CN114228674A - Automatic parking and parking releasing method and system - Google Patents
Automatic parking and parking releasing method and system Download PDFInfo
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- CN114228674A CN114228674A CN202111664123.1A CN202111664123A CN114228674A CN 114228674 A CN114228674 A CN 114228674A CN 202111664123 A CN202111664123 A CN 202111664123A CN 114228674 A CN114228674 A CN 114228674A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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Abstract
The invention discloses an automatic parking and parking releasing method and system, which determine whether to execute parking by detecting whether a driver leaves a vehicle, the state of the vehicle and whether a parking actuator is in a parking state in real time. Once the driver has the behavior of opening the door, unfastening a safety belt and leaving a seat which is equal to the behavior of leaving the vehicle under the condition of not carrying out hand brake or other parking operations, the vehicle is easy to slip. When a driver returns to the vehicle to execute the parking releasing operation meeting the conditions, the parking controller can drive the parking actuator to release the parking actuator, and the parking actuator can be reset to a position without interfering the traveling of the wheel during each parking releasing, so that the parking actuator and the wheel are protected, and the service lives of the parking actuator and the wheel are prolonged.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an automatic parking and parking releasing method and system.
Background
The existing traffic case often has the vehicle slipping accidents caused when the vehicle stops on various slopes, and a part of the vehicle slipping accidents are caused by that a driver leaves the vehicle or forgets to pull a hand brake when the driver intends to leave the vehicle, so that double losses in spirit and property are brought to the vehicle owner, however, misoperation caused by emotional states or emergency accidents always occurs during manual operation, which is difficult to avoid, and therefore, the risk caused by manual misoperation needs to be avoided through automatic control.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic parking and parking releasing method which is simple in arrangement, quick in execution, high in automation degree and capable of avoiding human errors, and an automatic parking and parking releasing system for realizing the method.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an automatic parking and parking releasing method is realized by an automatic parking system, and the system comprises a parking detector, a parking controller and a parking actuator; the method comprises the following steps:
the parking detector detects the information of the leaving state of the driver, the information of the state of the vehicle and the information of the execution state of the parking actuator and sends the information to the parking controller;
the parking controller judges whether parking execution conditions and parking release execution conditions are met according to the driver off-vehicle state information, the vehicle state information and the execution state information, and determines whether to send parking execution signals or parking release execution signals to the parking actuator according to the judgment result;
the parking actuator executes parking after receiving the parking execution signal; and after receiving the parking unlocking execution signal, executing parking unlocking and releasing the distance adaptive to the parking in the previous time.
As a further improvement of the above automatic parking and parking method:
the parking controller judges that the driver leaves the vehicle according to the information of the state that the driver leaves the vehicle, judges that the vehicle is static according to the information of the state of the vehicle, judges that the parking actuator does not execute parking according to the information of the execution state, judges that the vehicle meets the parking execution condition, and sends a parking execution signal to the parking actuator.
The driver departure state information includes:
a. whether the driver door is open;
b. whether the driver seat belt is loosened;
c. whether the driver leaves the driver seat;
when at least one of the three items is yes, the parking controller judges that the driver leaves the vehicle.
The vehicle state information includes:
a. whether the speed of the whole vehicle is 0km/h or not;
b. whether the wheel speeds of at least three wheels are 0 km/h;
when at least one of the two items is yes, the parking controller judges that the vehicle is static.
The parking controller receives a signal sent after the brake pedal is manually stepped on and receives a signal sent after the parking button is manually pressed, and meanwhile, when the parking actuator is judged to perform parking according to the execution state information, the vehicle is judged to meet the parking-releasing execution condition, and the parking-releasing execution signal is sent to the parking actuator.
The vehicle state information further comprises vehicle gradient information, when the parking gradient of the vehicle is larger than 4%, the parking controller also judges that the vehicle meets the parking unlocking execution condition when the vehicle driving torque is not smaller than the slip force of the vehicle on the slope, and meanwhile, the parking actuator executes the parking according to the execution state information, and sends the parking unlocking execution signal to the parking actuator.
The parking detector also detects power supply voltage information of the parking actuator and sends the power supply voltage information to the parking controller, the parking controller allows the transmission of a parking execution signal and a parking release execution signal when the power supply voltage is larger than 16V and smaller than 36V, and does not allow the transmission of the parking execution signal and the parking release execution signal when the power supply voltage is smaller than or equal to 16V or larger than or equal to 36V.
An automatic parking and parking releasing system is used for realizing the automatic parking and parking releasing method, and the parking controller comprises:
a determination module: the system comprises a vehicle state information acquisition unit, a parking execution unit, a driving state information acquisition unit, a parking execution unit and a control unit, wherein the vehicle state information acquisition unit is used for acquiring vehicle state information of a driver, judging whether the driver leaves the vehicle according to the vehicle state information, judging whether the vehicle is static, sending a driving signal and meeting a ramp driving torque according to the vehicle state information, judging whether parking is executed according to the execution state information, and judging whether a parking execution condition and a parking release execution condition are met according to three judgment results;
an execution module: and the parking executing signal or the parking releasing executing signal is sent to the parking actuator when the judging module judges that the parking executing condition or the parking releasing executing condition is met.
As a further improvement of the above automatic parking and parking system:
the parking controller also comprises a voltage control module, the parking detector also detects power supply voltage information of the parking actuator and sends the power supply voltage information to the parking controller, the judging module is also used for judging whether the power supply voltage meets the condition that the power supply voltage is larger than 16V and smaller than 36V, the voltage control module allows the executing module to send a parking executing signal and a parking executing signal when the voltage meets the condition, and does not allow the executing module to send the parking executing signal and the parking executing signal when the voltage does not meet the condition.
The parking controller also comprises a storage module used for storing execution state information, execution force and execution times of the parking actuator, and the parking actuator is used for calling the previous parking execution force from the storage module after receiving the parking execution signal and releasing the distance matched with the execution force.
Compared with the prior art, the invention has the advantages that:
the automatic parking and parking releasing method determines whether to execute parking or not by detecting whether a driver leaves the vehicle or not, the state of the vehicle and whether a parking actuator is in a parking state or not in real time. Once the driver has the behavior of opening the door, unfastening a safety belt and leaving a seat which is equal to the behavior of leaving the vehicle under the condition of not carrying out hand brake or other parking operations, the vehicle is easy to slip. When a driver returns to the vehicle to execute the parking releasing operation meeting the conditions, the parking controller can drive the parking actuator to release the parking, at the moment, the parking actuator does not simply make the parking releasing action, but releases the distance matched with the previous parking, and the parking actuator can be reset to the position where the wheel does not interfere with the traveling of the wheel when the parking actuator is released every time, so that the parking actuator and the wheel are protected, and the service lives of the parking actuator and the wheel are prolonged.
Drawings
FIG. 1 is a schematic illustration of a parking procedure of the present invention;
FIG. 2 is a schematic diagram of the unstopping process of the present invention;
fig. 3 is a schematic structural view of the automatic parking and parking system of the present invention.
Detailed Description
In order to facilitate understanding of the invention, the invention will be described more fully and in detail with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below.
Example (b):
as shown in fig. 1 to 3, the automatic parking and parking method of the present embodiment is implemented by an automatic parking system, which includes a parking detector, a parking controller and a parking actuator; the method comprises the following steps:
the parking detector detects the information of the leaving state of the driver, the information of the state of the vehicle and the information of the execution state of the parking actuator and sends the information to the parking controller;
the parking controller judges whether parking execution conditions and parking release execution conditions are met according to the driver off-vehicle state information, the vehicle state information and the execution state information, and determines whether to send parking execution signals or parking release execution signals to the parking actuator according to the judgment result;
and the parking actuator executes parking after receiving the parking execution signal. And the parking actuator executes parking after receiving the parking execution signal and releases the distance adaptive to the previous parking. Because the driver opens the door, unties the safety belt and leaves the seat when the action that equals to leave the car under the condition of not carrying out hand brake or other parking operations, the car easily takes place the swift current car accident, consequently this embodiment regards this situation as the condition that automatic parking starts, starts automatic parking and avoids the car swift current after the car, has in time avoidd the people and has made the maloperation, guarantees personal safety, avoids taking place loss of property. When a driver returns to the vehicle to execute the parking releasing operation meeting the conditions, the parking controller can drive the parking actuator to release the parking, at the moment, the parking actuator does not simply make the parking releasing action, but releases the distance matched with the previous parking, and the parking actuator can be reset to the position where the wheel does not interfere with the traveling of the wheel when the parking actuator is released every time, so that the parking actuator and the wheel are protected, and the service lives of the parking actuator and the wheel are prolonged.
In this embodiment, the parking controller determines that the driver leaves the vehicle according to the driver leaving state information, determines that the vehicle is stationary according to the vehicle state information, determines that the parking actuator does not perform parking according to the execution state information, determines that the vehicle meets the parking execution condition, and sends a parking execution signal to the parking actuator.
In this embodiment, the driver departure state information includes:
a. whether the driver door is open;
b. whether the driver seat belt is loosened;
c. whether the driver leaves the driver seat;
when at least one of the three items is yes, the parking controller judges that the driver leaves the vehicle. The detection of the car door and the safety belt can be realized by sensing equipment such as a proximity switch or a contact switch arranged on the car door and a safety belt fastener, and the detection of the seat can be realized by sensing equipment such as a pressure sensor arranged on a driver seat cushion.
In this embodiment, the vehicle state information includes:
a. whether the speed of the whole vehicle is 0km/h or not;
b. whether the wheel speeds of at least three wheels are 0 km/h;
when at least one of the two items is yes, the parking controller judges that the vehicle is static. The speed detection can be realized by speed sensors arranged at the front and the rear of the whole vehicle and at each wheel.
In this embodiment, the vehicle state information further includes a brake pedal stepping signal and a parking release button pressing signal, the parking controller receives a signal sent after the brake pedal is manually stepped, receives a signal sent after the parking release button is manually pressed, and determines that the vehicle meets the parking release execution condition and sends the parking release execution signal to the parking actuator when the parking actuator is determined to be parked according to the execution state information. At this time, since the two actions of stepping on the brake pedal and pressing the parking button can be triggered at the same time only when a person intentionally operates the vehicle, the state information that the driver is not away from the vehicle is directly included, and repeated judgment is not needed.
In this embodiment, the vehicle state information further includes vehicle gradient information, and when the parking gradient of the vehicle is greater than 4%, the parking controller further determines that the vehicle satisfies the parking release execution condition when the vehicle driving torque is not less than the slip force of the vehicle on the slope and it is determined that the parking actuator has performed parking according to the execution state information, and sends the parking release execution signal to the parking actuator. The first mode is that the driver can brake when stepping on the pedal and pressing the brake button, and the second mode is that the vehicle can brake when the driving force meets the requirement that the vehicle cannot slide down, so that the vehicle brake device can be suitable for different hill starting operations of the electric vehicle.
In this embodiment, the parking detector further detects power supply voltage information of the parking actuator and transmits the power supply voltage information to the parking controller, the parking controller allows transmission of the parking execution signal and the parking release execution signal when the power supply voltage is greater than 16V and less than 36V, and does not allow transmission of the parking execution signal and the parking release execution signal when the power supply voltage is less than or equal to 16V or greater than or equal to 36V. The parking actuator can be prevented from being damaged by high pressure and cannot be driven by low pressure.
As shown in fig. 3, the automatic parking and parking release system of the embodiment is configured to implement the automatic parking and parking release method, and the parking controller includes:
a determination module: the system comprises a vehicle state information acquisition unit, a parking execution unit, a driving state information acquisition unit, a parking execution unit and a control unit, wherein the vehicle state information acquisition unit is used for acquiring vehicle state information of a driver, judging whether the driver leaves the vehicle according to the vehicle state information, judging whether the vehicle is static, sending a driving signal and meeting a ramp driving torque according to the vehicle state information, judging whether parking is executed according to the execution state information, and judging whether a parking execution condition and a parking release execution condition are met according to three judgment results;
an execution module: and the parking executing signal or the parking releasing executing signal is sent to the parking actuator when the judging module judges that the parking executing condition or the parking releasing executing condition is met.
The parking detection module comprises a contact switch or a proximity switch arranged on a vehicle door and a safety belt, a pressure sensor arranged on a driver seat cushion, speed sensors arranged on the front rear side of the vehicle and wheels, a torque sensing device for detecting driving torque, an angle sensor for detecting a ramp, a pressure or contact sensing device for detecting a brake pedal and a parking button and the like. The parking controller CAN also directly receive CAN signals sent by the whole vehicle, wherein the CAN signals comprise a vehicle ramp signal, a whole vehicle driving torque, a brake pedal treading signal, a parking release button pressing signal, a whole vehicle speed signal, 4 wheel speeds, a driver door signal, a safety belt release signal, a driver seat leaving signal and the like.
In this embodiment, the parking controller further includes a voltage control module, the parking detector further detects power supply voltage information of the parking actuator and sends the power supply voltage information to the parking controller, the determination module is further configured to determine whether the power supply voltage satisfies a value greater than 16V and less than 36V, the voltage control module allows the execution module to send the parking execution signal and the parking execution signal when the voltage satisfies the condition, and does not allow the execution module to send the parking execution signal and the parking execution signal when the voltage does not satisfy the condition.
In this embodiment, the parking controller further includes a storage module for storing the execution state information, the execution force and the execution times of the parking actuator, so that not only can the parking condition be counted each time and the parking problem be found in time, but also the parking actuator can call the previous parking execution force from the storage module after receiving the parking execution signal, and release the distance adapted to the execution force, thereby ensuring that the reset position of the parking actuator does not interfere with the traveling of the wheel.
In this embodiment, the parking actuator is unlocked by separating the parking friction plate from the rotating friction plate according to the previous parking force, that is, the parking force being executed by the current parking actuator, so as to achieve the process of enabling the vehicle to normally run. The released distance is the current parking force divided by a set coefficient. For example, the current parking state is the parking force of 15KN, the coefficient between the parking force and the execution distance is 10000-15000, and the release distance corresponding to the parking state is 1-1.5 mm; the parking executor is motor drive's calliper, after receiving the execution signal that parks, the motor reversal drive calliper removes until release distance reaches 1 ~ 1.5 mm's position.
Because the existing vehicle has the conditions that the parking is directly executed according to the maximum parking force when the slope determination fails, and the like, the storage module of the embodiment can also store the failures and error information so as to be checked by a driver and find the problem of the vehicle in time.
In this embodiment, the parking controller further includes a display module for displaying the execution state information of the parking actuator in real time, so that the driver can conveniently check the information.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. It should be apparent to those skilled in the art that modifications and variations can be made without departing from the technical spirit of the present invention.
Claims (10)
1. An automatic parking and parking releasing method is characterized in that the automatic parking and parking releasing method is realized through an automatic parking system, and the system comprises a parking detector, a parking controller and a parking actuator; the method comprises the following steps:
the parking detector detects the information of the leaving state of the driver, the information of the state of the vehicle and the information of the execution state of the parking actuator and sends the information to the parking controller;
the parking controller judges whether parking execution conditions and parking release execution conditions are met according to the driver off-vehicle state information, the vehicle state information and the execution state information, and determines whether to send parking execution signals or parking release execution signals to the parking actuator according to the judgment result;
the parking actuator executes parking after receiving the parking execution signal; and after receiving the parking unlocking execution signal, executing parking unlocking and releasing the distance adaptive to the previous parking force.
2. The automatic parking and parking method according to claim 1, characterized in that: the parking controller judges that the driver leaves the vehicle according to the information of the state that the driver leaves the vehicle, judges that the vehicle is static according to the information of the state of the vehicle, judges that the parking actuator does not execute parking according to the information of the execution state, judges that the vehicle meets the parking execution condition, and sends a parking execution signal to the parking actuator.
3. The automatic parking and parking method according to claim 1 or 2, wherein the driver departure state information includes:
a. whether the driver door is open;
b. whether the driver seat belt is loosened;
c. whether the driver leaves the driver seat;
when at least one of the three items is yes, the parking controller judges that the driver leaves the vehicle.
4. The automatic parking and parking method according to claim 1 or 2, wherein the vehicle state information includes:
a. whether the speed of the whole vehicle is 0km/h or not;
b. whether the wheel speeds of at least three wheels are 0 km/h;
when at least one of the two items is yes, the parking controller judges that the vehicle is static.
5. The automatic parking and parking method according to claim 1, characterized in that: the parking controller receives a signal sent after the brake pedal is manually stepped on and receives a signal sent after the parking button is manually pressed, and meanwhile, when the parking actuator is judged to perform parking according to the execution state information, the vehicle is judged to meet the parking-releasing execution condition, and the parking-releasing execution signal is sent to the parking actuator.
6. The automatic parking and parking method according to claim 5, characterized in that: the vehicle state information further comprises vehicle gradient information, when the parking gradient of the vehicle is larger than 4%, the parking controller also judges that the vehicle meets the parking unlocking execution condition when the vehicle driving torque is not smaller than the slip force of the vehicle on the slope, and meanwhile, the parking actuator executes the parking according to the execution state information, and sends the parking unlocking execution signal to the parking actuator.
7. The automatic parking and parking method according to claim 1, characterized in that: the parking detector also detects power supply voltage information of the parking actuator and sends the power supply voltage information to the parking controller, the parking controller allows the transmission of a parking execution signal and a parking release execution signal when the power supply voltage is larger than 16V and smaller than 36V, and does not allow the transmission of the parking execution signal and the parking release execution signal when the power supply voltage is smaller than or equal to 16V or larger than or equal to 36V.
8. An automatic parking and parking release system for realizing the automatic parking and parking release method according to any one of claims 1 to 7, wherein the parking controller comprises:
a determination module: the system comprises a vehicle state information acquisition unit, a parking execution unit, a driving state information acquisition unit, a parking execution unit and a control unit, wherein the vehicle state information acquisition unit is used for acquiring vehicle state information of a driver, judging whether the driver leaves the vehicle according to the vehicle state information, judging whether the vehicle is static, sending a driving signal and meeting a ramp driving torque according to the vehicle state information, judging whether parking is executed according to the execution state information, and judging whether a parking execution condition and a parking release execution condition are met according to three judgment results;
an execution module: and the parking executing signal or the parking releasing executing signal is sent to the parking actuator when the judging module judges that the parking executing condition or the parking releasing executing condition is met.
9. The automatic parking and parking system according to claim 8, wherein: the parking controller also comprises a voltage control module, the parking detector also detects power supply voltage information of the parking actuator and sends the power supply voltage information to the parking controller, the judging module is also used for judging whether the power supply voltage meets the condition that the power supply voltage is larger than 16V and smaller than 36V, the voltage control module allows the executing module to send a parking executing signal and a parking executing signal when the voltage meets the condition, and does not allow the executing module to send the parking executing signal and the parking executing signal when the voltage does not meet the condition.
10. The automatic parking and parking system according to claim 8, wherein: the parking controller also comprises a storage module used for storing execution state information, execution force and execution times of the parking actuator, and the parking actuator is used for calling the previous parking execution force from the storage module after receiving the parking execution signal and releasing the distance matched with the execution force.
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| CN202111664123.1A CN114228674A (en) | 2021-12-31 | 2021-12-31 | Automatic parking and parking releasing method and system |
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| CN202111664123.1A CN114228674A (en) | 2021-12-31 | 2021-12-31 | Automatic parking and parking releasing method and system |
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