.
EMS: engine Management System, Engine Management System.
TCU: transmission Control Unit, i.e. an automatic Transmission Control Unit.
CAN: controller Area Network, Controller Area Network.
Auto Hold: the Automatic Vehicle Hold System, the Automatic parking Hold function, is the core of the whole control System. After the vehicle stops, the state of the vehicle is judged through a sensor assembled on the vehicle, and four brakes of a braking system are controlled according to functional logic, so that the automatic parking system is achieved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an automatic parking control apparatus in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the automatic parking control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), the optional user interface 1003 may also include a standard wired interface and a wireless interface, and the wired interface of the user interface 1003 may be a Universal Serial Bus (USB) interface in the present invention. The network interface 1004 may optionally include a standard wired interface as well as a wireless interface (e.g., WI-FI interface). The Memory 1005 may be a high speed Random Access Memory (RAM); or a stable Memory, such as a Non-volatile Memory (Non-volatile Memory), and may be a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the automatic parking control apparatus and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an automatic parking control program.
In the automatic parking control apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting peripheral equipment; the automatic parking control apparatus calls an automatic parking control program stored in a memory 1005 through a processor 1001 and executes an automatic parking control method provided by an embodiment of the present invention.
Based on the above hardware structure, an embodiment of the automatic parking control method of the present invention is proposed.
Referring to fig. 2, fig. 2 is a flowchart illustrating an automatic parking control method according to a first embodiment of the present invention.
In the first embodiment, the automatic parking control method includes the steps of:
step S10: and acquiring the current working state of the target vehicle.
It should be noted that the execution subject of the present embodiment is an automatic parking control apparatus, and may also be other apparatuses capable of implementing the same or similar functions.
In this embodiment, the current operating state includes an automatic parking system state, a seat belt state, a door state, and an engine operating state, and may further include other state parameters, which is not limited in this embodiment.
It should be noted that the Auto parking refers to an Auto parking function after the vehicle is parked, a sensor mounted on the vehicle is used to determine a vehicle state, four brakes of a braking system are controlled according to a function logic, and a braking pressure applied by a driver is maintained to make the vehicle stationary, so as to realize a short-time parking function. The system CAN be matched with different transmissions, including a Manual Transmission (MT), a Transmission (CVT), a Dual Clutch automatic Transmission (DCT) and other systems of an automobile, so as to improve the difficulty of hill start, and a vehicle with an ESC system and an EPB system CAN develop an Auto Hold function, for example, the schematic diagram of the system framework of the Autohold shown in FIG. 3 is connected with a front brake, an ESC controller, an instrument, an EMS and the like through a CAN bus.
The automatic parking brake system needs to acquire vehicle running state information through a sensor, and then combines a parking brake button and vehicle braking force conditions, if automatic parking control needs to be implemented, a control unit ECU sends an automatic parking instruction to an actuator, and lights an automatic parking indicator lamp; when the automatic parking system needs an electronic parking EPB (electronic parking brake) adapter tube, a motor driving circuit is started, a motor is controlled to rotate, and an electronic parking indicator lamp is lightened; when the system has a fault, a relevant fault indicator lamp is turned on or a buzzer alarm is given, as shown in the overall framework schematic diagram of the Auto Hold hardware circuit shown in fig. 4, the motor, the storage battery, the braking force and the like are controlled by the ECU realizing the Auto Hold function.
It should be noted that the Auto hold operating logic is: after a driver presses an 'automatic' button, a control unit ECU receives relevant sensor signals through a CAN bus, judges the running state of a vehicle, sends a control instruction to an actuator, and keeps continuous pipeline pressure to automatically park after the vehicle stops; when the driver requests to start again, the driver steps on the accelerator pedal, when the sufficient driving torque is reached, the brake pressure is automatically released, and the automobile drives away, and as shown in an Auto hold working schematic diagram shown in fig. 4, the Auto hold working schematic diagram is divided into 4 stages, including a brake stage, a brake pedal releasing process, a driving away process and the like.
Firstly, a driver steps on a brake pedal to decelerate the vehicle;
when the vehicle decelerates to be static, the Auto hold works to establish braking pressure to keep the vehicle static;
thirdly, the driver loosens the brake pedal;
maintaining the pressure of the pipeline continuously;
fifthly, when the driver requests to start, the driver steps on the accelerator pedal, when the sufficient driving torque is reached, the brake pressure is automatically released, and the automobile drives away.
Step S20: and judging whether the current working state meets an automatic parking triggering condition or not.
In this embodiment, the automatic parking triggering condition is to achieve the starting of the automatic parking function, for example, the driver stops the vehicle stably by stepping on the brake pedal, and releases the brake pedal, or other triggering states may be used, which is not limited in this embodiment.
Step S30: and when the current working state meets the automatic parking triggering condition, monitoring the running time of the brake pedal from a treading state to a releasing state.
It can be understood that, when the current working state meets the automatic parking triggering condition, as shown in the automatic parking logic schematic diagram shown in fig. 5, before judging whether the current working state meets the automatic parking triggering condition, whether the Auto hold switch is pressed is required to be judged, when the Auto hold switch is pressed, the Auto hold function is indicated to be activated, and under the condition, the driver needs to perform automatic parking, so that the parking safety is improved, the user can be directly reminded of performing automatic parking when the current working state meets the parking condition, the parking safety is ensured, and the processing logic of automatic parking can be directly performed when the automatic parking triggering condition is met.
Step S40: and when the running time is less than the preset time, starting the electronic stability system ESC to enable the ESC to actively build voltage.
In this embodiment, the preset time may be 3 minutes, and may also be other parameter information, which is not limited in this embodiment, 3 minutes is taken as an example, and when the running time is less than 3 minutes, the ESC brake is used to reduce the pressure, so that the 4 wheels are physically braked.
Step S50: and when the running time is greater than or equal to the preset time, starting an electronic parking brake system (EPB) to enable the EPB to perform parking brake.
It can be understood that when the operation time is greater than or equal to 3 minutes, the electronic parking brake system EPB is started, and the parking brake is performed through the EPB, so that the service life of the parking brake is ensured by the expansion of the brake shoes or the movement of the brake caliper piston, and the operation proceeds to step 5, when the safety belt is fastened, the engine is in the running state and the driver side door is closed, and the Auto hold switch is pressed, the brake pedal is pressed to stop the vehicle, then the pedal is released, the brake lamp is turned on in less than 3 minutes, the ESC actively builds the pressure, and when the operation time is greater than 3 minutes, the parking brake is requested to be turned on, a parking command is issued, the instrument lights the indicator lamp, the parking brake is turned on, and the Auto hold state becomes the standby state.
According to the scheme, the current working state of the target vehicle is obtained; judging whether the current working state meets an automatic parking triggering condition or not; when the current working state meets the automatic parking triggering condition, monitoring the running time of a brake pedal from a stepping-on state to a releasing state; when the running time is less than the preset time, starting an electronic stability system (ESC) to enable the ESC to actively build voltage; and when the running time is greater than or equal to the preset time, starting the electronic parking brake system EPB to enable the EPB to perform parking brake, so that the running state of a brake pedal is monitored to realize interactive control of the ESC and the EPB, a driver is not required to perform frequent brake operation, interactive control of the ESC and the EPB is automatically performed, and the purpose of improving convenience of automatic parking is achieved.
Referring to fig. 6, fig. 6 is a flowchart illustrating a second embodiment of the automatic parking control method according to the present invention, which is proposed based on the first embodiment illustrated in fig. 2.
In a second embodiment, the current operating state includes an automatic parking system state, a belt state, a door state, and an engine operating state.
The step S20 includes:
and step S201, judging whether the automatic parking system has a fault according to the state of the automatic parking system.
As shown in fig. 5, when determining the automatic parking trigger condition, other safety state determinations may be included by detecting that the seat belt is fastened, the engine is in an operating state, and the driver-side door is closed, which is not limited in this embodiment.
And step S202, judging whether the safety belt is fastened or not according to the safety belt state when the automatic parking system does not have a fault.
In a specific implementation, various sensors are arranged on the vehicle, for example, a safety belt, a transmitter or a vehicle door, and the corresponding use state is acquired through the sensors.
And step S203, judging whether the door is closed or not according to the door state when the safety belt is fastened.
In a specific implementation, when the following conditions are simultaneously met, the automatic parking operation performs function triggering, including: the automatic parking system has no fault; the engine runs normally; fastening a safety belt on the driver side; the driver side door is tightly closed; the gradient value of the vehicle is less than or equal to 30 percent; pressing an automatic parking switch; the driver stops the vehicle stably by stepping on the brake pedal and releases the brake pedal; the stop lamp is lit and the ESC actively builds voltage above a threshold.
And step S204, judging whether the engine normally operates according to the working state of the engine when the vehicle door is closed, so as to realize the judgment of the automatic parking triggering condition.
In one embodiment, the current operating state further includes a grade value at which the target vehicle is located;
after the step S204, the method further includes:
when the engine runs normally, acquiring a gradient value of the target vehicle; judging whether the gradient value is smaller than or equal to a preset gradient threshold value or not; and monitoring the running time of the brake pedal from a treading state to a releasing state when the gradient value is less than or equal to a preset gradient threshold value.
In this embodiment, the preset gradient threshold is 30%, and other parameter information may also be used, which is not limited in this embodiment, and when the gradient value is less than or equal to the preset gradient threshold, it indicates that automatic parking is required.
According to the scheme, the judgment of the automatic parking triggering condition is realized by judging whether the automatic parking system breaks down or not according to the state of the automatic parking system, judging whether the safety belt is fastened or not according to the state of the safety belt, judging whether the vehicle door is fastened or not, judging whether the engine normally runs or not and judging the gradient value, so that the accuracy of automatic parking triggering is improved.
Referring to fig. 7, fig. 7 is a flowchart illustrating a third embodiment of the automatic parking control method according to the present invention, which is proposed based on the first embodiment or the second embodiment, and in this embodiment, the description is made based on the first embodiment.
In the third embodiment, the step S50 includes:
step S501, when the running time is greater than or equal to the preset time, judging whether the current working state reaches an EPB triggering condition.
It should be noted that the EPB triggering conditions include a request for opening the parking brake, an automatic parking system being in a triggering state, and exceeding the ESC line pressure holding time, for example, a time greater than the set 3 minutes, and other conditions, which are not limited in this embodiment.
Step S502, when the current working state reaches the EPB triggering condition, an EPB starting request is generated.
In specific implementation, when the current working state reaches the EPB triggering condition, the parking brake is requested to be turned on, the parking instruction is issued, and the parking brake is turned on, and the Auto hold function exits to be in the standby state, so that the usability of the Auto hold is improved.
And step S503, starting the EPB according to the EPB starting request so as to enable the EPB to carry out parking braking.
In an embodiment, after the step S50, the method further includes:
judging whether the target vehicle is on a slope; when the target vehicle is on a slope, acquiring gear information, accelerator information and engine information of the target vehicle; obtaining the driving force of the whole vehicle according to the gear information, the accelerator information and the engine information, and obtaining the resistance of the whole vehicle according to the vehicle parameter information of the target vehicle; judging whether the whole vehicle driving force is larger than the whole vehicle resistance; and when the driving force of the whole vehicle is greater than the resistance of the whole vehicle, closing the automatic parking.
In the present embodiment, the hill assist mode is entered based on Auto hold, which enters the hill assist mode when the target vehicle simultaneously satisfies the following conditions: the automatic parking system is in the trigger state, the brake lamp is in the state of lighting, and engine normal operating condition judges that the vehicle is in the slope, and accessible ramp sensor gathers the slope, still can obtain through other modes, and this embodiment does not make the restriction to this, and the gear is driving away gear (D shelves or R shelves), driver and is stepping on accelerator pedal, and the throttle state information is gathered to accessible throttle opening sensor, still can obtain through other modes, and this embodiment does not do the restriction to this.
In the concrete implementation, the driving force and the resistance of the whole vehicle can be obtained according to a power system model comprising engine torque, gearbox speed ratio, tire rolling radius, road adhesion coefficient and the like, then judging that the driving force of the whole vehicle is greater than the resistance of the whole vehicle, judging the releasing time of the Auto hold ramp, closing the parking brake, enabling the vehicle to start on the ramp smoothly without backward slipping or flameout, thereby ensuring the safety of automatic parking, such as the automatic release and hill hold logic diagram shown in fig. 8, after the Auto hold is in the trigger state, the engine is in the running state and the brake lamp is in the lighting state, whether the vehicle is in the ramp or not is judged, when the vehicle is on a slope, the releasing time is obtained according to the gear information, the accelerator information and the transmitter information, and finally the parking brake is automatically closed, therefore, ramp assistance and automatic release of automatic parking are realized, and the performance of automatic parking is improved.
In an embodiment, after the step S50, the method further includes:
when the current working state meets an automatic parking triggering condition, judging whether the current working state meets an automatic parking dangerous use condition; when the current working state meets the automatic parking dangerous use condition, generating an EPB starting request; and starting the EPB according to the EPB starting request, and closing the automatic parking.
In this embodiment, the parking brake is turned on when the current working state meets the automatic parking dangerous use condition, and the Auto hold function is turned off, wherein the automatic parking dangerous use condition includes that the automatic parking system is in a trigger state, the driver loosens the safety belt, the driver side door is opened, the Auto hold automatic parking switch is pressed again, and at least one of the ignition switch or the engine is turned off, and when the automatic parking dangerous use condition is met, the parking brake is turned on by a request, the EPB turns on the parking brake, and the Auto hold function is turned off.
In specific implementation, as shown in a logic diagram of an automatic parking safety function shown in fig. 9, when Auto hold is in a trigger state, it is determined that a seat belt is unfastened or a door is opened or an engine is turned off or an Auto hold switch is pressed, and when one of conditions is met, a parking brake is requested to be opened, so that the Auto hold function is turned off and the parking brake is turned on, thereby implementing the safety function of automatic parking and improving the performance of automatic parking.
In an embodiment, after the step S20, the method further includes:
when the current working state meets an automatic parking triggering condition, judging whether the current working state meets an emergency auxiliary condition; when the current working state meets the emergency auxiliary condition, generating an ESC starting request; and starting the ESC according to the ESC starting request.
In this embodiment, mainly realize the urgent supplementary operating logic of automatic parking the parking brake is opened when current operating condition satisfies the urgent auxiliary condition of automatic parking, wherein, the urgent auxiliary condition of automatic parking includes that whole car is in the driving condition, obtains through monitoring the speed of a motor vehicle, and automatic parking system does not have the trouble and pull up at least one item in the EPB parking switch always, when satisfying the urgent auxiliary condition of automatic parking, then enters the urgent auxiliary mode of dynamic braking through requesting ESC, lights the braking tail lamp to remind the back car, the braking makes the vehicle slow down to 0 speed of a motor vehicle, parking brake opens, instrument parking pilot lamp lights and vehicle braking tail lamp extinguish, wherein, vehicle braking tail lamp extinguishes and represents the urgent auxiliary action and ends.
In specific implementation, as shown in an emergency assistance schematic diagram for automatic parking shown in fig. 10, when a whole vehicle is in a driving state, an automatic hold function is normal, a parking switch is pulled up, an ESC system is requested to intervene dynamic braking, then a braking tail lamp is lightened, when a vehicle speed is 0, a parking brake is turned on, an instrument parking indicator lamp is lightened, and the braking tail lamp is turned off, so that the automatic hold function is turned off and the parking brake is turned on, thereby realizing emergency assistance for automatic parking and improving the performance of automatic parking.
Through the scheme, the automatic parking system can realize the function logic interaction of automatic parking, automatic release, hill assistance, emergency braking assistance and the like, and when the vehicle runs on a road section needing frequent parking/starting, the automatic parking function can assist a driver in controlling the vehicle, so that the driving convenience and safety are improved.
Furthermore, an embodiment of the present invention also proposes a storage medium having an automatic parking control program stored thereon, which when executed by a processor implements the steps of the automatic parking control method as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Further, referring to fig. 11, an embodiment of the present invention also proposes an automatic parking control apparatus including:
the obtaining module 10 is configured to obtain a current working state of the target vehicle.
In this embodiment, the current operating state includes an automatic parking system state, a seat belt state, a door state, and an engine operating state, and may further include other state parameters, which is not limited in this embodiment.
It should be noted that the Auto parking refers to an Auto parking function after the vehicle is parked, a sensor mounted on the vehicle is used to determine a vehicle state, four brakes of a braking system are controlled according to a function logic, and a braking pressure applied by a driver is maintained to make the vehicle stationary, so as to realize a short-time parking function. The system CAN be matched with different transmissions, including MT and CVT, through DCT and other systems, the difficulty of hill start is improved, and meanwhile, the vehicle with the configuration of the ESC system and the EPB system CAN develop an AutoHold function, as shown in a schematic diagram of an Auto hold system frame shown in figure 3, and a front brake, an ESC controller, an instrument, EMS and the like are connected through a CAN bus.
The automatic parking brake system needs to acquire vehicle running state information through a sensor, and then combines a parking brake button and vehicle braking force conditions, if automatic parking control needs to be implemented, a control unit ECU sends an automatic parking instruction to an actuator, and lights an automatic parking indicator lamp; when the automatic parking system needs an electronic parking EPB (electronic parking brake) adapter tube, a motor driving circuit is started, a motor is controlled to rotate, and an electronic parking indicator lamp is lightened; when the system has a fault, a relevant fault indicator lamp is turned on or a buzzer alarm is given, as shown in the overall framework schematic diagram of the Auto Hold hardware circuit shown in fig. 4, the motor, the storage battery, the braking force and the like are controlled by the ECU realizing the Auto Hold function.
It should be noted that the Auto hold operating logic is: after a driver presses an 'automatic' button, a control unit ECU receives relevant sensor signals through a CAN bus, judges the running state of a vehicle, sends a control instruction to an actuator, and keeps continuous pipeline pressure to automatically park after the vehicle stops; when the driver requests to start again, the driver steps on the accelerator pedal, when the sufficient driving torque is reached, the brake pressure is automatically released, and the automobile drives away, and as shown in an Auto hold working schematic diagram shown in fig. 4, the Auto hold working schematic diagram is divided into 4 stages, including a brake stage, a brake pedal releasing process, a driving away process and the like.
Firstly, a driver steps on a brake pedal to decelerate the vehicle;
when the vehicle decelerates to be static, the Auto hold works to establish braking pressure to keep the vehicle static;
thirdly, the driver loosens the brake pedal;
maintaining the pressure of the pipeline continuously;
fifthly, when the driver requests to start, the driver steps on the accelerator pedal, when the sufficient driving torque is reached, the brake pressure is automatically released, and the automobile drives away.
And the judging module 20 is used for judging whether the current working state meets an automatic parking triggering condition or not.
In this embodiment, the automatic parking triggering condition is to achieve the starting of the automatic parking function, for example, the driver stops the vehicle stably by stepping on the brake pedal, and releases the brake pedal, or other triggering states may be used, which is not limited in this embodiment.
And the monitoring module 30 is used for monitoring the running time of the brake pedal from a treading state to a releasing state when the current working state meets the automatic parking triggering condition.
It can be understood that, when the current working state meets the automatic parking triggering condition, as shown in the automatic parking logic schematic diagram shown in fig. 5, before judging whether the current working state meets the automatic parking triggering condition, whether the Auto hold switch is pressed is required to be judged, when the Auto hold switch is pressed, the Auto hold function is indicated to be activated, and under the condition, the driver needs to perform automatic parking, so that the parking safety is improved, the user can be directly reminded of performing automatic parking when the current working state meets the parking condition, the parking safety is ensured, and the processing logic of automatic parking can be directly performed when the automatic parking triggering condition is met.
And the starting module 40 is configured to start the electronic stability system ESC when the operation time is less than a preset time, so that the ESC actively builds voltage.
In this embodiment, the preset time may be 3 minutes, and may also be other parameter information, which is not limited in this embodiment, 3 minutes is taken as an example, and when the running time is less than 3 minutes, the ESC brake is used to reduce the pressure, so that the 4 wheels are physically braked.
The starting module 40 is further configured to start the electronic parking brake system EPB when the operation time is greater than or equal to a preset time, so that the EPB performs parking brake.
It can be understood that, when the running time is greater than or equal to 3 minutes, the electronic parking brake system EPB is started, and the parking brake is performed through the EPB, so that the service life of parking after the brake shoes are opened or the brake caliper piston moves is ensured.
According to the scheme, the current working state of the target vehicle is obtained; judging whether the current working state meets an automatic parking triggering condition or not; when the current working state meets the automatic parking triggering condition, monitoring the running time of a brake pedal from a stepping-on state to a releasing state; when the running time is less than the preset time, starting an electronic stability system (ESC) to enable the ESC to actively build voltage; and when the running time is greater than or equal to the preset time, starting the electronic parking brake system EPB to enable the EPB to perform parking brake, so that the running state of a brake pedal is monitored to realize interactive control of the ESC and the EPB, a driver is not required to perform frequent brake operation, interactive control of the ESC and the EPB is automatically performed, and the purpose of improving convenience of automatic parking is achieved.
In one embodiment, the current operating state includes an automatic parking system state, a belt state, a door state, and an engine operating state;
the judging module 20 is further configured to judge whether the automatic parking system fails according to the state of the automatic parking system;
when the automatic parking system does not have a fault, judging whether a safety belt is fastened or not according to the safety belt state;
when the safety belt is fastened, judging whether the vehicle door is closed or not according to the vehicle door state;
and when the vehicle door is closed tightly, judging whether the engine normally runs according to the working state of the engine so as to realize the judgment of the automatic parking triggering condition.
In one embodiment, the current operating state further includes a grade value at which the target vehicle is located;
the judging module 20 is further configured to obtain a gradient value of the target vehicle when the engine operates normally;
judging whether the gradient value is smaller than or equal to a preset gradient threshold value or not;
and monitoring the running time of the brake pedal from a treading state to a releasing state when the gradient value is less than or equal to a preset gradient threshold value.
In an embodiment, the determining module 20 is further configured to determine whether the current working state reaches an EPB triggering condition when the running time is greater than or equal to a preset time;
when the current working state reaches an EPB triggering condition, generating an EPB starting request;
and starting the EPB according to the EPB starting request so as to enable the EPB to perform parking braking.
In an embodiment, the determining module 20 is further configured to determine whether the target vehicle is on a slope;
when the target vehicle is on a slope, acquiring gear information, accelerator information and engine information of the target vehicle;
obtaining the driving force of the whole vehicle according to the gear information, the accelerator information and the engine information, and obtaining the resistance of the whole vehicle according to the vehicle parameter information of the target vehicle;
judging whether the whole vehicle driving force is larger than the whole vehicle resistance;
and when the driving force of the whole vehicle is greater than the resistance of the whole vehicle, closing the automatic parking.
In an embodiment, the determining module 20 is further configured to determine whether the current working state meets an automatic parking dangerous use condition when the current working state meets an automatic parking triggering condition;
when the current working state does not meet the automatic parking dangerous use condition, generating an EPB starting request;
and starting the EPB according to the EPB starting request, and closing the automatic parking.
In an embodiment, the determining module 20 is further configured to determine whether the current operating state meets an emergency assistance condition when the current operating state meets an automatic parking triggering condition;
when the current working state meets the emergency auxiliary condition, generating an ESC starting request;
and starting the ESC according to the ESC starting request.
The automatic parking control device of the present invention adopts all technical solutions of all the above embodiments, so that at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and details are not repeated herein.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic parking control method characterized by comprising the steps of:
acquiring the current working state of a target vehicle;
judging whether the current working state meets an automatic parking triggering condition or not;
when the current working state meets the automatic parking triggering condition, monitoring the running time of a brake pedal from a stepping-on state to a releasing state;
when the running time is less than the preset time, starting an electronic stability system (ESC) to enable the ESC to actively build voltage;
and when the running time is greater than or equal to the preset time, starting an electronic parking brake system (EPB) to enable the EPB to perform parking brake.
2. The automatic parking control method according to claim 1, wherein the current operating state includes an automatic parking system state, a belt state, a door state, and an engine operating state;
the judging whether the current working state meets the automatic parking triggering condition or not comprises the following steps:
judging whether the automatic parking system has a fault according to the state of the automatic parking system;
when the automatic parking system does not have a fault, judging whether a safety belt is fastened or not according to the safety belt state;
when the safety belt is fastened, judging whether the vehicle door is closed or not according to the vehicle door state;
and when the vehicle door is closed tightly, judging whether the engine normally runs according to the working state of the engine so as to realize the judgment of the automatic parking triggering condition.
3. The automatic parking control method according to claim 2, characterized in that the current operating state further includes a gradient value at which the target vehicle is located;
after judging whether the engine normally runs according to the working state of the engine when the vehicle door is closed, the method further comprises the following steps:
when the engine runs normally, acquiring a gradient value of the target vehicle;
judging whether the gradient value is smaller than or equal to a preset gradient threshold value or not;
and monitoring the running time of the brake pedal from a treading state to a releasing state when the gradient value is less than or equal to a preset gradient threshold value.
4. The automatic parking control method according to any one of claims 1 to 3, wherein the activating the electronic parking brake system EPB when the operation time is greater than or equal to a preset time includes:
when the running time is greater than or equal to the preset time, judging whether the current working state reaches an EPB triggering condition;
when the current working state reaches an EPB triggering condition, generating an EPB starting request;
and starting the EPB according to the EPB starting request so as to enable the EPB to perform parking braking.
5. The automatic parking control method according to any one of claims 1 to 3, wherein after the activation of the electronic parking brake system EPB when the operation time is greater than or equal to a preset time, the method further comprises:
judging whether the target vehicle is on a slope;
when the target vehicle is on a slope, acquiring gear information, accelerator information and engine information of the target vehicle;
obtaining the driving force of the whole vehicle according to the gear information, the accelerator information and the engine information, and obtaining the resistance of the whole vehicle according to the vehicle parameter information of the target vehicle;
judging whether the whole vehicle driving force is larger than the whole vehicle resistance;
and when the driving force of the whole vehicle is greater than the resistance of the whole vehicle, closing the automatic parking.
6. The automatic parking control method according to any one of claims 1 to 3, wherein after the determination of whether the current operating state satisfies an automatic parking trigger condition, the method further comprises:
when the current working state meets an automatic parking triggering condition, judging whether the current working state meets an automatic parking dangerous use condition;
when the current working state does not meet the automatic parking dangerous use condition, generating an EPB starting request;
and starting the EPB according to the EPB starting request, and closing the automatic parking.
7. The automatic parking control method according to any one of claims 1 to 3, wherein after the determination of whether the current operating state satisfies an automatic parking trigger condition, the method further comprises:
when the current working state meets an automatic parking triggering condition, judging whether the current working state meets an emergency auxiliary condition;
when the current working state meets the emergency auxiliary condition, generating an ESC starting request;
and starting the ESC according to the ESC starting request.
8. An automatic parking control apparatus, characterized by comprising: memory, a processor and an automatic parking control program stored on the memory and running on the processor, the automatic parking control program when executed by the processor implementing the steps of the automatic parking control method according to any of claims 1 to 7.
9. A storage medium having an automatic parking control program stored thereon, the automatic parking control program, when executed by a processor, implementing the steps of the automatic parking control method according to any one of claims 1 to 7.
10. An automatic parking control apparatus, characterized by comprising:
the acquisition module is used for acquiring the current working state of the target vehicle;
the judging module is used for judging whether the current working state meets an automatic parking triggering condition or not;
the monitoring module is used for monitoring the running time of the brake pedal from a stepping-on state to a releasing state when the current working state meets the automatic parking triggering condition;
the starting module is used for starting the ESC to actively build voltage when the running time is less than the preset time;
the starting module is further used for starting an electronic parking brake system EPB when the running time is greater than or equal to the preset time, so that the EPB can perform parking brake.
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