CN114889567A - Automobile auxiliary parking control method, system, equipment, medium and program - Google Patents
Automobile auxiliary parking control method, system, equipment, medium and program Download PDFInfo
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- CN114889567A CN114889567A CN202210753568.5A CN202210753568A CN114889567A CN 114889567 A CN114889567 A CN 114889567A CN 202210753568 A CN202210753568 A CN 202210753568A CN 114889567 A CN114889567 A CN 114889567A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides an automobile auxiliary parking control method, system, equipment, medium and program, wherein the method comprises the steps of obtaining a braking distance back wall L according to a vehicle speed V0 and a slope table at the activation moment after a starting and stopping function is activated Lim And a distance L of continuous travel Tar According to the judgment whether the vehicle running distance L is larger than L Tar ‑L Lim Selecting a starting distance control mode or a vehicle speed control mode, and ensuring that the moving distance of the vehicle is less than L in the distance control mode Tar And when the vehicle speed meets the vehicle speed for activating the automatic parking function, activating the automatic parking function and gradually unloading the torque at the wheel end of the vehicle. In the vehicle speed control mode, the vehicle speed is gradually controlled to decrease. Based on the combination of the braking function of the new energy automobile motor and the AutoHold function, the invention can reduce the probability of repeated switching between the acceleration pedal and the brake pedal under the condition of traffic jam of a driver on the premise of not increasing the cost, reduce the driving labor intensity and provide a convenient and easy-to-use way for the driverThe driving experience of (2).
Description
Technical Field
The invention relates to the technical field of automobile braking, in particular to an automobile parking control technology.
Background
Along with the great increase of the reserved quantity of private cars, the degree of congestion of urban roads is increasingly increased, and the fatigue of a driver in using the vehicle is increased by repeatedly starting and parking the vehicle. In particular, the muscle soreness of the driver caused by the actions of accelerating stepping and switching the brake pedal caused by the congested road and the long-time soreness may cause the leg stiffness of the driver and cause traffic accidents.
The prior art discloses a vehicle and a parking method thereof, which includes: detecting whether an electronic parking brake function and an automatic parking brake function of a vehicle are activated under the condition that the vehicle is stopped through a brake pedal; if the electronic parking brake function of the vehicle and the automatic parking brake function of the vehicle are not started, detecting the angle of a slope where the vehicle is located; if the angle of the ramp is larger than the preset angle, controlling the vehicle to enter an auxiliary parking mode; and if the angle of the ramp is smaller than or equal to the preset angle, determining whether to start the vehicle to enter the auxiliary parking mode according to a first preset condition and the parking gear signal. The method solves the technical problems that when a vehicle is parked on a ramp in the prior art, if a driver parks the vehicle according to the P gear, the vehicle is easy to slip, or the braking force is mainly borne by the P gear locking mechanism, so that a large acting force is generated between a pawl and a gear, but the method cannot solve the problems that when the vehicle is jammed on a road, the driver is tired due to the action of accelerating and trampling and switching of a brake pedal, and the potential safety hazard is easy to bring.
In addition, the new energy automobile has a sliding energy recovery function, so that the fatigue degree of a driver in the acceleration and deceleration switching process of the automobile can be reduced. However, the motor brake cannot realize the parking function, namely, a driver still needs to repeatedly switch soles between the acceleration pedal and the brake pedal under working conditions such as traffic jam and the like, so that the fatigue degree of the driver is increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automobile auxiliary parking control method, system, equipment, medium and program, which can reduce the probability of repeatedly switching soles of an acceleration pedal and a brake pedal of a driver under the working condition of traffic jam and reduce the driving labor intensity of the driver.
The technical scheme of the invention is as follows:
in a first aspect, the invention provides a new energy automobile auxiliary parking control method, which comprises the following steps:
step 1, judging whether the starting and stopping functions are activated or not, and if so, recording the vehicle speed V0 at the activation time.
Step 2, obtaining a braking distance rear wall L according to the vehicle speed V0 and a slope lookup table Lim And a distance L of continuous travel Tar， Recording the running distance L of the vehicle; the braking distance back wall L Lim And a distance L of continuous travel Tar Are all preset values.
Step 3, judging whether the vehicle running distance L is greater than L or not Tar -L Lim 。
And 4, if yes, starting a distance control mode, and ensuring that the moving distance of the vehicle is less than L Tar To control the target parameter and go to step 7.
And 5, if not, starting a vehicle speed control mode and gradually controlling the vehicle speed to decrease.
Step 6, judging whether the vehicle running distance L is greater than L or not Tar -L Lim If yes, go to step 4.
And 7, judging whether the vehicle speed meets the ESP handover condition, and if not, turning to the step 3.
And 8, activating an automatic parking (AutoHold) function and gradually unloading the torque at the wheel end of the vehicle.
In an embodiment of the present invention, in step 1, when the vehicle meets the following conditions, it is determined that the start-stop function is activated:
condition 1, the accelerator pedal is less than or equal to a first preset value A1 and the duration time reaches a second preset value T1;
condition 2 brake pedal is not depressed
Condition 3 the vehicle speed is less than or equal to the third preset value V1 and the duration reaches the fourth preset value T2.
In an embodiment of the present invention, in the step 4, the deceleration is controlled in a vehicle speed control manner in which the current vehicle speed minus the difference is the target vehicle speed.
In the inventionIn an embodiment, in the step 4, the L + L is used in the step 4 Lim -L Tar And controlling the vehicle to decelerate for the control mode of the target distance.
In an embodiment of the invention, after the vehicle speed control mode is started in step 5, the target of gradually controlling the vehicle speed to decrease is to round the current vehicle down or to subtract a fixed offset from the current vehicle speed.
In an embodiment of the present invention, in step 8, the vehicle wheel-end torque is gradually unloaded to 0.
In an embodiment of the present invention, the braking distance is a rear wall L Lim The parking distance interval is generated when the parking auxiliary function of the vehicle is activated, and the vehicle speed is guaranteed to be reduced to the speed within the interval which can be matched with an automatic parking (AutoHold) function or an electronic hand brake (EPB) function.
In an embodiment of the present invention, the parking target distance L Tar To control the maximum travel distance over which the vehicle can enter an automatic parking (AutoHold) function when the parking assist function is activated.
According to the technical scheme, after the driver activates the auxiliary parking function, the VCU controls the vehicle electric braking system to reduce the vehicle speed to be close to a static state, and then activates the vehicle electronic parking system to enable the vehicle mechanical parking calipers to act, so that the state of parking for a long time is achieved.
The above technical solution design concept is further analyzed and explained as follows:
the control target of the invention is that after the driver activates the auxiliary parking function, the only distance L capable of continuously driving under the current activation condition or the distance L capable of continuously driving when the vehicle speed of the electronic hand brake is activated is generated Tar The driver adaptation difficulty or the drivability learning cost can be reduced due to the uniqueness of the control target. In order to ensure the achievement of the control distance target and the smoothness of the parking process, the invention sets a brake distance rear wall L obtained by table look-up under the activation condition after the driver activates the auxiliary parking function Lim . When the auxiliary parking function is activated, the vehicle travels a distance L<(L Tar -L Lim ) The vehicle then assumes the target deceleration as the control target. When the auxiliary parking function is activated, the vehicle travels a distance L>(L Tar -L Lim ) In time, the vehicle can ensure that the moving distance of the vehicle is less than L Tar Is a control target parameter.
When the auxiliary parking function is activated and the vehicle travels a distance L<(L Tar -L Lim ) When the vehicle deceleration is detected, the control target is the vehicle deceleration. However, in real applications, acceleration control cannot be closed-loop because vehicle acceleration is disturbed by factors such as road gradient and adhesion coefficient. The present invention proposes a vehicle speed control method for controlling deceleration by using a current vehicle speed minus difference as a target vehicle speed. The running resistance of the vehicle is relatively constant within a certain vehicle speed range. The vehicle deceleration can be controlled by controlling the response time of the vehicle from the current vehicle speed to the target vehicle speed that is the difference between the current vehicle speed and the target vehicle speed.
In a second aspect, the present invention also provides an auxiliary parking control system for a vehicle, comprising:
and the first judging module is configured to judge whether the starting and stopping functions are activated or not, and if so, record the vehicle speed V0 at the activation moment.
A query and record module configured to obtain a braking distance back wall L from the vehicle speed V0 at the activation time and a slope lookup table Lim And a distance L of continuous travel Tar， And records the vehicle travel distance L. Here. The braking distance back wall L Lim And a distance L of continuous travel Tar Are all preset values.
A second determination module configured to determine whether the vehicle travel distance L is greater than L Tar -L Lim 。
A distance control module configured to initiate a distance control mode for the vehicle to ensure that a vehicle movement distance is less than L Tar Is a control target parameter.
A vehicle speed control module configured to gradually control a vehicle speed down.
A third determination module configured to determine whether the vehicle travel distance L is greater than L Tar -L Lim If yes, the signal is input into the distance control module.
And the fourth judging module is configured to judge whether the vehicle speed meets the ESP handover condition, and if not, the signal is input into the second judging module.
And the automatic parking module is used for activating an automatic parking (AutoHold) function and gradually unloading the torque at the wheel end of the vehicle.
In a third aspect, the present invention provides an electronic device comprising: one or more processors; a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic apparatus to implement the above-described vehicle assisted parking control method.
In a fourth aspect, the invention further provides a vehicle, the electronic device described above, and the vehicle is a new energy automobile having an AutoHold function or an electronic handbrake function and an electric braking function.
In a fifth aspect, the present invention also provides a computer-readable storage medium having stored thereon computer-readable instructions, which, when executed by a processor of a computer, cause the computer to execute the above-described vehicle assisted parking control method.
In a sixth aspect, the present invention also provides a computer program product or a computer program, the computer program product or the computer program comprising computer instructions stored in a computer-readable storage medium, the computer instructions being read by a processor of a computer from the computer-readable storage medium, the processor executing the computer instructions, so that the computer performs the above-mentioned vehicle assisted parking control method.
According to the technical scheme, after the starting and stopping functions are activated, the braking distance rear wall L is obtained according to the vehicle speed V0 and the slope table at the activation moment Lim And a distance L of continuous travel Tar According to the judgment whether the vehicle running distance L is larger than L Tar -L Lim Selecting a starting distance control mode or a vehicle speed control mode, and ensuring that the moving distance of the vehicle is less than L in the distance control mode Tar Operating for controlling target parameters and on-boardAnd when the speed meets the vehicle speed for activating the automatic parking function, activating the automatic parking function and gradually unloading the torque at the wheel end of the vehicle. In the vehicle speed control mode, the vehicle speed is gradually controlled to decrease. The advantages of the invention at least include:
1. the invention obtains the expected parking distance of the vehicle by the vehicle and the driver state at the moment of function triggering, and reduces the adaptive learning cost of the driver.
2. According to the technical scheme, the parking distance rear wall area is designed, and the difficulty in auxiliary parking control is reduced.
3. The invention controls the deceleration of the vehicle by taking the current vehicle speed as the vehicle speed control target in a downward value-taking mode by a certain method, thereby increasing the feasibility of the technology.
4. The invention designs a mode of combining acceleration control and distance control, and is compatible with comfort and safety.
In a word, the invention is based on the combination of the new energy automobile motor braking function and the AutoHold function, can reduce the probability of repeatedly switching soles of a driver under the condition of traffic jam under the condition of accelerating and braking pedals without increasing the cost, reduces the driving labor intensity of the driver, and provides a convenient and easy-to-use driving experience for the driver. The added value of the vehicle and the competitiveness of the finished vehicle product are increased.
Drawings
Fig. 1 is a flowchart of the parking assist control of the present invention.
The drawings herein illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application. It is obvious that the drawings in the description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Referring to fig. 1, the embodiment shows a method for controlling auxiliary parking of a new energy vehicle, which includes the following specific implementation procedures:
step 1, in the running process of the vehicle, judging whether a starting and stopping function is activated or not in real time, and recording the vehicle speed V0 at the activation moment when the starting and stopping function is detected to be activated.
In one embodiment of the present application, the determination condition of whether the start-stop function is activated is specifically designed, and according to the artificial definition of the intention of the driver, when each of the following conditions is satisfied, the start-stop function is determined to be activated and the vehicle speed V0 at the activation time is recorded, for example:
condition 1 the accelerator pedal is less than or equal to the first preset value a1 and lasts for a second preset value T1.
Condition 2 the brake pedal is not depressed.
Condition 3 the vehicle speed is less than or equal to the third preset value V1 and the duration reaches the fourth preset value T2.
These preset values are designed according to the principle of vehicle control operation, the actual operating conditions of the vehicle, and the like when the control system is designed.
Step 2, after the starting and stopping functions are activated, obtaining a braking distance back wall L by looking up a table according to the vehicle speed V0 and the gradient at the activation moment Lim And a distance L of continuous travel Tar， And records the vehicle travel distance L. Here, the braking distance rear wall L Lim And a distance L of continuous travel Tar Are also preset values.
In an embodiment of the present application, specifically, after detecting that the parking assist function is activated, the system calculates the vehicle travel distance L according to vehicle speed integral, motor speed integral or wheel pulse signal count, and the like, which is not specifically limited herein.
Here, the parking rear wall distance L Lim The parking distance interval is generated when the parking assisting function of the vehicle is activated. Namely, the function target needs to ensure that the vehicle speed is reduced to the vehicle speed for activating the AutoHold function or the EPB function in the interval.
Here, the parking target distance L Tar To control the vehicle to enter a distance to continue travel conditional on activation of the AutoHold function.
Step 3, judging whether the vehicle running distance L is greater than L or not Tar -L Lim 。
Step 4, if L is larger than L Tar -L Lim Starting a distance control mode, and ensuring that the moving distance of the vehicle is less than L Tar To control the target parameter and go to step 7.
In one embodiment of the present application, specifically, the step is as L>L Tar -L Lim The control mode is the distance control mode. In this mode, the system controls the vehicle to the extent that the vehicle movement distance cannot exceed the rear wall distance. I.e. it can be simplified that the distance target of the vehicle which continues to move in the distance mode is less than the rear wall distance L Lim . In this mode, the vehicle speed may fall within the vehicle speed at which the AutoHold function or the EPB function is activated in the rear wall distance range due to the distance control. After this state is reached, the control target is considered to be satisfied. The direct control target for controlling the vehicle speed deceleration here is the wheel end torque of the vehicle.
Step 5, if not, L is smaller than L Tar -L Lim And starting a vehicle speed control mode and gradually controlling the vehicle speed to drop.
In one embodiment of the application, this step is as follows the distance L the vehicle has travelled<L Tar -L Lim The control mode is the vehicle speed control mode. The vehicle speed target is that the current vehicle is rounded down or the current vehicle speed minus a fixed offset, wherein the initial value of the current vehicle speed minus the fixed offset is 1km/h, and the value range can be 0.5 km/h-3 km/h.
For this step, it is difficult to directly control the deceleration of the vehicle because the vehicle is disturbed by road excitation, sensor arrangement, and other factors during the actual vehicle operation. Therefore, the downward value of the current vehicle speed is taken as the control target vehicle speed, and the aim is to finally achieve the target of deceleration in the control process by controlling the action response time between unit difference vehicle speeds. The direct control target for controlling the vehicle speed deceleration here is the wheel end torque of the vehicle.
Step 6, continuously judging whether the vehicle running distance L is larger than L or not Tar -L Lim If yes, turning to step 4, namely starting a distance control mode, and ensuring that the moving distance of the vehicle is less than L Tar To control the target parameter and go to step 7.
And 7, after the distance control mode is started in the step 4, ensuring that the moving distance of the vehicle is less than L by the vehicle Tar In order to control the operation of the target parameters, whether the vehicle speed meets the ESP handover condition is further judged, if not, the step is switched to the step 3, and if so, the step 8 is carried out.
And 8, activating an automatic parking (AutoHold) function and gradually unloading the torque at the wheel end of the vehicle.
In the step, when the vehicle speed is less than the preset value, the vehicle speed for activating the automatic parking function is met, the automatic hold function is activated, the torque of the wheel end of the vehicle is gradually unloaded to 0, and the vehicle is parked.
Example 2
In one embodiment of the present application, an auxiliary parking control system for a vehicle is provided, which includes, but is not limited to, a first determination module, an inquiry and recording module, a second determination module, a distance control module, a vehicle speed control module, a third determination module, a fourth determination module, and an automatic parking module. The module units are mutually interacted and matched to finish the automobile auxiliary parking control, so that the aim of the invention is fulfilled. Each module unit works specifically as follows:
and the first judging module is configured to judge whether the starting and stopping function is activated or not, and if the starting and stopping function is activated, the vehicle speed V0 at the activation moment is recorded.
In the module, a judgment condition whether the starting and stopping function is activated is specifically designed, the judgment condition is artificially defined according to the intention of a driver, when the following conditions are met, the starting and stopping function is considered to be activated, and the vehicle speed V0 at the activation moment is recorded:
condition 1 the accelerator pedal is less than or equal to the first preset value a1 and lasts for a second preset value T1.
Condition 2 the brake pedal is not depressed.
Condition 3 the vehicle speed is less than or equal to the third preset value V1 and the duration reaches the fourth preset value T2.
A query and record module configured to derive a braking distance back wall L from the activation time vehicle speed V0 and a slope lookup table Lim And a distance L of continuous travel Tar， And records the vehicle travel distance L. Here, the braking distance rear wall L Lim The parking distance interval is generated when the parking auxiliary function of the vehicle is activated, and the vehicle speed is guaranteed to be reduced to the speed within the interval which can be matched with an automatic parking (AutoHold) function or an electronic hand brake (EPB) function. Parking target distance L Tar To control the maximum travel distance over which the vehicle can enter an automatic parking (AutoHold) function when the parking assist function is activated.
A second determination module configured to determine whether the vehicle travel distance L is greater than L Tar -L Lim . If so, the distance control module can be started in the next step,
a distance control module configured to initiate a distance control mode to cause the vehicle to move less than L in a guaranteed vehicle movement distance Tar To control the targetThe parameters are run. In the distance control mode, the system controls the vehicle to the target that the vehicle movement distance cannot exceed the rear wall distance. I.e. it can be simplified that the distance target of the vehicle which continues to move in the distance mode is less than the rear wall distance L Lim . In this mode, the vehicle speed may fall within the vehicle speed at which the AutoHold function or the EPB function is activated in the rear wall distance range due to the distance control. After this state is reached, the control target is considered to be satisfied. The direct control target for controlling the vehicle speed deceleration here is the wheel end torque of the vehicle.
A vehicle speed control module configured to gradually control a vehicle speed decrease.
The module enables the vehicle to travel a distance L<L Tar -L Lim When the vehicle speed is higher than the predetermined value, the control mode is changed to the vehicle speed control mode. At this time, the vehicle speed target is that the current vehicle is rounded down or the current vehicle speed minus the fixed offset, wherein the initial value of the current vehicle speed minus the fixed offset is 1km/h, and the value range can be 0.5 km/h-3 km/h. Because the vehicle receives road excitation in the actual vehicle operation condition, the deceleration of the vehicle is difficult to control directly due to the interference of a plurality of factors such as sensor arrangement and the like. Therefore, the downward value of the current vehicle speed is taken as the control target vehicle speed, and the aim is to finally achieve the target of deceleration in the control process by controlling the action response time between unit difference vehicle speeds. The direct control target for controlling the vehicle speed deceleration here is the wheel end torque of the vehicle.
A third determination module configured to determine whether the vehicle travel distance L is greater than L Tar -L Lim If yes, the signal is input into the distance control module, namely, the distance control is carried out on the vehicle, so that the vehicle can ensure that the vehicle movement distance is smaller than L Tar And operating for controlling the target parameter.
A fourth judging module which is configured to judge whether the vehicle speed meets the ESP handover condition or not, if not, the signal is input into the second judging module, and whether the vehicle running distance L is more than L or not is continuously judged by the second judging module Tar -L Lim 。
And the automatic parking module is used for activating the automatic parking auto hold function and gradually unloading the torque of the wheel end of the vehicle after the fourth judgment module judges that the vehicle speed meets the ESP handover condition.
The system of the present embodiment may be in software and/or hardware form. The system may be provided in a vehicle, for example, the apparatus may be provided in a vehicle machine, or in an in-vehicle device.
Example 3
An embodiment 3 of the present invention provides an electronic device, including: one or more processors; storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the vehicle assisted parking control method of embodiment 1 above.
Example 4
Embodiment 4 of the present invention further provides a vehicle, which is the electronic device according to embodiment 3, and the vehicle is a new energy vehicle having an AutoHold function or an electronic handbrake function and an electric braking function.
Example 5
Embodiment 5 of the present invention also provides a computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor of a computer, cause the computer to execute the automobile assisted parking control method shown in embodiment 1 above.
Example 6
Embodiment 6 of the present invention also provides a computer program product or a computer program that includes computer instructions stored in a computer-readable storage medium, the computer instructions being read by a processor of the computer from the computer-readable storage medium, the computer instructions being executed by the processor so that the computer performs the automobile assisted parking control method of embodiment 1 above.
It should be noted that:
the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device and server embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a magnetic or optical disk, or the like.
Claims (19)
1. An automobile auxiliary parking control method is characterized by comprising the following steps:
step 1, judging whether a starting and stopping function is activated or not, and if so, recording the vehicle speed V0 at the activation moment;
step 2, obtaining a braking distance rear wall L according to the vehicle speed V0 and a slope lookup table Lim And a distance L of continuous travel Tar， Recording the running distance L of the vehicle; the braking distance back wall L Lim And a distance L of continuous travel Tar Are all preset values;
step 3, judging whether the vehicle running distance L is greater than L or not Tar -L Lim ；
And 4, if yes, starting a distance control mode, and ensuring that the moving distance of the vehicle is less than L Tar Controlling the target parameter and going to step 7;
if not, starting a vehicle speed control mode, and gradually controlling the vehicle speed to decrease;
step 6, judging whether the vehicle running distance L is greater than L or not Tar -L Lim If yes, go to step 4;
step 7, judging whether the vehicle speed meets the vehicle speed for activating the automatic parking function, and if not, turning to the step 3;
and 8, activating an automatic parking auto hold function, and gradually unloading the torque at the wheel end of the vehicle.
2. The automobile auxiliary parking control method according to claim 1, characterized in that the step 1 is to judge that the start and stop function is activated when the vehicle satisfies the following conditions:
(1) the accelerator pedal is less than or equal to a first preset value A1 and lasts for a second preset value T1;
(2) the brake pedal is not stepped on
(3) The vehicle speed is less than or equal to the third preset value V1 and the duration time reaches the fourth preset value T2.
3. The parking assist control method for the vehicle according to claim 1 or 2, wherein in the step 4, the deceleration is controlled in a vehicle speed control manner in which a current vehicle speed minus a difference value is a target vehicle speed.
4. The parking assist control method for a vehicle according to claim 3, wherein the step 4 is performed by L + L Lim -L Tar And controlling the vehicle to decelerate for the control mode of the target distance.
5. The vehicle parking assist control method according to claim 1, wherein after the vehicle speed control mode is started in step 5, the target vehicle speed for gradually controlling the vehicle speed to decrease is the current vehicle rounded down or the current vehicle speed minus a fixed offset.
6. The automobile assisted parking control method according to any one of claims 1, characterized in that in step 8, the vehicle wheel end torque is gradually unloaded to 0.
7. The parking assist control method for a vehicle according to claim 5, wherein the braking distance rear wall L Lim The parking distance interval is generated when the parking auxiliary function of the vehicle is activated, and the vehicle speed is guaranteed to be reduced within the interval and the vehicle speed capable of activating the automatic parking auto hold function or the electronic hand brake EPB function.
8. The parking assist control method for an automobile according to claim 5, characterized in that the parking target distance L Tar The maximum driving distance of the automatic hold function can be controlled for controlling the vehicle to enter the automatic parking under the condition that the parking auxiliary function is activated.
9. An automobile auxiliary parking control system is characterized by comprising
The vehicle starting and stopping control system comprises a first judging module, a second judging module and a control module, wherein the first judging module is configured to judge whether a starting and stopping function is activated or not, and if yes, the vehicle speed V0 at the activation moment is recorded;
a query and record module configured to obtain a braking distance back wall L from the vehicle speed V0 at the activation time and a slope lookup table Lim And a distance L of continuous travel Tar， Recording the running distance L of the vehicle;
a second determination module configured to determine whether the vehicle travel distance L is greater than L Tar -L Lim ；
A distance control module configured to initiate a distance control mode for the vehicle to ensure that a vehicle movement distance is less than L Tar Is a control target parameter;
a vehicle speed control module configured to gradually control a vehicle speed down;
a third determination module configured to determine whether the vehicle travel distance L is greater than L Tar -L Lim If yes, inputting a signal into the distance control module;
the fourth judging module is configured to judge whether the vehicle speed meets the ESP handover condition, and if not, the signal is input into the second judging module;
and the automatic parking module is used for activating an automatic parking (AutoHold) function and gradually unloading the torque at the wheel end of the vehicle.
10. The vehicle parking assist control system of claim 9, wherein the vehicle speed control module controls the deceleration in a vehicle speed control manner that a current vehicle speed minus a difference value is a target vehicle speed.
11. The vehicle assisted parking control system of claim 10, wherein the vehicle speed control module is L + L Lim -L Tar And controlling the vehicle to decelerate for the control mode of the target distance.
12. The vehicle assisted parking control system of claim 1, wherein the vehicle speed control module gradually controls the target vehicle speed of the vehicle speed reduction to be a current vehicle rounding down or a current vehicle speed minus a fixed offset amount after the vehicle speed control mode is started.
13. The automobile assisted parking control method according to any one of claims 8 to 11, wherein the automatic parking module gradually unloads the vehicle wheel end torque to 0 when unloading the vehicle wheel end torque.
14. The vehicle park assist control system of claim 12, wherein the brake distance back wall L Lim The parking distance interval generated when the parking auxiliary function of the vehicle is activated ensures that the vehicle speed is reduced to be within the vehicle speed range of an automatic parking (AutoHold) function or an electronic hand brake (EPB) function in the interval.
15. The vehicle auxiliary parking control system according to claim 12, wherein the parking target distance L Tar The maximum driving distance of the automatic hold function can be controlled for controlling the vehicle to enter the automatic parking under the condition that the parking auxiliary function is activated.
16. An electronic device, comprising:
one or more processors; storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the method of any of claims 1-7.
17. A vehicle comprising the electronic device according to claim 16, wherein the vehicle is a new energy automobile having an AutoHold function or an electronic handbrake function and an electric braking function.
18. A computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, cause the computer to perform the method of any one of claims 1 to 8.
19. A computer program product or computer program, characterized in that the computer program product or computer program comprises computer instructions, the computer instructions being stored in a computer-readable storage medium, which computer instructions are read by a processor of a computer from the computer-readable storage medium, which computer instructions are executed by the processor, causing the computer to carry out the method of any one of claims 1 to 8.
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