CN111942356A - Parking method, device, system and terminal - Google Patents
Parking method, device, system and terminal Download PDFInfo
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- CN111942356A CN111942356A CN202010661701.5A CN202010661701A CN111942356A CN 111942356 A CN111942356 A CN 111942356A CN 202010661701 A CN202010661701 A CN 202010661701A CN 111942356 A CN111942356 A CN 111942356A
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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Abstract
The invention discloses a parking method, a device, a system and a terminal, wherein the method comprises the following steps: in response to a parking braking force request, acquiring battery charging allowable power, motor rotating speed and available motor torque in real time; determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the available torque of the motor; controlling the vehicle to decelerate according to the electric braking torque; acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time; judging whether the vehicle meets the condition of triggering a parking request or not according to the vehicle speed; if so, responding to the parking request, adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a first parking electric braking torque and a first parking hydraulic value of the vehicle; according to the method, the vehicle is controlled to decelerate to park by the first parking electric braking torque and the first parking hydraulic pressure value, and the parking of the vehicle is controlled by the electric braking and the hydraulic braking together, so that the energy recovery of the vehicle is ensured, and the vehicle can be stably parked.
Description
Technical Field
The invention relates to the technical field of vehicle parking, in particular to a parking method, a parking device, a parking terminal and a parking storage medium.
Background
Compared with a traditional fuel vehicle, the pure electric vehicle has the functions of braking energy recovery and sliding energy recovery, so that the function of vehicle braking can be realized only by stepping on a braking pedal in the traditional concept aiming at the advantage of energy recovery, and at the moment, the sliding energy recovery and the braking energy recovery are switched to cause a part of mechanical energy loss, so that the e-pedal function can be developed on the vehicle, namely, the acceleration and the deceleration of the vehicle can be realized through an accelerator pedal. The driver steps on the accelerator pedal to accelerate the vehicle, releases the accelerator pedal to realize deceleration, and needs to ensure the vehicle to be braked and stopped stably.
The traditional parking scheme is that a brake pedal is stepped on, the vehicle is stably parked in a mode that hydraulic braking force of the vehicle is involved and driving force is cut off, the speed and the depth of stepping on the brake pedal are combined, the speed and the size of the braking force are different, and finally comfortable parking is achieved through whole vehicle calibration. However, the e-pedal function realizes vehicle parking by releasing the accelerator pedal, and the purpose of vehicle speed reduction can be achieved by energy recovery after the accelerator is released, but the recovery capacity is almost 0 after the vehicle speed is lower than a certain value, and at the moment, the brake pedal is not stepped on and no braking force is generated, so that the vehicle cannot be parked stably.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a parking method, which controls the parking of a vehicle through electric braking and hydraulic braking together, thereby not only ensuring the energy recovery of the vehicle, but also enabling the vehicle to be parked stably.
In order to achieve the above object, the present invention provides a parking method, including:
in response to a parking braking force request, acquiring battery charging allowable power, motor rotating speed and available motor torque in real time;
determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the available torque of the motor;
controlling the vehicle to decelerate according to the electric braking torque;
acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time;
judging whether the vehicle meets the condition of triggering a parking request or not according to the vehicle speed;
if the condition for triggering the parking request is met, responding to the parking request, adjusting the current electric braking torque and the distributed hydraulic braking value of the vehicle, and obtaining a first parking electric braking torque and a first parking hydraulic value of the vehicle;
and controlling the vehicle to decelerate to the parking position of the vehicle according to the first parking electric braking torque and the first parking hydraulic pressure value.
In one embodiment, said determining an electric brake torque of the vehicle based on said battery charge allowable power, said motor speed and said motor available torque comprises:
calculating to obtain real-time torque according to the battery charging allowable power and the motor rotating speed;
and comparing the real-time torque with the available torque of the motor, and determining the smaller value of the real-time torque and the available torque of the motor as the electric braking torque of the vehicle.
In one embodiment, after the controlling the vehicle to decelerate according to the electric brake torque, the method further comprises:
acquiring the battery power of the vehicle and the current electric braking torque of the vehicle in real time;
judging whether the electric quantity of the battery reaches a preset first threshold value;
if the electric quantity of the battery reaches a preset first threshold value, adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a second parking electric braking torque and a second parking hydraulic value of the vehicle;
and controlling the vehicle to decelerate to the parking position according to the second parking electric braking torque and the second parking hydraulic pressure value.
In one embodiment, the determining whether the vehicle meets the condition for triggering the parking request according to the vehicle speed includes:
judging whether the real-time vehicle speed is not greater than a preset second threshold value or not;
and if the real-time vehicle speed is not greater than the preset second threshold value, the condition of triggering the parking request is met, and the parking request is triggered.
In one embodiment, the current electric braking torque of the vehicle is adjusted and the hydraulic braking value is distributed, so that a first parking electric braking torque and a first parking hydraulic pressure value of the vehicle are obtained; the method comprises the following steps:
adjusting the current electric braking torque of the vehicle to a preset third threshold value, and distributing a hydraulic braking value to a preset fourth threshold value;
and taking the preset third threshold value as the first parking electric braking torque, and taking the preset fourth threshold value as the first parking hydraulic pressure value.
In one embodiment, further comprising:
detecting actual torque and actual rotating speed of a motor in real time in the process of controlling the vehicle to decelerate to park according to the first parking electric braking torque and the first parking hydraulic pressure value;
judging whether the first parking electric braking torque corresponds to the actual torque or not;
and if the first parking electric braking torque does not correspond to the actual torque, sending out a false alarm.
The present invention provides a parking apparatus, the apparatus including:
the first acquisition module is used for responding to a parking braking force request and acquiring the battery charging allowable power, the motor rotating speed and the motor available torque in real time;
the electric braking torque determination module is used for determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the motor available torque;
the deceleration control module is used for controlling the vehicle to decelerate according to the electric braking torque;
the second acquisition module is used for acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time;
the judging module is used for judging whether the vehicle meets the condition of triggering the parking request according to the vehicle speed;
the first processing module is used for responding to a parking request if the condition for triggering the parking request is met, adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a first parking electric braking torque and a first parking hydraulic value of the vehicle;
and the first parking control module is used for controlling the vehicle to decelerate to the parking position according to the first parking electric braking torque and the first parking hydraulic pressure value.
In one embodiment, further comprising:
the third acquisition module is used for acquiring the battery electric quantity of the vehicle and the current electric braking torque of the vehicle in real time;
the battery electric quantity judging module is used for judging whether the battery electric quantity reaches a preset first threshold value;
the second processing module is used for adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a second parking electric braking torque and a second parking hydraulic value of the vehicle if the electric quantity of the battery reaches a preset first threshold value;
and the second parking control module is used for controlling the vehicle to decelerate to the parking position according to the second parking electric braking torque and the second parking hydraulic pressure value.
The present invention also provides a parking system, the system comprising: the system comprises a vehicle control unit, a battery management system, a motor controller and a chassis stability control module;
the vehicle control unit is used for receiving battery charging allowable power sent by the battery management system, motor rotating speed started by the motor controller and available motor torque in real time;
the vehicle control unit is used for determining the electric braking torque of a vehicle according to the battery charging allowable power, the motor rotating speed and the available torque of the motor, and sending the electric braking torque to the chassis stability control module in real time;
the vehicle control unit is used for controlling the vehicle to decelerate according to the electric braking torque;
the vehicle control unit is used for acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time; judging whether the vehicle meets the condition of triggering a parking request or not according to the vehicle speed; when a condition for triggering a parking request is met, sending the parking request to the chassis stability control module;
the chassis control module is used for adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a first parking electric braking torque and a first parking hydraulic value of the vehicle; sending the first parking electric braking torque and the first parking hydraulic pressure value to the vehicle control unit;
and the vehicle controller controls the vehicle to decelerate to the parking position according to the first parking electric braking torque and the first parking hydraulic pressure value.
The invention also provides a parking system terminal comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executed to realize the parking method according to any one of claims 1 to 6.
The embodiment of the invention has the following beneficial effects:
according to the parking method disclosed by the invention, the parking of the vehicle is controlled through the electric brake and the hydraulic brake together, so that the energy recovery of the vehicle is ensured, and the vehicle can be stably parked.
Drawings
In order to more clearly illustrate the parking method, device, system and terminal according to the present invention, the drawings required for the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a schematic diagram of a system provided by an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a parking method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another parking method provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of a parking device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a parking terminal according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 illustrates a system that may be used to implement an embodiment of the present invention, and as shown in fig. 1, the system includes a vehicle control unit 01, a battery management system 02, a motor controller 03, and a chassis stability control module 04;
specifically, the vehicle control unit 01 is in communication connection with the battery management system 02, the motor controller 03 and the chassis stability control module 04 respectively.
In this embodiment, the vehicle control unit 01 is configured to receive, in real time, the battery charging allowable power sent by the battery management system 02, and the motor speed and the motor available torque initiated by the motor controller 03;
the vehicle control unit 01 is used for determining an electric braking torque of a vehicle according to the battery charging allowable power, the motor rotating speed and the motor available torque, and sending the electric braking torque to the chassis stability control module 04 in real time;
the vehicle control unit 01 is used for controlling the vehicle to decelerate according to the electric braking torque;
the vehicle control unit 01 is used for acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time; judging whether the vehicle meets the condition of triggering a parking request or not according to the vehicle speed; when a condition for triggering a parking request is met, sending the parking request to the chassis stability control module 04;
the chassis control module 04 is used for adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a first parking electric braking torque and a first parking hydraulic value of the vehicle; sending the first parking electric braking torque and the first parking hydraulic pressure value to the vehicle control unit;
and the vehicle controller 01 controls the vehicle to decelerate to the parking position according to the first parking electric braking torque and the first parking hydraulic pressure value.
In an embodiment of the present specification, the system further comprises a multimedia module 05;
the multimedia module 05 is used for receiving a setting request for starting an e-pedal function triggered by a user and starting the e-pedal function;
the multimedia module 05 sends the information of starting the e-pedal function to the vehicle control unit 01 through the chassis control module 04, so that the vehicle control unit controls the vehicle to stop by utilizing electric braking and hydraulic braking based on the e-pedal function.
Specifically, the e-pedal function is that the acceleration and deceleration of the vehicle can be realized through an accelerator pedal; the driver steps on the accelerator pedal to accelerate the vehicle, releases the accelerator pedal to realize deceleration, and needs to ensure the vehicle to be braked and stopped stably
The vehicle control unit 01 may include a display screen, a storage device, and a processor connected through a data bus. The display screen is used for displaying an operation interface or interacting with a user and the like, and the display screen can be a touch screen of a vehicle machine, a mobile phone or a tablet computer and the like. The storage device is used for storing program codes, data and data of the shooting device, and the storage device may be a memory of the vehicle controller 01, or may also be a storage device such as a smart media card (smart media card), a secure digital card (secure digital card), and a flash memory card (flash card). The processor may be a single core or multi-core processor.
The parking method based on the system is described below with reference to fig. 2, and can be applied to a parking method of an electric-only vehicle.
Referring to fig. 2, which is a flow chart of a parking method provided in an embodiment of the present invention, the present specification provides the method operation steps as described in the embodiment or the flow chart, but based on the conventional; or the inventive process may include additional or fewer steps. The step sequence recited in the embodiments is only one of the execution sequences of the steps, and does not represent the only execution sequence, and the parking method, may be executed according to the method sequence shown in the embodiments or the figures. Specifically, as shown in fig. 2, the method includes:
s201, in response to a parking braking force request, acquiring battery charging allowable power, motor rotating speed and available motor torque in real time;
in the embodiment of the present specification, in a state where the e-pedal function of the vehicle is turned on, when the driver releases the accelerator pedal, the vehicle control unit may issue a parking braking force request;
in response to the parking brake force request, the vehicle controller may be adapted to obtain data, and the vehicle controller may obtain the battery charging allowable power, the motor speed, and the motor available torque in real time.
S203, determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the available motor torque;
in the embodiment of the specification, the electric braking torque of the vehicle is determined according to the battery charging allowable power, the motor rotating speed and the motor available torque; may include the steps of:
a1, calculating to obtain real-time torque according to the battery charging allowable power and the motor rotating speed;
in the embodiment of the specification, the real-time torque is calculated according to the battery charging allowable power and the motor rotating speed which are acquired in real time;
a2, comparing the real-time torque with the available torque of the motor, and determining the smaller value of the real-time torque and the available torque of the motor as the electric braking torque of the vehicle;
in the embodiment of the present specification, the real-time torque obtained by the above calculation may be compared with a value of the available torque of the motor obtained in real time; taking the smaller value as the electric braking torque of the vehicle;
specifically, when the torque value of the real-time torque is smaller than the torque value of the available torque of the motor, the torque value of the real-time torque can be used as the torque value of the electric braking torque of the vehicle;
specifically, when the torque value of the real-time torque is greater than the torque value of the available torque of the motor, the torque value of the available torque of the motor can be used as the torque value of the electric braking torque of the vehicle;
specifically, when the torque value of the immediate torque is equal to the torque value of the available torque of the motor, the torque value of the available torque of the motor or the immediate torque may be used as the torque value of the electric brake torque of the vehicle.
S205, controlling the vehicle to decelerate according to the electric braking torque;
in this embodiment, the vehicle controller may be used to control deceleration of the vehicle, and specifically, the vehicle may be controlled to decelerate according to the calculated torque value of the electric braking torque.
S207, acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time;
in the embodiment of the specification, in the process of controlling the vehicle to decelerate, the speed of the vehicle and the current electric braking torque of the vehicle are acquired in real time;
specifically, the torque value of the current electric braking torque of the vehicle may be 0, or may be any value larger than zero;
s209, judging whether the vehicle meets the condition of triggering a parking request according to the vehicle speed;
in the embodiment of the specification, whether the vehicle meets the condition of triggering the parking request is judged according to the vehicle speed; may include the steps of:
b1, judging whether the real-time vehicle speed is not greater than a preset second threshold value;
in the embodiment of the present specification, the preset second threshold may be 3 km/h; namely, whether the real-time vehicle speed is not more than 3km/h can be judged;
and B2, if the real-time vehicle speed is not greater than the preset second threshold value, the condition for triggering the parking request is met, and the parking request is triggered.
In the embodiment of the specification, when the real-time vehicle speed of the vehicle is less than or equal to a preset second threshold value, namely, may be less than or equal to 3km/h, it is determined that the vehicle speed meets the condition of triggering the parking request;
in this case, for example, a vehicle control unit may be used to trigger a parking request.
S211, if the condition of triggering a parking request is met, responding to the parking request, adjusting the current electric braking torque and distributing a hydraulic braking value of the vehicle, and obtaining a first parking electric braking torque and a first parking hydraulic value of the vehicle;
in this embodiment, after triggering a parking request, adjusting a current electric braking torque and a distributed hydraulic braking value of the vehicle in response to the parking request to obtain a first parking electric braking torque and a first parking hydraulic pressure value of the vehicle, may include the following steps:
c1, adjusting the current electric braking torque of the vehicle to a preset third threshold value, and distributing a hydraulic braking value to a preset fourth threshold value;
in the embodiment of the present disclosure, the preset third threshold may be zero, that is, the current electric braking torque of the vehicle is adjusted to be zero;
and C2, setting the preset third threshold as the first parking electric brake torque, and setting the preset fourth threshold as the first parking hydraulic pressure value.
In the embodiment of the present specification, the first parking electric brake torque may be zero, and a fourth threshold value may be preset as the first parking hydraulic pressure value.
S213, controlling the vehicle to decelerate to the parking position according to the first parking electric braking torque and the first parking hydraulic pressure value;
in the embodiment of the specification, the first parking electric braking torque may be zero, the first parking hydraulic pressure value is a preset fourth threshold value, and the vehicle is controlled to decelerate to the parking;
namely, when the real-time vehicle speed is less than or equal to 3km/h, the hydraulic brake with the first parking hydraulic pressure value as the preset fourth threshold value is only adopted to control the vehicle to decelerate to the parking.
In the embodiment of the specification, the actual torque and the actual rotating speed of the motor are detected in real time in the process of controlling the vehicle to decelerate to the parking position according to the first parking electric braking torque and the first parking hydraulic pressure value;
judging whether the first parking electric braking torque corresponds to the actual torque or not;
specifically, it may be determined whether a torque value of the first parking electric brake torque is consistent with a torque value of an actual torque of the motor;
and if the first parking electric braking torque does not correspond to the actual torque, sending out a false alarm.
As shown in fig. 3, in the embodiment of the present disclosure, a flowchart of another parking method provided in an embodiment of the present disclosure is shown, and specifically, the method may include the following steps:
s301, in response to a parking braking force request, acquiring battery charging allowable power, motor rotating speed and available motor torque in real time;
s303, determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the available motor torque;
s305, controlling the vehicle to decelerate according to the electric braking torque;
in this embodiment, the vehicle controller may be used to control deceleration of the vehicle, and specifically, the vehicle may be controlled to decelerate according to the calculated torque value of the electric braking torque.
S307, acquiring the battery electric quantity of the vehicle and the current electric braking torque of the vehicle in real time;
in the embodiment of the specification, in the process of controlling the vehicle to decelerate, the battery capacity of the vehicle and the current electric braking torque of the vehicle are acquired in real time;
specifically, the battery power may be a real-time battery remaining power of the vehicle.
S309, judging whether the electric quantity of the battery reaches a preset first threshold value;
in the embodiment of the present specification, the preset first threshold may be 100%; namely, judging whether the electric quantity of the battery reaches a full state;
s311, if the electric quantity of the battery reaches a preset first threshold value, adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a second parking electric braking torque and a second parking hydraulic value of the vehicle;
in the embodiment of the specification, if the battery reaches a full-power state, adjusting the current electric braking torque and the distributed hydraulic braking value of the vehicle to obtain a second parking electric braking torque and a second parking hydraulic value of the vehicle;
specifically, the current electric braking torque of the vehicle is adjusted until a second parking electric braking torque is obtained, and the second parking electric braking torque may be zero;
and S313, controlling the vehicle to decelerate to the parking position according to the second parking electric braking torque and the second parking hydraulic pressure value.
In the embodiment of the present specification, when the second parking electric brake torque is zero, the vehicle may be controlled to decelerate to the parking position of the vehicle using only the second parking hydraulic pressure value.
In the embodiment of the specification, when the battery capacity of the vehicle is in a full-charge state, the vehicle is controlled to be decelerated to the parking state only by adopting the hydraulic brake, and the hydraulic brake value is the second parking hydraulic pressure value.
In the embodiment of the specification, the actual torque and the actual rotating speed of the motor are detected in real time in the process of controlling the vehicle to decelerate to the parking position according to the second parking electric braking torque and the second parking hydraulic pressure value;
judging whether the second parking electric braking torque corresponds to the actual torque or not;
specifically, it may be determined whether a torque value of the second parking electric brake torque is consistent with a torque value of an actual torque of the motor;
and if the second parking electric braking torque does not correspond to the actual torque, sending out a false alarm.
As can be seen from the above embodiments of the parking method, device, terminal and storage medium provided by the present invention, in response to a parking braking force request, the embodiments of the present invention obtain the battery charging allowable power, the motor speed and the motor available torque in real time; determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the available torque of the motor; controlling the vehicle to decelerate according to the electric braking torque;
acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time; judging whether the vehicle meets the condition of triggering a parking request or not according to the vehicle speed; if the condition for triggering the parking request is met, responding to the parking request, adjusting the current electric braking torque and the distributed hydraulic braking value of the vehicle, and obtaining a first parking electric braking torque and a first parking hydraulic value of the vehicle; controlling the vehicle to decelerate to the parking position of the vehicle according to the first parking electric braking torque and the first parking hydraulic pressure value; by utilizing the technical scheme provided by the embodiment of the specification, the parking of the vehicle is controlled by the electric brake and the hydraulic brake together, so that the energy recovery of the vehicle is ensured, and the vehicle can be stably parked.
The embodiment of the invention also provides a parking device, as shown in fig. 4, which is a schematic structural diagram of the parking device provided by the embodiment of the invention; specifically, the device comprises:
the first obtaining module 410 is used for obtaining the battery charging allowable power, the motor rotating speed and the motor available torque in real time in response to the parking braking force request;
an electric brake torque determination module 420 for determining an electric brake torque of the vehicle based on the battery charge allowable power, the motor speed, and the motor available torque;
a deceleration control module 430 for controlling deceleration of the vehicle in accordance with the electric brake torque;
the second obtaining module 440 is used for obtaining the speed of the vehicle and the current electric braking torque of the vehicle in real time;
the judging module 450 is used for judging whether the vehicle meets the condition of triggering the parking request according to the vehicle speed;
the first processing module 460 is configured to, if a condition for triggering a parking request is met, respond to the parking request, adjust a current electric braking torque of the vehicle and allocate a hydraulic braking value, so as to obtain a first parking electric braking torque and a first parking hydraulic value of the vehicle;
and a first parking control module 470 for controlling the vehicle to decelerate to the parking position according to the first parking electric brake torque and the first parking hydraulic pressure value.
In this illustrative embodiment, the electric brake torque determination module 420 includes:
the real-time torque calculation unit is used for calculating to obtain real-time torque according to the battery charging allowable power and the motor rotating speed;
and the electric braking torque determining unit is used for comparing the real-time torque with the available torque of the motor and determining the smaller value of the real-time torque and the available torque of the motor as the electric braking torque of the vehicle.
In the embodiment of this specification, still include:
the third acquisition module is used for acquiring the battery electric quantity of the vehicle and the current electric braking torque of the vehicle in real time;
the battery electric quantity judging module is used for judging whether the battery electric quantity reaches a preset first threshold value;
the second processing module is used for adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a second parking electric braking torque and a second parking hydraulic value of the vehicle if the electric quantity of the battery reaches a preset first threshold value;
and the second parking control module is used for controlling the vehicle to decelerate to the parking position according to the second parking electric braking torque and the second parking hydraulic pressure value.
In this embodiment, the determining module 450 includes:
the judging unit is used for judging whether the real-time vehicle speed is not greater than a preset second threshold value or not;
and the parking request triggering unit is used for meeting the condition of triggering the parking request and triggering the parking request if the real-time vehicle speed is not greater than a preset second threshold value.
In this embodiment, the first processing module 460 includes:
adjusting the current electric braking torque of the vehicle to a preset third threshold value, and distributing a hydraulic braking value to a preset fourth threshold value;
and taking the preset third threshold value as the first parking electric braking torque, and taking the preset fourth threshold value as the first parking hydraulic pressure value.
In the embodiment of this specification, still include:
the fourth acquisition module is used for detecting the actual torque and the actual rotating speed of the motor in real time in the process of controlling the vehicle to decelerate to the parking position according to the first parking electric braking torque and the first parking hydraulic pressure value;
the torque judgment module is used for judging whether the first parking electric braking torque corresponds to the actual torque or not;
and the warning module is used for sending out a false alarm if the first parking electric braking torque does not correspond to the actual torque.
Embodiments of the present invention provide a parking terminal, where the terminal includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the parking method according to the above method embodiments.
The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
Fig. 5 is a schematic structural diagram of a parking terminal according to an embodiment of the present invention, where the internal structure of the parking terminal may include, but is not limited to: the parking system comprises a processor, a network interface and a memory, wherein the processor, the network interface and the memory in the parking terminal can be connected through a bus or in other ways, and the processor, the network interface and the memory are connected through the bus in fig. 5 shown in the embodiment of the specification.
The processor (or CPU) is a computing core and a control core of the parking terminal. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI, mobile communication interface, etc.). A Memory (Memory) is a Memory device in the parking terminal for storing programs and data. It is understood that the memory herein may be a high-speed RAM storage device, or may be a non-volatile storage device (non-volatile memory), such as at least one magnetic disk storage device; optionally, at least one memory device located remotely from the processor. The memory provides a storage space storing an operating system of the parking terminal, which may include but is not limited to: windows system (an operating system), Linux (an operating system), etc., which are not limited thereto; also, one or more instructions, which may be one or more computer programs (including program code), are stored in the memory space and are adapted to be loaded and executed by the processor. In the embodiment of the present specification, the processor loads and executes one or more instructions stored in the memory to implement the parking method provided by the above method embodiment.
Embodiments of the present invention also provide a computer-readable storage medium, which may be disposed in a parking terminal to store at least one instruction, at least one program, a set of codes, or a set of instructions related to implementing one of the method embodiments, where the at least one instruction, the at least one program, the set of codes, or the set of instructions may be loaded and executed by a processor of an electronic device to implement the parking method provided by the above-mentioned method embodiments.
Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device and server embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. A parking method characterized by: the method comprises the following steps:
in response to a parking braking force request, acquiring battery charging allowable power, motor rotating speed and available motor torque in real time;
determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the available torque of the motor;
controlling the vehicle to decelerate according to the electric braking torque;
acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time;
judging whether the vehicle meets the condition of triggering a parking request or not according to the vehicle speed;
if the condition for triggering the parking request is met, responding to the parking request, adjusting the current electric braking torque and the distributed hydraulic braking value of the vehicle, and obtaining a first parking electric braking torque and a first parking hydraulic value of the vehicle;
and controlling the vehicle to decelerate to the parking position of the vehicle according to the first parking electric braking torque and the first parking hydraulic pressure value.
2. The parking method according to claim 1, characterized in that: the determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the motor available torque comprises the following steps:
calculating to obtain real-time torque according to the battery charging allowable power and the motor rotating speed;
and comparing the real-time torque with the available torque of the motor, and determining the smaller value of the real-time torque and the available torque of the motor as the electric braking torque of the vehicle.
3. The parking method according to claim 1, characterized in that: after the vehicle is controlled to decelerate according to the electric braking torque, the method further comprises the following steps:
acquiring the battery power of the vehicle and the current electric braking torque of the vehicle in real time;
judging whether the electric quantity of the battery reaches a preset first threshold value;
if the electric quantity of the battery reaches a preset first threshold value, adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a second parking electric braking torque and a second parking hydraulic value of the vehicle;
and controlling the vehicle to decelerate to the parking position according to the second parking electric braking torque and the second parking hydraulic pressure value.
4. The parking method according to claim 1, characterized in that: the judging whether the vehicle meets the condition of triggering the parking request according to the vehicle speed comprises the following steps:
judging whether the real-time vehicle speed is not greater than a preset second threshold value or not;
and if the real-time vehicle speed is not greater than a preset second threshold value, the condition of triggering the parking request is met, and the parking request is triggered.
5. The parking method according to claim 1, characterized in that: the method comprises the steps of adjusting the current electric braking torque of a vehicle and distributing a hydraulic braking value to obtain a first parking electric braking torque and a first parking hydraulic value of the vehicle; the method comprises the following steps:
adjusting the current electric braking torque of the vehicle to a preset third threshold value, and distributing a hydraulic braking value to a preset fourth threshold value;
and taking the preset third threshold value as the first parking electric braking torque, and taking the preset fourth threshold value as the first parking hydraulic pressure value.
6. The parking method according to claim 1, characterized in that: further comprising:
detecting actual torque and actual rotating speed of a motor in real time in the process of controlling the vehicle to decelerate to park according to the first parking electric braking torque and the first parking hydraulic pressure value;
judging whether the first parking electric braking torque corresponds to the actual torque or not;
and if the first parking electric braking torque does not correspond to the actual torque, sending out a false alarm.
7. A parking device characterized in that: the device comprises:
the first acquisition module is used for responding to a parking braking force request and acquiring the battery charging allowable power, the motor rotating speed and the motor available torque in real time;
the electric braking torque determination module is used for determining the electric braking torque of the vehicle according to the battery charging allowable power, the motor rotating speed and the motor available torque;
the deceleration control module is used for controlling the vehicle to decelerate according to the electric braking torque;
the second acquisition module is used for acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time;
the judging module is used for judging whether the vehicle meets the condition of triggering the parking request according to the vehicle speed;
the first processing module is used for responding to a parking request if the condition for triggering the parking request is met, adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a first parking electric braking torque and a first parking hydraulic value of the vehicle;
and the first parking control module is used for controlling the vehicle to decelerate to the parking position according to the first parking electric braking torque and the first parking hydraulic pressure value.
8. The parking device according to claim 7, characterized in that: further comprising:
the third acquisition module is used for acquiring the battery electric quantity of the vehicle and the current electric braking torque of the vehicle in real time;
the battery electric quantity judging module is used for judging whether the battery electric quantity reaches a preset first threshold value;
the second processing module is used for adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a second parking electric braking torque and a second parking hydraulic value of the vehicle if the electric quantity of the battery reaches a preset first threshold value;
and the second parking control module is used for controlling the vehicle to decelerate to the parking position according to the second parking electric braking torque and the second parking hydraulic pressure value.
9. A parking system characterized by: the system comprises: the system comprises a vehicle control unit, a battery management system, a motor controller and a chassis stability control module;
the vehicle control unit is used for receiving battery charging allowable power sent by the battery management system, motor rotating speed started by the motor controller and available motor torque in real time;
the vehicle control unit is used for determining the electric braking torque of a vehicle according to the battery charging allowable power, the motor rotating speed and the available torque of the motor, and sending the electric braking torque to the chassis stability control module in real time;
the vehicle control unit is used for controlling the vehicle to decelerate according to the electric braking torque;
the vehicle control unit is used for acquiring the speed of the vehicle and the current electric braking torque of the vehicle in real time; judging whether the vehicle meets the condition of triggering a parking request or not according to the vehicle speed; when a condition for triggering a parking request is met, sending the parking request to the chassis stability control module;
the chassis control module is used for adjusting the current electric braking torque of the vehicle and distributing a hydraulic braking value to obtain a first parking electric braking torque and a first parking hydraulic value of the vehicle; sending the first parking electric braking torque and the first parking hydraulic pressure value to the vehicle control unit;
and the vehicle controller controls the vehicle to decelerate to the parking position according to the first parking electric braking torque and the first parking hydraulic pressure value.
10. Parking terminal, characterized in that it comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement a parking method according to any of claims 1 to 6.
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