CN114670793A - Vehicle automatic parking instruction control method, device and system and vehicle - Google Patents
Vehicle automatic parking instruction control method, device and system and vehicle Download PDFInfo
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- CN114670793A CN114670793A CN202011545131.XA CN202011545131A CN114670793A CN 114670793 A CN114670793 A CN 114670793A CN 202011545131 A CN202011545131 A CN 202011545131A CN 114670793 A CN114670793 A CN 114670793A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000001514 detection method Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The method comprises the steps of obtaining vehicle state information, judging whether the vehicle enters a parking mode or not according to the vehicle state information, and enabling the automatic parking instruction not to be executed or the automatic parking function to be closed when the vehicle is judged to enter the parking mode. The method can avoid the automatic parking function from acting on the vehicle due to braking the vehicle to a stop during parking. The application also provides a vehicle automatic parking instruction control device, a system, a vehicle, a controller and a machine readable storage medium.
Description
Technical Field
The present application relates to the field of vehicles, and more particularly, to a method, an apparatus, a system, and a computer program product for controlling an automatic parking command of a vehicle.
Background
Currently, most vehicles are equipped with Vehicle auxiliary systems, such as an Electric Park Brake (EPB), an Auto parking (AVH), and the like. The automatic parking function can improve driving comfort, after the automatic parking function key switch is activated, a driver stops the vehicle by stepping on the brake pedal, and after the brake pedal is released, the automatic parking function can keep the pressure of the wheel cylinder within a certain time to enable the vehicle to be in a parking state (without the need of the driver to step on the brake pedal all the time); when the vehicle is parked for more than a certain time, the vehicle is handed to the electronic parking system for long-time parking. After a driver starts the automatic parking function through the automatic parking function key, the automatic parking function can enter a standby state when the driver fastens a safety belt, closes a main driving door, powers on the vehicle and/or successfully configures the intelligent start-stop function, and when the driver tramples a brake pedal, the automatic parking function is activated to maintain pressure on a wheel cylinder. However, in some cases where the automatic parking function is turned on, for example, in the process of parking a vehicle with the automatic parking function turned on, since the driver needs to temporarily or briefly brake the vehicle instead of activating the automatic parking function as desired by the driver, the driver has to release the wheel cylinder pressure by stepping on the accelerator or manually turning off the automatic parking function to continue to operate the vehicle to move for parking, which increases the complexity of the parking operation of the driver and affects the parking experience.
Therefore, there is a need to provide an improved technical solution to overcome the technical problems in the prior art.
Disclosure of Invention
The application aims to provide a vehicle automatic parking instruction control method, a vehicle automatic parking instruction control device, a vehicle automatic parking instruction control system, a vehicle, a controller and a machine readable storage medium, and the automatic parking function is prevented from being activated in a parking process.
In order to achieve the above object, the present application first provides a method for controlling an automatic parking command of a vehicle, wherein an automatic parking function of the vehicle enters an activated state or a standby state according to the automatic parking command, the method comprising the steps of:
step S11: acquiring the vehicle state information;
step S12: judging whether the vehicle enters a parking mode or not according to the vehicle state information; when judging that the vehicle enters the parking mode Y, executing step S13;
step S13: the automatic parking command is not executed, or the automatic parking function is turned off.
The method can judge whether the vehicle enters the parking mode according to the vehicle state, and when the vehicle enters the parking mode, the automatic parking function is prevented from acting on the vehicle due to braking of the vehicle to stop in the parking process in a mode of not executing an automatic parking instruction or a mode of directly closing the automatic parking function.
The application also provides a vehicle automatic parking instruction control device, a system and a computer program product.
For a better understanding of the nature and technical content of the present application, reference should be made to the following detailed description and accompanying drawings, which are provided for purposes of illustration and description, and are not intended to limit the present application.
Drawings
The present application will be more fully understood from the detailed description given below in conjunction with the accompanying drawings, in which like reference numerals refer to like elements. Wherein:
FIG. 1 shows a flow chart of a vehicle automatic parking command control method according to one embodiment of the present application;
FIG. 2 is a schematic structural diagram illustrating an automatic parking command control apparatus for a vehicle according to an embodiment of the present application;
fig. 3 shows a schematic architecture diagram of a vehicle automatic parking command control system according to an embodiment of the present application.
Detailed Description
Specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the drawings, the same reference numerals indicate the same or corresponding features.
Fig. 1 shows a flow chart of a vehicle automatic parking command control method 10 according to an embodiment of the present application, according to which an automatic parking function of the vehicle may enter an active state or a standby state. As shown in fig. 1, the method 10 includes the steps of:
acquiring the vehicle state information in step S11;
in step S12, determining whether the vehicle enters a parking mode according to the vehicle state information; when it is judged that the vehicle enters the parking mode (Y), executing step S13; and
the automatic parking instruction is not executed or the automatic parking function is turned off in step S13.
According to the method 10 for controlling the automatic parking instruction of the vehicle, whether the vehicle enters the parking mode is judged according to the vehicle state, when the vehicle enters the parking mode, the automatic parking instruction is not executed, or the automatic parking function is directly closed, so that the automatic parking function is prevented from acting on the vehicle due to the fact that the vehicle is braked to stop in the parking process, the situation that a driver additionally steps on an accelerator or additionally operates (for example, the automatic parking function is closed by operating an automatic parking function button) in order to release the pressure of a wheel cylinder is avoided, the complexity of parking operation of the driver is reduced, and the parking experience is improved.
Here, the aforementioned "activated state" of the automatic parking function refers to a state in which the automatic parking function has been turned on and the parking control has been started to be executed; the "standby state" refers to a state in which the automatic parking function is turned on but is still waiting for a control signal (such as a brake pedal) for performing parking control, and once a control command is received, the state can be switched from the standby state to the active state. The "automatic parking command" includes a button signal command of an automatic parking function, for example, when a button signal of the automatic parking function is first detected, the automatic parking function is turned on, and if a vehicle state signal is detected to meet a preset working condition of the automatic parking function, the command controls the automatic parking function to enter an activated state or a standby state; according to circumstances, the aforementioned "automatic parking instruction" also includes a control instruction to execute parking control, according to which the automatic parking function can be switched from the standby state to the activated state.
In step S13 of the control method 10 of the present embodiment, it is possible to prevent the automatic parking function from acting on the vehicle during parking by a manner in which the automatic parking instruction is not executed (even if the condition is satisfied to generate the automatic parking instruction, the automatic parking function does not enter the activated state or the standby state according to the instruction in the parking mode), in which manner the vehicle can still generate the automatic parking instruction according to the vehicle state, but the instruction is suppressed from being executed; and the mode of directly closing the automatic parking function can be selected to avoid the influence of the automatic parking function on parking, and in the mode, the automatic parking function is directly closed and quitted unless the automatic parking function is turned on again (for example, a driver operates the automatic parking function key again).
Specifically, the vehicle state information acquired in step S11 includes a gear position, a brake pedal stroke, and a vehicle speed of the vehicle; the step S12 of determining whether the vehicle enters the parking mode according to the vehicle state information includes: and when the gear of the vehicle is switched from the non-reverse gear to the reverse gear, the travel of the brake pedal is not 0, and the vehicle speed is less than a preset vehicle speed reference value, judging that the vehicle enters a parking mode (Y). In the judging method, the gear information, the speed and the brake pedal travel information of the vehicle are comprehensively considered, namely the vehicle can alternately move forward and backward in the parking process, the speed limit in the backing process and the braking condition in the backing process are comprehensively and completely considered, so that the judgment of the parking mode is more accurate, and the misjudgment of pure backing as parking is avoided.
Further, the vehicle state information acquired in the step S11 includes a state of an automatic parking function of the vehicle; the step S12 of determining whether the vehicle enters the parking mode according to the vehicle state information includes: and when the gear of the vehicle is switched from the non-reverse gear to the reverse gear, the stroke of the brake pedal is not 0, the vehicle speed is less than a preset vehicle speed reference value, and the automatic parking function of the vehicle is in a standby state, judging that the vehicle enters a parking mode (Y). In this case, particularly when it is detected that the automatic parking function is in the standby state at the same time, it is determined that the vehicle enters the parking mode, and even if the condition is satisfied, the automatic parking function does not enter the active state from the standby state, that is, the aforementioned control instruction to perform the parking control (to make the automatic parking function switchable from the standby state to the active state) is not performed.
According to the method 10 of the embodiment of the application, the vehicle state information is detected in real time to judge whether the vehicle enters the parking mode and whether the vehicle exits the parking mode in real time. For this, the vehicle state information acquired in step S11 of method 10 may include the automatic parking function key signal, the state of the automatic parking function, the state of the electronic parking function of the vehicle, and/or the shift position of the vehicle; correspondingly, the method 10 includes step S14 and step S15, in step S14, after the vehicle enters the parking mode, when (i) the automatic parking function key signal is acquired in step S11, (ii) the automatic parking function is in a non-standby state, (iii) the electronic parking function of the vehicle is started, (iv) the gear of the vehicle is switched to a parking gear, and (v) at least one of five items that the vehicle speed of the vehicle is greater than or equal to a preset speed reference value is satisfied, it is determined that the vehicle exits the parking mode and step S15 is executed; in step S15, the auto parking command is executed, or the auto parking function is turned on. Similarly, the "automatic parking command" includes a command of an automatic parking function key signal, for example, when the automatic parking function key signal is first detected, the automatic parking function is turned on, and if a vehicle state signal is detected to meet a preset working condition of the automatic parking function, the command controls the automatic parking function to enter an activated state or a standby state; according to circumstances, the "automatic parking instruction" here also includes a control instruction to execute parking control, according to which the automatic parking function can be switched from the standby state to the activated state. In step S15 of the control method 10 of the present embodiment, the automatic parking function may be applied to the vehicle in such a manner that the automatic parking command is executed (i.e., the automatic parking command is generated when a condition is satisfied, and the automatic parking function enters an active state or a standby state according to the command after exiting the parking mode), in which the vehicle generates the automatic parking command according to the vehicle state, and the command is normally executed; the automatic parking function may be normally applied to the vehicle by re-activating the automatic parking function (e.g., by the driver operating the automatic parking function key again) when it is determined that the automatic parking function is turned off after the vehicle enters the parking mode.
The preset speed reference value in the above embodiment may be a value within a range of 5km/h or more and 15km/h or less according to general parking lot requirements and conditions, and may be preset in a calibration manner according to vehicle conditions.
The present application also provides a vehicle automatic parking command control apparatus 100 capable of implementing the method 10 of the foregoing embodiment. Fig. 2 is a schematic structural diagram of an automatic parking command control apparatus 100 for a vehicle according to an embodiment of the present application, where an automatic parking function of the vehicle enters an active state or a standby state according to an automatic parking command. As shown in fig. 2, the apparatus 100 includes an obtaining module 110, a determining module 120, and a control module 130, which are communicatively connected, wherein the obtaining module 110 is configured to obtain the vehicle state information; the determination module 120 includes a first determination sub-module 121, and the first determination sub-module 121 is configured to determine whether the vehicle enters a parking mode; the control module 130 is configured to control the automatic parking instruction not to be executed or control the automatic parking function to be turned off when the first determination sub-module 121 determines that the vehicle enters the parking mode. In the automatic parking instruction control device 100 for the vehicle according to the embodiment, the first determining submodule 121 determines whether the vehicle enters the parking mode according to the vehicle state, and when the vehicle enters the parking mode, the control module 130 controls the mode that the automatic parking instruction is not executed or the mode that the automatic parking function is directly turned off, so that the automatic parking function is prevented from acting on the vehicle due to the fact that the vehicle is braked to stop in the parking process, the driver is prevented from additionally stepping on an accelerator or additionally operating (for example, operating an automatic parking function button) to turn off the automatic parking function in order to release the pressure of a wheel cylinder, the complexity of the parking operation of the driver is reduced, and the parking experience is improved.
Specifically, the obtaining module 110 is configured to obtain information of a gear position, a brake pedal stroke and a vehicle speed of the vehicle; the first determining submodule 121 is configured to determine that the vehicle enters the parking mode when the shift position of the vehicle is switched from the non-reverse gear to the reverse gear, the brake pedal stroke is not 0, and the vehicle speed is less than a preset vehicle speed reference value. In the judgment process of the first judgment submodule 121, the gear information, the vehicle speed and the brake pedal stroke information of the vehicle are comprehensively considered, that is, the vehicle may alternately move forward and backward in the parking process, the vehicle speed limit in the backing process and the braking condition in the backing process are comprehensively and completely considered, so that the judgment of the parking mode is more accurate, and the pure backing is prevented from being mistakenly judged as parking.
According to the device 100 of the embodiment of the application, the vehicle state information can be detected in real time to judge whether the vehicle enters the parking mode or not and whether the vehicle exits the parking mode or not in real time. To this end, the obtaining module 110 is further configured to obtain the automatic parking function key signal, the state of the automatic parking function, the state of the electronic parking function of the vehicle, and/or the gear position of the vehicle; correspondingly, the determining module 120 further includes a second determining sub-module 122, where the second determining sub-module 122 is configured to, after the vehicle enters the parking mode, determine that the vehicle exits the parking mode when the obtaining module 110 obtains the automatic parking function key signal, the automatic parking function is in a non-standby state, the electronic registration function of the vehicle is started, the gear of the vehicle is switched to a parking gear, and the speed of the vehicle is greater than or equal to a preset speed reference value, where at least one of five items is satisfied; the control module 130 is further configured to control the automatic parking instruction to be executed or control the automatic parking function to be turned on when the vehicle exits the parking mode, so that the apparatus 100 can timely restore the automatic parking function to be normally applied to the vehicle (according to the vehicle state) when determining that the vehicle exits the parking mode.
It is understood that the device 100 may be a device in parallel with other control devices of the vehicle (e.g., a vehicle control unit, an electronic body stabilization system), or may be a part of one of the control devices, such as a part of the electronic body stabilization system (in hardware and/or software).
The present application also provides a vehicle automatic parking command control system 1000 as shown in fig. 3, wherein an automatic parking function of the vehicle enters an active state or a standby state according to an automatic parking command. As shown in fig. 3, the system 1000 includes a signal detection unit 200 for detecting the vehicle state information, an automatic parking control unit 300 for executing the automatic parking command, and the aforementioned automatic parking command control device 100, the automatic parking command control device 100 is connected to the signal detection unit 200 and the automatic parking control unit 300 in communication, and the automatic parking command control device 100 controls the automatic parking control unit 300 to execute or not execute the automatic parking command according to the vehicle state information acquired from the signal detection unit 200.
The present application also provides a computer program product comprising computer instructions that, when executed, may cause the vehicle automatic parking instruction control method 10 as described above to be run on the vehicle automatic parking instruction control apparatus 100 as described above.
The technical scheme of this application can be applied to the vehicle that has automatic parking function, like pure electric vehicles or insert electric hybrid vehicle.
Those of skill in the art would understand that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the aspects disclosed herein may be implemented as electronic hardware, or combinations of hardware and software. Various illustrative components, blocks, modules, circuits have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or a combination of hardware and software will depend upon the particular application and design constraints imposed on the overall system.
Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above detailed description is merely illustrative of the present application and is not intended to be limiting. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope of the present application, and it is intended that all equivalents thereof fall within the scope of the present application, which is defined by the claims.
Claims (10)
1. A vehicle automatic parking instruction control method, according to which an automatic parking function of a vehicle can be brought into an activated state or a standby state, characterized by comprising,
step (S11): acquiring the vehicle state information;
step (S12): judging whether the vehicle enters a parking mode or not according to the vehicle state information; when judging that the vehicle enters a parking mode (Y), executing a step (S13);
step (S13): the automatic parking command is not executed, or the automatic parking function is turned off.
2. The vehicle automatic parking instruction control method according to claim 1,
the vehicle state information acquired in the step (S11) includes a gear position, a brake pedal stroke, a vehicle speed of the vehicle;
the determining whether the vehicle enters the parking mode according to the vehicle state information in the step (S12) includes: and when the gear of the vehicle is switched from the non-reverse gear to the reverse gear, the travel of the brake pedal is not 0, and the vehicle speed is less than a preset vehicle speed reference value, judging that the vehicle enters a parking mode (Y).
3. The vehicle automatic parking instruction control method according to claim 1,
the vehicle state information acquired in the step (S11) includes a gear position of the vehicle, a brake pedal stroke, a vehicle speed, a state of a parking function;
the determining whether the vehicle enters the parking mode according to the vehicle state information in the step (S12) includes: and when the gear of the vehicle is switched from the non-reverse gear to the reverse gear, the stroke of the brake pedal is not 0, the vehicle speed is less than a preset vehicle speed reference value, and the automatic parking function of the vehicle is in a standby state, judging that the vehicle enters a parking mode (Y).
4. The vehicle automatic parking instruction control method according to claim 1,
the vehicle state information acquired in the step (S11) further includes the automatic parking function key signal, the state of the automatic parking function, the state of the electronic parking function of the vehicle, and/or the shift position of the vehicle;
the method further comprises the step of enabling the user to select the target,
step (S14): after the vehicle enters the parking mode, when at least one item of the automatic parking function key signal, the automatic parking function is in a non-standby state, the electronic parking function of the vehicle is started, the gear position of the vehicle is switched to a parking gear, and the speed of the vehicle is greater than or equal to a preset speed reference value is acquired in the step (S11), judging that the vehicle exits the parking mode and executing a step (S15);
step (S15): the automatic parking instruction is executed, or the automatic parking function is turned on.
5. The vehicle automatic parking control method according to any one of claims 2 to 4, wherein the preset speed reference value is greater than 5km/h and less than 10 km/h.
6. A vehicle automatic parking instruction control device, the automatic parking function of the vehicle enters an activated state or a standby state according to the automatic parking instruction, characterized in that the control device comprises an acquisition module (110), a judgment module (120) and a control module (130) which are connected in communication, wherein,
the acquisition module (110) is configured to acquire the vehicle state information;
the determination module (120) includes a first determination sub-module (121), the first determination sub-module (121) being configured to determine whether the vehicle enters a parking mode;
the control module (130) is configured to control the automatic parking instruction not to be executed or control the automatic parking function to be turned off when the first determination sub-module (121) determines that the vehicle enters a parking mode.
7. The vehicle automatic parking command control device according to claim 6,
the acquisition module (110) is configured to acquire gear, brake pedal travel and vehicle speed information of the vehicle;
the first judgment submodule (121) is configured to judge that the vehicle enters a parking mode when the shift position of the vehicle is switched from a non-reverse gear to a reverse gear, the brake pedal stroke is not 0, and the vehicle speed is less than a preset vehicle speed reference value.
8. The vehicle automatic parking instruction control apparatus according to claim 6,
the acquisition module (110) is further configured to acquire the automatic parking function key signal, a state of the automatic parking function, a state of an electronic parking function of the vehicle, and/or a gear position of the vehicle;
the judging module (120) further comprises a second judging sub-module (122), wherein the second judging sub-module (122) is configured to judge that the vehicle exits the parking mode when the acquiring module (110) acquires at least one of the automatic parking function key signal, the automatic parking function is in a non-standby state, the electronic registration function of the vehicle is started, the gear of the vehicle is switched to a parking gear, and the speed of the vehicle is greater than or equal to a preset speed reference value after the vehicle enters the parking mode;
the control module (130) is further configured to control the automatic parking instruction to be executed or control the automatic parking function to be turned on when the vehicle exits the parking mode.
9. A computer program product comprising computer instructions, characterized in that the vehicle automatic parking instruction control method according to any one of claims 1 to 5 is executable on the vehicle automatic parking instruction control apparatus according to any one of claims 6 to 8 when the computer instructions are executed.
10. An automatic parking control system for a vehicle, an automatic parking function of which is brought into an activated state or a standby state according to an automatic parking instruction, the control system comprising:
a signal detection unit (200) for detecting the vehicle state information;
an automatic parking control unit (300) for executing the automatic parking instruction;
the automatic parking instruction control device (100) according to any one of claims 6 to 8, which is communicatively connected with the signal detection unit (200) and the automatic parking control unit (300), the automatic parking instruction control device (100) controlling the automatic parking control unit (300) to execute or not execute the automatic parking instruction according to the vehicle state information acquired from the signal detection unit (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011545131.XA CN114670793A (en) | 2020-12-24 | 2020-12-24 | Vehicle automatic parking instruction control method, device and system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011545131.XA CN114670793A (en) | 2020-12-24 | 2020-12-24 | Vehicle automatic parking instruction control method, device and system and vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN114670793A true CN114670793A (en) | 2022-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011545131.XA Pending CN114670793A (en) | 2020-12-24 | 2020-12-24 | Vehicle automatic parking instruction control method, device and system and vehicle |
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| Country | Link |
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| CN (1) | CN114670793A (en) |
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- 2020-12-24 CN CN202011545131.XA patent/CN114670793A/en active Pending
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