CN112319686B - Method and device for controlling parking of vehicle, electric scooter and storage medium - Google Patents
Method and device for controlling parking of vehicle, electric scooter and storage medium Download PDFInfo
- Publication number
- CN112319686B CN112319686B CN202011198266.3A CN202011198266A CN112319686B CN 112319686 B CN112319686 B CN 112319686B CN 202011198266 A CN202011198266 A CN 202011198266A CN 112319686 B CN112319686 B CN 112319686B
- Authority
- CN
- China
- Prior art keywords
- parking
- vehicle
- controlling
- mode
- enter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a method and a device for controlling vehicle parking, an electric scooter and a storage medium, wherein the method for controlling vehicle parking comprises the steps of obtaining the actual speed of a vehicle; and when the actual speed is less than the speed threshold value and the parking triggering action of the vehicle is detected, controlling the vehicle to enter a parking mode. The method can realize the parking function more conveniently and intelligently.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for controlling parking of a vehicle, an electric scooter, and a storage medium.
Background
In the related art, for a parking mode of an electric scooter such as an electric motorcycle, a parking function is generally realized by equipping a mechanical device, but the mechanical parking mode is not intelligent enough, and user experience is influenced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. To this end, it is an object of the present invention to provide a method for controlling parking of a vehicle, which can implement a parking function more conveniently and intelligently.
The second purpose of the invention is to provide a device for controlling the parking of the vehicle.
It is a further object of the present invention to provide a storage medium.
The fourth purpose of the present invention is to provide an electric scooter.
In order to solve the above problem, a method of controlling parking of a vehicle according to an embodiment of a first aspect of the present invention includes acquiring an actual speed of the vehicle; and when the actual speed is less than the speed threshold value and the parking triggering action of the vehicle is detected, controlling the vehicle to enter a parking mode.
According to the method for controlling the parking of the vehicle, the actual speed of the vehicle is obtained, when the actual speed of the vehicle is smaller than the speed threshold value and the parking triggering action of the vehicle is detected, for example, a button or a switch is operated, the vehicle is controlled to enter the parking mode, so that electronic parking is achieved.
In some embodiments, the method further includes, after controlling the vehicle to enter the parking mode, acquiring current position information of a motor of the vehicle, and performing position control on the motor according to the current position information to prevent the vehicle from slipping after parking.
In some embodiments, the detecting a parking trigger action of the vehicle comprises: and receiving a parking trigger signal of a parking trigger unit of the vehicle. Therefore, a user can trigger the parking mode by operating the parking trigger unit so as to realize the electronic parking function and improve the user experience.
In some embodiments, the method further comprises: and after the vehicle is controlled to enter the parking mode, when a parking trigger signal of a parking trigger unit of the vehicle is received, the vehicle is controlled to exit the parking mode.
In some embodiments, the method further comprises: and after the vehicle is controlled to exit the parking mode, when a parking trigger signal of a parking trigger unit of the vehicle is received, the vehicle is controlled to enter the parking mode.
In some embodiments, the method further comprises: after the vehicle is controlled to enter the parking mode, when an accelerator signal of the vehicle is received, the vehicle is controlled to exit the parking mode. Therefore, the mode that the vehicle is triggered to exit the parking mode by the accelerator signal can be realized without operating the parking triggering unit to enter or exit the electronic parking mode by a user, the intellectualization of vehicle parking is improved, and the user experience is improved.
In some embodiments, the method further comprises: and after the vehicle is controlled to exit the parking mode, when the actual speed of the vehicle is detected to be less than the speed threshold value, controlling the vehicle to enter the parking mode.
In some embodiments, said controlling said vehicle to exit the park mode upon receiving a throttle signal of said vehicle comprises: receiving the rotation angle of an accelerator handle of the vehicle; obtaining a torque command value according to the rotation angle; acquiring the current phase current of the motor, and estimating a parking torque value according to the current phase current; and when the torque command value is larger than or equal to the parking torque value, controlling the vehicle to exit the parking mode. So as to ensure that the motor output cannot be suddenly changed when the vehicle exits the parking mode through the accelerator.
In some embodiments, the parking trigger unit is a unit dedicated for parking triggering; or the parking trigger unit is a unit for multiplexing parking triggers.
In some embodiments, the detecting a parking trigger action of the vehicle comprises: detecting that a brake component of the vehicle is triggered; recording the duration of time that the brake assembly is triggered; and determining that the parking triggering action is detected when the duration of the triggered brake component is greater than a preset time threshold. Therefore, a user can trigger the parking mode by operating the brake assembly to realize the electronic parking function and improve the user experience.
In some embodiments, the method further comprises: and after the vehicle is controlled to enter the parking mode, prompting the vehicle to enter the parking mode for prompting a user of the current state of the vehicle.
The embodiment of the second aspect of the invention provides a device for controlling the parking of a vehicle, which comprises an obtaining module, a control module and a control module, wherein the obtaining module is used for obtaining the actual speed of the vehicle; the detection module is used for detecting the parking triggering action of the vehicle; and the control module is used for controlling the vehicle to enter a parking mode when the actual speed is less than the speed threshold and the parking triggering action of the vehicle is detected.
According to the device for controlling the parking of the vehicle, the actual speed of the vehicle is obtained through the obtaining module, the parking triggering action of the vehicle is detected through the detecting module, and therefore when the actual speed is determined to be smaller than the speed threshold value by the control module and the parking triggering action of the vehicle is detected, the vehicle can be controlled to enter the parking mode, and therefore electronic parking is achieved.
An embodiment of a third aspect of the present invention provides a storage medium provided with a computer program which, when executed by a processor, implements the method of controlling parking of a vehicle as described in the above embodiments.
An embodiment of a fourth aspect of the present invention provides an electric scooter, comprising a body; the motor is used for driving the vehicle body to move; and the controller is connected with the motor and is used for executing the method for controlling the parking of the vehicle in the embodiment.
According to the electric scooter provided by the embodiment of the invention, the controller executes the method for controlling the parking of the vehicle, so that the electronic parking function can be realized, and the parking mode is more convenient and intelligent.
In some embodiments, the electric scooter further comprises: the parking trigger assembly comprises at least one of a parking special trigger unit, a parking multiplexing trigger unit and a brake assembly.
In some embodiments, the electric scooter further comprises: and the throttle sensor is connected with the controller and used for detecting a throttle signal.
In some embodiments, the electric scooter further comprises: and the prompting unit is connected with the controller and is used for prompting the electric scooter to enter a parking mode.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling parking of a vehicle according to one embodiment of the present invention;
fig. 2 is a block diagram of the structure of an apparatus for controlling parking of a vehicle according to an embodiment of the present invention;
FIG. 3 is a block diagram of a vehicle according to one embodiment of the invention;
FIG. 4 is a schematic illustration of a vehicle according to one embodiment of the present invention.
Reference numerals:
a device 11 for controlling the parking of the vehicle; a detection module 12; a control module 13; an acquisition module 14;
an electric scooter 10;
a vehicle body 1; a motor 2; a parking trigger assembly 3; a controller 5; an accelerator sensor 6; a presentation unit 7;
a parking-dedicated trigger unit 31; a brake assembly 32.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
In order to solve the above problems, a method for controlling parking of a vehicle according to an embodiment of the first aspect of the present invention, which can implement a parking function more conveniently and intelligently, is described below with reference to the accompanying drawings. In embodiments of the present invention, the vehicle may include an electric motorcycle, a terrain vehicle, a kart, or other vehicle having an electronic parking mode.
Fig. 1 is a flowchart illustrating a method of controlling parking of a vehicle according to an embodiment of the present invention, and as shown in fig. 1, the method according to the embodiment of the present invention includes at least steps S1-S2.
In step S1, the actual speed of the vehicle is acquired.
In the embodiment, the running speed of the vehicle can be detected in real time by configuring the vehicle speed sensor, namely the actual speed of the vehicle is acquired and transmitted to the controller of the vehicle, and the controller can judge the running state of the vehicle according to the actual speed of the vehicle.
In step S2, the vehicle is controlled to enter the parking mode when the actual speed is less than the speed threshold and the parking trigger operation of the vehicle is detected.
In an embodiment, when the controller determines that the actual speed is less than the speed threshold VparkAnd if so, indicating that the vehicle is in a low-speed running state. Furthermore, in a low-speed running state, if a parking triggering action of the vehicle is detected, for example, through operating a key or a switch, the vehicle is controlled to enter a parking mode, so that electronic parking is realized, and compared with the prior art in which parking is realized through a mechanical device, the embodiment of the invention controls the vehicle through the parking triggering actionAnd the parking mode is entered, so that the parking device is more convenient and intelligent.
In the embodiment of the invention, the actual speed of the vehicle is detected in real time to detect whether the parking mode is triggered or not under the condition that the actual speed is smaller than the speed threshold value, so that the phenomenon that a user triggers by mistake when the vehicle is in a normal running state can be avoided, and the running safety of the user is ensured. The embodiment of the invention can set the speed threshold value according to the actual condition of the vehicle, such as the speed threshold value VparkThe value range of (A) is not limited, and can be 0Km/h-2 Km/h.
According to the method for controlling the parking of the vehicle, the actual speed of the vehicle is obtained, when the actual speed of the vehicle is smaller than the speed threshold value and the parking triggering action of the vehicle is detected, for example, a button or a switch is operated, the vehicle is controlled to enter the parking mode, so that electronic parking is achieved.
In some embodiments, the method of the embodiment of the present invention further includes, after controlling the vehicle to enter the parking mode, acquiring current position information of a motor of the vehicle, and performing position control on the motor according to the current position information. That is, when the vehicle is in the parking mode, the motor of the vehicle is switched to the position control mode, and the position command is set as the current position information, thereby implementing the electronic parking function of the vehicle to prevent the vehicle from slipping after being parked.
In some embodiments, the detecting of the parking trigger action of the vehicle in the embodiment of the present invention may include receiving a parking trigger signal of a parking trigger unit of the vehicle. Therefore, a user can trigger the parking mode by operating the parking trigger unit so as to realize electronic parking and improve user experience.
For example, the vehicle may be configured with a special parking function button or a parking function switch as a parking trigger unit, so that a user presses the parking trigger unit to send a parking trigger signal to the vehicle controller, and the controller determines a parking trigger action of the vehicle according to the parking trigger signal, that is, the vehicle may be controlled to directly enter the parking mode, or the controller may also control the vehicle to execute an automatic parking function after receiving the parking trigger signal, so that when the controller detects the parking trigger action of the vehicle, the controller may automatically control the vehicle to enter the electronic parking mode, so as to reduce the number of times that the user repeatedly operates the parking trigger unit. Or, the parking triggering unit can also reuse a cruise key configured for the vehicle, so that a user can trigger the parking mode by pressing the cruise key, a hardware structure is not required to be added, and the cost is saved. Therefore, the embodiment of the invention can further improve the intellectualization of vehicle parking and improve the user experience in a mode of triggering the parking mode by a button or a switch based on the arranged parking triggering unit.
The following describes a process of entering and exiting a parking mode when a vehicle is in a non-automatic parking function according to an embodiment of the present invention. The non-automatic parking function may be understood as a function that a user directly participates in the parking operation to enter or exit a parking mode by operating a parking trigger unit.
For the implementation of the non-automatic parking function of the vehicle, in some embodiments, after the vehicle is controlled to enter the parking mode, when a parking trigger signal of a parking trigger unit of the vehicle is received, the vehicle is controlled to exit the parking mode, that is, the parking trigger unit needs to be triggered again to exit the parking mode. For example, in the non-automatic parking function, the user presses the parking function button to trigger the vehicle to enter the parking mode, and in the parking mode, the user presses the parking function button again to control the vehicle to exit the parking mode in response to the parking trigger signal.
In other embodiments, after the vehicle is controlled to exit the parking mode after the non-automatic parking function of the vehicle is started, when a parking trigger signal of a parking trigger unit of the vehicle is received, the vehicle is controlled to enter the parking mode, that is, the parking mode needs to be entered again by operating the parking trigger unit. For example, a user presses a parking function button to trigger the vehicle to exit the parking mode, and since the vehicle is in a non-automatic parking function and cannot directly enter the parking mode at this time, if the vehicle needs to enter the parking mode again, the user needs to press the button again.
The following describes a process of entering and exiting the parking mode when the vehicle is in the automatic parking function according to an embodiment of the present invention. The automatic parking function may be understood as that the vehicle may be automatically controlled to enter or exit the parking mode when a certain condition is satisfied.
In some embodiments, after the vehicle is controlled to enter the parking mode under the condition that the automatic parking function of the vehicle is started, the vehicle is controlled to exit the parking mode when a throttle signal of the vehicle is received. That is, embodiments of the present invention may employ a manner in which a throttle signal triggers the vehicle to exit the park mode. For example, a user presses a parking trigger unit to trigger the vehicle to enable the automatic parking function and enter a parking mode, and if an accelerator signal is detected in the state, the vehicle is controlled to exit the parking mode, so that the vehicle can run normally.
It is understood that the automatic parking function is still enabled at this time, and further, the vehicle is controlled to enter the parking mode when the actual speed of the vehicle is detected to be less than the speed threshold after the vehicle is controlled to exit the parking mode. After the vehicle exits the parking mode, if the condition of entering the parking mode is detected again, the vehicle can automatically enter the parking mode without operating the parking trigger unit again by a user to enter or exit the electronic parking mode, so that the intellectualization of vehicle parking is improved, and the user experience is improved.
Wherein, when the vehicle is in the automatic parking function, the user may control the automatic parking function to be enabled or disabled by operating the parking triggering unit. That is, when the vehicle is in the automatic parking function, if it is detected that the user presses the trigger signal of the parking trigger unit, the vehicle is controlled to exit the parking mode, and the automatic parking function is disabled until the key is pressed again to be enabled. For example, when the actual speed of the vehicle is less than VparkWhen the parking trigger unit is pressed by a user, the vehicle executes the automatic parking function and enters the parking mode, and at the moment, if the parking trigger unit is used, the vehicle is parkedWhen the throttle is operated by the user, namely the controller detects an accelerator signal, the vehicle exits the parking mode, and the actual speed of the vehicle is detected to be less than V againparkDuring the time, the vehicle can automatically enter the parking mode, so that a user does not need to enter or exit the electronic parking mode by operating the parking trigger unit, the intellectualization of vehicle parking is improved, and the user experience is improved.
In some embodiments, in the method of the embodiments of the present invention, when a throttle signal of the vehicle is received, the controlling the vehicle to exit the parking mode includes receiving a rotation angle of a throttle handle of the vehicle; obtaining a torque command value according to the rotation angle; acquiring the current phase current of the motor, and estimating a parking torque value according to the current phase current; and when the torque command value is larger than or equal to the parking torque value, controlling the vehicle to exit the parking mode. That is, the embodiment of the invention compares the torque instruction value of the accelerator handle with the parking torque value of the current motor, namely, controls whether the vehicle exits the parking mode by combining the output state of the current motor, thereby ensuring that the output of the motor does not generate sudden change when the vehicle exits the parking mode through the accelerator.
For example, when the vehicle is in the parking mode, if the current accelerator handle is detected to rotate by an angle larger than thetathroThe vehicle exits the park mode. Wherein for thetathroThe determination method of (1): the rotation angle of the accelerator twist grip corresponds to a torque command value T1, the controller firstly detects the current phase current of the driving motor to obtain an estimated parking torque value T2, compares the torque command value T1 with the parking torque value T2, dynamically adjusts the torque command value T1, and when T1 is T2, the corresponding twist grip angle is thetathroI.e. the rotation angle threshold. Wherein, the embodiment of the invention sets thetathroThe output of the driving motor is dynamically adjusted according to the current output of the driving motor, so that the output of the driving motor is ensured not to change suddenly when the vehicle exits the parking mode through the accelerator.
In some embodiments, the parking trigger unit may be a unit dedicated to parking triggering; alternatively, the parking trigger unit is a unit that multiplexes parking triggers. That is, in the embodiment of the present invention, a special parking function button or parking function switch may be configured on the vehicle as a parking trigger unit, so that when the actual speed is less than the speed threshold and it is detected that the parking function button or parking function switch is pressed, the vehicle is controlled to enter the parking mode. Alternatively, an already configured triggering unit of the vehicle, such as a cruise key, may be multiplexed as a parking multiplexing triggering unit for controlling the vehicle to enter the parking mode when the actual speed is less than the speed threshold and the triggering unit is triggered. Therefore, the parking mode can be more convenient, more convenient and more intelligent through operating the key or the switch.
In some embodiments, the parking triggering action for detecting the vehicle in the embodiments of the present invention may include detecting that a brake component of the vehicle is triggered; recording the duration of the triggering of the brake component; and determining that the parking triggering action is detected when the duration of the triggered brake component is greater than a preset time threshold. That is, the method of the embodiment of the invention can trigger the parking mode of the vehicle through the brake component, so that the user can indicate the parking intention by operating the brake component, thereby realizing the electronic parking function and improving the user experience. Specifically, when the actual speed of the vehicle is less than the speed threshold and the user continues to pinch the brake assembly beyond t1, the vehicle may enter the park mode. The preset time threshold t1 may be set according to the actual situation of the vehicle, for example, the value range of t1 may be 0.3s-3s, which is not limited to this.
In some embodiments, the method of the embodiments of the present invention further includes prompting the vehicle to enter the parking mode after controlling the vehicle to enter the parking mode. For example, a corresponding icon may be configured at the vehicle meter so that when the vehicle enters park mode or automatic park mode is enabled, the meter displays the corresponding icon to prompt the user of the current state of the vehicle.
Therefore, according to the method for controlling parking of the vehicle provided by the embodiment of the invention, when the actual speed of the vehicle is less than the speed threshold, the electronic parking mode is triggered by operating the parking trigger unit or detecting the parking intention of a user such as operating a brake assembly, and the position of the driving motor is controlled by the acquired current position information, so that the electronic parking function of the vehicle is realized, the vehicle is prevented from sliding after being parked, and compared with the prior art in which parking is realized by a mechanical device, the method for controlling the vehicle to enter the electronic parking mode through the parking trigger action is more convenient and intelligent.
According to a second aspect of the present invention, an apparatus for controlling parking of a vehicle is provided, as shown in fig. 2, an apparatus 11 for controlling parking of a vehicle according to an embodiment of the present invention includes a detecting module 12, a controlling module 13, and an obtaining module 14.
Wherein the obtaining module 14 is used for obtaining the actual speed of the vehicle 10; the detection module 12 is used for detecting a parking trigger action of the vehicle; the control module 13 is configured to control the vehicle to enter the parking mode when the actual speed is less than the speed threshold and a parking trigger action of the vehicle is detected.
In an embodiment, the means 11 for controlling the parking of the vehicle may be implemented by a controller, and the detecting module 12, the controlling module 13 and the obtaining module 14 may be software modules.
According to the device 11 for controlling the parking of the vehicle, which is disclosed by the embodiment of the invention, the actual speed of the vehicle is acquired through the acquisition module 14, and the parking trigger action of the vehicle is detected through the detection module 12, so that when the control module 13 determines that the actual speed is smaller than the speed threshold and detects the parking trigger action of the vehicle, the vehicle can be controlled to enter the parking mode, and the electronic parking is realized.
An embodiment of a third aspect of the present invention provides a storage medium provided with a computer program, wherein the computer program, when executed by a processor, implements the method for controlling parking of a vehicle provided by the above-described embodiment.
A fourth embodiment of the present invention provides an electric scooter, and as shown in fig. 3, an electric scooter 10 according to an embodiment of the present invention includes a vehicle body 1, a motor 2, and a controller 5.
The driving motor 2 is used for driving the vehicle body 1 to move; the parking trigger component 3 is used for receiving a parking trigger action; the controller 5 is connected with the motor 2 for executing the method for controlling the parking of the vehicle provided by the above embodiment.
In an embodiment, the controller 5 achieves parking by adopting the method for controlling parking of the vehicle provided by the above embodiment, specifically, for example, as shown in fig. 3, the electric scooter 10 can detect the actual speed of the vehicle in real time through the vehicle speed sensor and transmit the actual speed to the controller 5, so that the controller 5 judges the running state of the vehicle according to the actual speed, and when the controller 5 determines that the actual speed is less than the speed threshold VparkAnd when the parking triggering action of the electric scooter 10 is detected, the electric scooter 10 is controlled to enter the parking mode, and after the electric scooter 10 enters the parking mode, the controller 5 acquires the current position information of the motor 2 to control the position of the motor 2 according to the current position information, so that the electronic parking is realized, the electric scooter 10 is prevented from sliding after being parked, and compared with the prior art in which the parking is realized through a mechanical device, the parking triggering action is used for controlling the electric scooter 10 to enter the parking mode, the parking triggering action is more convenient and intelligent.
In an embodiment, the electric walker 10 may comprise an electric motorcycle or a short-haul walker.
According to the electric scooter 10 provided by the embodiment of the invention, the controller 5 executes the method for controlling the parking of the vehicle, so that the electronic parking function of the electric scooter can be realized, and compared with the parking mode realized by a mechanical device in the prior art, the electronic parking mode adopted by the embodiment of the invention is more convenient and intelligent.
In some embodiments, as shown in fig. 3, the electric scooter 10 of the present embodiment further includes a parking trigger assembly 3 for receiving a parking trigger action; the parking trigger assembly 3 includes at least one of a parking-dedicated trigger unit, a parking-multiplexing trigger unit, and a brake assembly. There is no limitation on the position of the parking trigger assembly 3 on the vehicle body 1, such as the parking trigger assembly 3 may be disposed at the handle bar position of the vehicle for the convenience of the user.
For example, the vehicle may be configured with a special parking function key as the parking triggering component 3, or the triggering component 3 may reuse a triggering unit configured for the vehicle, such as a cruise key, as shown in fig. 4, the parking triggering component 3 includes a parking-specific triggering unit 31 and a brake component 32, so that a user may control the electric scooter 10 to enter or exit the parking mode through the parking-specific triggering unit 31, or the user may also trigger the parking mode of the vehicle through the brake component 32. The parking function is triggered by multiplexing the trigger units configured for the vehicle, so that a hardware structure is not required to be added, and the cost is low.
In some embodiments, as shown in fig. 3, the electric scooter 10 of the present invention further includes a throttle sensor 6 connected to the controller 5 for detecting a throttle signal. Therefore, when the automatic parking function is enabled, a user can quit the parking mode by controlling the accelerator to send an accelerator signal, and the parking mode of the vehicle is improved to be more convenient and intelligent.
In some embodiments, as shown in fig. 3, the electric scooter 10 of the present invention further includes a prompting unit 7 connected to the controller 5 for prompting the electric scooter 10 to enter the parking mode. For example, the prompting unit 7 may be a light emitting diode, and when the vehicle enters the parking mode, the light emitting diode is controlled to be turned on to prompt the user of the current state of the vehicle.
In the description of this specification, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of custom logic functions or processes, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (14)
1. A method of controlling parking of a vehicle, comprising:
acquiring the actual speed of the vehicle;
when the actual speed is determined to be smaller than a speed threshold value and a parking triggering action of the vehicle is detected, controlling the vehicle to execute an automatic parking function and enter a parking mode;
under the automatic parking function, a user does not need to perform parking triggering action on the vehicle, after the vehicle is controlled to enter a parking mode, when an accelerator signal of the vehicle is received, the vehicle is controlled to exit the parking mode, and after the vehicle is controlled to exit the parking mode, when the actual speed of the vehicle is detected to be smaller than the speed threshold value, the vehicle is controlled to enter the parking mode;
wherein the controlling the vehicle to exit the parking mode when receiving a throttle signal of the vehicle comprises:
receiving the rotation angle of an accelerator handle of the vehicle;
obtaining a torque command value according to the rotation angle;
acquiring current phase current of a motor, and estimating a parking torque value according to the current phase current;
and when the torque command value is larger than or equal to the parking torque value, controlling the vehicle to exit the parking mode.
2. The method of claim 1, further comprising:
and after the vehicle is controlled to enter a parking mode, acquiring the current position information of a motor of the vehicle, and carrying out position control on the motor according to the current position information.
3. The method according to claim 1 or 2, wherein the detecting of a parking triggering action of the vehicle comprises:
and receiving a parking trigger signal of a parking trigger unit of the vehicle.
4. The method of claim 3, further comprising:
and under the automatic parking function, when a parking trigger signal of a parking trigger unit of the vehicle is received, controlling the vehicle to exit a parking mode, and disabling the automatic parking function.
5. The method of claim 4, further comprising:
and after the automatic parking function is disabled, when a parking trigger signal of a parking trigger unit of the vehicle is received, controlling the vehicle to execute the automatic parking function and enter a parking mode.
6. The method of claim 3, wherein the park trigger unit is a unit dedicated for park triggering; or the parking trigger unit is a unit for multiplexing parking triggers.
7. The method of controlling parking of a vehicle according to claim 1 or 2, wherein the detecting a parking trigger action of the vehicle comprises:
detecting that a brake component of the vehicle is triggered;
recording the duration of time that the brake assembly is triggered;
and when the duration of the triggered brake component is greater than a preset time threshold, determining that the parking triggering action is detected.
8. The method of controlling parking of a vehicle of claim 1, further comprising: prompting the vehicle to enter the parking mode after controlling the vehicle to enter the parking mode.
9. An apparatus for controlling parking of a vehicle, comprising:
the acquiring module is used for acquiring the actual speed of the vehicle;
the detection module is used for detecting the parking triggering action of the vehicle;
the control module is used for controlling the vehicle to execute an automatic parking function and enter a parking mode when the actual speed is smaller than a speed threshold and a parking triggering action of the vehicle is detected, under the automatic parking function, a user does not need to perform the parking triggering action of the vehicle, after the vehicle is controlled to enter the parking mode, when an accelerator signal of the vehicle is received, the vehicle is controlled to exit the parking mode, after the vehicle is controlled to exit the parking mode, when the actual speed of the vehicle is detected to be smaller than the speed threshold, the vehicle is controlled to enter the parking mode;
wherein the controlling the vehicle to exit the parking mode when receiving a throttle signal of the vehicle comprises:
receiving the rotation angle of an accelerator handle of the vehicle;
obtaining a torque command value according to the rotation angle;
acquiring current phase current of a motor, and estimating a parking torque value according to the current phase current;
and when the torque command value is larger than or equal to the parking torque value, controlling the vehicle to exit the parking mode.
10. A storage medium, characterized in that the storage medium is provided with a computer program which, when executed by a processor, implements a method of controlling parking of a vehicle according to any one of claims 1 to 8.
11. An electric scooter, comprising:
a vehicle body;
the motor is used for driving the vehicle body to move;
a controller connected to the motor for performing the method of controlling parking of a vehicle of any one of claims 1 to 8.
12. The electric scooter of claim 11, further comprising:
the parking trigger assembly comprises at least one of a parking special trigger unit, a parking multiplexing trigger unit and a brake assembly.
13. The electric scooter of claim 11, further comprising:
and the throttle sensor is connected with the controller and used for detecting a throttle signal.
14. The electric scooter of claim 11, further comprising:
and the prompting unit is connected with the controller and is used for prompting the electric scooter to enter a parking mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011198266.3A CN112319686B (en) | 2020-10-30 | 2020-10-30 | Method and device for controlling parking of vehicle, electric scooter and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011198266.3A CN112319686B (en) | 2020-10-30 | 2020-10-30 | Method and device for controlling parking of vehicle, electric scooter and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112319686A CN112319686A (en) | 2021-02-05 |
| CN112319686B true CN112319686B (en) | 2022-04-12 |
Family
ID=74323974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011198266.3A Active CN112319686B (en) | 2020-10-30 | 2020-10-30 | Method and device for controlling parking of vehicle, electric scooter and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112319686B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI773318B (en) * | 2021-05-12 | 2022-08-01 | 光陽工業股份有限公司 | Locomotives with Electronic Parking Brake Control |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006315663A (en) * | 2005-04-14 | 2006-11-24 | Advics:Kk | Control device of brake device for motorcycle |
| CN105438148A (en) * | 2015-12-14 | 2016-03-30 | 郑州宇通客车股份有限公司 | Electric motor coach parking braking control system and control method thereof |
| CN105882799A (en) * | 2015-08-11 | 2016-08-24 | 乐视体育文化产业发展（北京）有限公司 | Bicycle and parking control device thereof |
| CN107757580A (en) * | 2016-08-21 | 2018-03-06 | 胡松华 | A kind of commercial car automatic parking brake control system |
| CN110228452A (en) * | 2019-06-18 | 2019-09-13 | 威马智慧出行科技（上海）有限公司 | Automatic parking control method, control system and automobile |
| CN110562220A (en) * | 2019-08-26 | 2019-12-13 | 中国第一汽车股份有限公司 | control method of automatic parking maintaining system |
-
2020
- 2020-10-30 CN CN202011198266.3A patent/CN112319686B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006315663A (en) * | 2005-04-14 | 2006-11-24 | Advics:Kk | Control device of brake device for motorcycle |
| CN105882799A (en) * | 2015-08-11 | 2016-08-24 | 乐视体育文化产业发展（北京）有限公司 | Bicycle and parking control device thereof |
| CN105438148A (en) * | 2015-12-14 | 2016-03-30 | 郑州宇通客车股份有限公司 | Electric motor coach parking braking control system and control method thereof |
| CN107757580A (en) * | 2016-08-21 | 2018-03-06 | 胡松华 | A kind of commercial car automatic parking brake control system |
| CN110228452A (en) * | 2019-06-18 | 2019-09-13 | 威马智慧出行科技（上海）有限公司 | Automatic parking control method, control system and automobile |
| CN110562220A (en) * | 2019-08-26 | 2019-12-13 | 中国第一汽车股份有限公司 | control method of automatic parking maintaining system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112319686A (en) | 2021-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109591621B (en) | Method, device, vehicle and medium for preventing vehicle from sliding on ramp | |
| US9434360B2 (en) | Method and device for preventing a stationary vehicle from rolling away | |
| KR101014278B1 (en) | Motorized assist bicycle | |
| US11040724B2 (en) | Vehicle driving force control apparatus | |
| CN112319686B (en) | Method and device for controlling parking of vehicle, electric scooter and storage medium | |
| CN108928260B (en) | Hill parking control method and system, storage medium and vehicle | |
| US5498941A (en) | Speed control device used for electric automobiles and method therefor | |
| CN111645534B (en) | Slope-sliding-prevention control method and control system for pure electric vehicle | |
| CN112224321B (en) | Method and device for controlling vehicle to back, storage medium and electric scooter | |
| JP2003054392A (en) | Hill-start aid | |
| CN113442723A (en) | Control method and device for preventing mistaken stepping on accelerator of vehicle and vehicle | |
| CN110949284A (en) | Vehicle, and control method and control device thereof | |
| JP2011214485A (en) | Start control device for vehicle | |
| JP6731121B2 (en) | Vehicle control device | |
| CN113928456B (en) | Method for controlling self-balancing electric vehicle and self-balancing electric vehicle | |
| JP2005096543A (en) | Electric parking brake system | |
| CN113879133B (en) | Control method and device for electric hill-holding function and vehicle | |
| CN115871696A (en) | Emergency braking method and device for vehicle, vehicle and storage medium | |
| CN110539635B (en) | Driving force control device | |
| KR19980036854A (en) | Anti-retraction device and method for driving on the slope of electric vehicle | |
| JP3647349B2 (en) | Vehicle speed limiter | |
| CN108001298B (en) | Method and device for controlling crawling function of electric vehicle and vehicle control unit | |
| KR20200089426A (en) | Appartus for detecting clutch switch failure and control method thereof | |
| JPH07101324A (en) | Slop road starting assist device | |
| CN117360488A (en) | Automatic parking method and device and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220111 Address after: 100192 a101b, 1 / F, building B-2, Dongsheng Science Park, Zhongguancun, 66 xixiaokou Road, Haidian District, Beijing Applicant after: Beijing zero Innovation Technology Co.,Ltd. Address before: 301c, 3 / F, C-2 building, Zhongguancun Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing Applicant before: Beijing 66 Interactive Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |