CN117193275A - Vehicle control method, vehicle-mounted controller and vehicle - Google Patents

Abstract

The application discloses a vehicle control method, a vehicle-mounted controller and a vehicle, which realize rapid vehicle moving. The method is applied to the vehicle-mounted controller, and comprises the following steps: responding to a parking releasing request sent by a vehicle owner side mobile terminal, and detecting whether a person intends to push the vehicle forward or backward; when the fact that the driver intentionally pushes the vehicle to advance is detected, controlling the vehicle to start, engaging a forward gear, releasing an electronic hand brake, and controlling the actual output torque of the vehicle to be smaller than the torque required by the vehicle to drive away; when the fact that the driver intentionally pushes the vehicle to back is detected, the vehicle is controlled to start, the reverse gear is engaged, the electronic hand brake is released, and the actual output torque of the vehicle is controlled to be smaller than the torque required by the driver to drive away.

Description

Vehicle control method, vehicle-mounted controller and vehicle

Technical Field

The present application relates to the field of vehicle remote control technology, and more particularly, to a vehicle control method, a vehicle-mounted controller, and a vehicle.

Background

As the amount of the reserved automobiles is continuously increased, parking spaces become more and more scarce, and the phenomena of difficult and messy parking are more and more serious, and various disputes caused by the problem of parking the automobiles frequently affect the life and social order of people greatly. For example, when a parked vehicle blocks other vehicles to normally pass, the blocked vehicle owner needs to inform the blocked vehicle owner of timely going to the ignition of the vehicle for moving the vehicle, but many times the blocked vehicle owner cannot arrive at the scene immediately, so that disputes are caused.

Disclosure of Invention

In view of the above, the present application provides a vehicle control method, an on-vehicle controller, and a vehicle to realize rapid vehicle moving.

A vehicle control method applied to an in-vehicle controller, the method comprising:

responding to a parking releasing request sent by a vehicle owner side mobile terminal, and detecting whether a person intends to push the vehicle forward or backward;

when the fact that the driver intentionally pushes the vehicle to advance is detected, controlling the vehicle to start, engaging a forward gear, releasing an electronic hand brake, and controlling the actual output torque of the vehicle to be smaller than the torque required by the vehicle to drive away;

when the fact that the driver intentionally pushes the vehicle to back is detected, the vehicle is controlled to start, the reverse gear is engaged, the electronic hand brake is released, and the actual output torque of the vehicle is controlled to be smaller than the torque required by the driver to drive away.

Optionally, the detecting whether someone intends to push the vehicle forward or backward includes:

judging whether the first condition and the second condition are met or not respectively; the first condition is that an obstacle exists in a preset distance from the tail of the vehicle, and the second condition is that an obstacle exists in a preset distance from the head of the vehicle;

when it is detected that the first condition is satisfied but the second condition is not satisfied, it is determined that there is an intention to push the vehicle forward;

when it is detected that the second condition is satisfied but the first condition is not satisfied, it is determined that an intention is to push the vehicle backward.

Optionally, when both the first condition and the second condition are satisfied, releasing parking is prohibited.

Optionally, the first condition is replaced with: a person is within a preset distance from the tail of the vehicle;

the second condition is replaced with: people are within a preset distance from the headstock.

Optionally, the vehicle control method further includes: when the vehicle is in a forward gear or a reverse gear, once no one is detected to push the vehicle to continue moving along the current direction, the vehicle is controlled to be in a parking gear or a neutral gear.

Optionally, the vehicle control method further includes: when the vehicle is in a forward gear or a reverse gear, if an obstacle is detected within a preset distance from the vehicle in the moving direction of the vehicle, the vehicle is controlled to enter a parking gear or a neutral gear.

Optionally, the vehicle control method further includes: when the vehicle is in a forward gear or a reverse gear, the vehicle is controlled to enter a parking gear or a neutral gear when the vehicle speed exceeds a preset vehicle speed or the time when the vehicle speed is continuously zero exceeds a preset time.

Optionally, the vehicle control method further includes: when the vehicle is in a forward gear or a reverse gear, when no one is detected to push the vehicle to continue moving along the current direction and the acceleration of the vehicle is less than or equal to 0, controlling a braking system of the vehicle to apply braking force to wheels;

when it is detected that no one intends to push the vehicle to continue moving in the current direction and the vehicle acceleration is greater than 0, the vehicle is controlled to flameout and parking is resumed.

An in-vehicle controller, comprising: a processor and a memory, the processor having stored thereon a computer program which, when executed by the processor, implements any of the vehicle control methods as disclosed above.

A vehicle, comprising: such as any of the vehicle controllers disclosed above.

According to the technical scheme, the parked vehicle is designed to be in a remote parking state releasing state, and the function of assisting the torque of the vehicle is provided for the personnel of the vehicle, so that when the parked vehicle blocks traffic, the vehicle owner does not need to arrive at the site to ignite and move the vehicle, and only the function of remotely activating the vehicle is needed, so that the vehicle can be pushed away under the combined action of the manpower vehicle and the torque assistance of the vehicle, the time of both sides is saved, the problem that the personnel with smaller strength are difficult to independently push the vehicle is solved, and the rapid vehicle moving is realized.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of communication between a vehicle controller and a vehicle owner side mobile terminal;

FIG. 3 is a graph of a parked vehicle distribution in a parking lot;

FIG. 4 is a flow chart of a method for detecting whether a person intends to push a vehicle forward or backward according to an embodiment of the present application;

FIG. 5 is a flow chart of a method for protecting a vehicle based on vehicle acceleration according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a vehicle-mounted controller according to an embodiment of the present application.

Detailed Description

For purposes of reference and clarity, technical terms, abbreviations or abbreviations used hereinafter are summarized as follows:

EPB: an electric park brake system, also known as an electronic handbrake;

and (4) P: parking, a Parking gear, also known as a park gear or park gear;

r gear: reverse, reverse gear;

d, gear: drive, forward gear;

n grade: neutralgear, neutral.

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, an embodiment of the present application discloses a vehicle control method, including:

step S01: responding to a parking releasing request sent by a vehicle owner side mobile terminal, and detecting whether a person intends to push the vehicle forward or backward; when it is detected that the intention is to push the vehicle forward, the process proceeds to step S02, and when it is detected that the intention is to push the vehicle backward, the process proceeds to step S03.

Step S02: and controlling the vehicle to start, engaging the D gear, releasing the EPB, and controlling the actual output torque of the vehicle to be smaller than the torque required by the vehicle to drive away, so that the control of the present wheel is finished.

Step S03: and controlling the vehicle to start, engaging R gear, releasing EPB, and controlling the actual output torque of the vehicle to be smaller than the torque required by the vehicle to drive away, so that the control of the present wheel is finished.

The embodiment of the application is applied to a vehicle-mounted controller, which controls the state of a vehicle according to a user request sent by a vehicle owner side mobile terminal, and the interaction flow is as shown in fig. 2 (the vehicle-mounted controller is positioned in the vehicle and is not shown in fig. 2): the user (namely the vehicle owner) uploads the user request to the vehicle remote control system through operating the vehicle main side mobile terminal, and the vehicle remote control system issues the user request to the vehicle-mounted controller through the vehicle internet of things to trigger the vehicle-mounted controller to control the vehicle, so that quick vehicle moving is realized.

The working principle of the embodiment of the present application is described in detail below:

as the amount of the reserved automobiles increases, parking spaces become more and more scarce, and the phenomena of "difficult parking", "messy parking", etc. become more serious, and various disputes caused by the problem of parking the automobiles frequently occur. For example, when a parked vehicle blocks other vehicles to normally pass, the blocked vehicle owner needs to inform the blocked vehicle owner of timely going to the ignition of the vehicle for moving the vehicle, but many times the blocked vehicle owner cannot arrive at the scene immediately, so that disputes are caused. In order to meet the requirement of a vehicle owner on quick vehicle moving, the embodiment of the application requires that the vehicle has a remote parking state releasing function and provides vehicle torque assistance (namely, provides trolley assistance) for trolley staff, and is hereinafter referred to as assistance trolley function.

The vehicle is generally in a parking state after the vehicle owner stops and gets off the electric lock. The basic construction of the vehicle determines that when the vehicle is engaged in P gear and EPB is pulled up, i.e. when the vehicle is in a parked state, no moving of the vehicle can be achieved by means of manual pushing. After the vehicle is hung into N gear and EPB is released, the parking state is released, the vehicle can be pushed by means of manpower, but in consideration of the fact that the vehicle is required to overcome the static rolling resistance and the ramp resistance of the vehicle from stationary to pushed, the vehicle is relatively difficult to push for a cart operator with smaller strength, and therefore the vehicle engine outputs torque to provide assistance for a manual cart, namely the vehicle is designed to have the assistance cart function.

For the vehicle that possesses helping hand shallow function, after the car owner parks, the electric lock car and leaves, if the normal traffic of other vehicles has been blocked to its parked vehicle (hereinafter referred to as the A car for short), then by the car owner of stifled car owner accessible dial the car owner's phone or other modes of reserving on the A car and inform the A car owner to move the car, the A car owner need not to go to the A car after receiving the notice and ignites to move the car, only need to move the helping hand shallow function of terminal remote activation vehicle through the car owner, on-vehicle controller on the vehicle can control the vehicle to switch to corresponding parking according to the intention of shallow personnel and remove the state, specifically:

1) When someone intends to push the vehicle forward, controlling the vehicle to start, engaging in the D gear and releasing the EPB, wherein the parking state is released, then controlling the actual output torque F2 of the vehicle to be smaller than the torque F1 required by the vehicle to drive away, and at the moment, pushing the vehicle forward only by pushing force not smaller than F1-F2 provided by a cart operator positioned at the rear of the vehicle;

2) When someone intends to push the vehicle to back, controlling the vehicle to start, engaging R gear and releasing EPB, wherein the parking state is released, and then controlling the actual output torque F2 of the vehicle to be smaller than the torque F1 required by the vehicle to drive away, wherein a pusher positioned in front of the vehicle only needs to provide thrust not lower than F1-F2, and the vehicle can be pushed to move backwards;

in the above 1) to 2), the actual output torque F2 of the vehicle may be set to 80% of the required torque F1 for the vehicle to travel away, for example. The torque F1 required for vehicle travel is a real-time calculation value, and the calculation method thereof is, for example: and acquiring the static rolling resistance and the ramp resistance of the vehicle, and summing the static rolling resistance and the ramp resistance to obtain the torque F1 required by the vehicle to drive away. The ramp resistance is calculated according to the information of the longitudinal acceleration sensor of the whole vehicle, and the static rolling resistance can be obtained through calibration. According to the embodiment of the application, F2 is ensured to be smaller than F1, so that on one hand, the purpose of providing power for the manual cart by enabling the engine to output torque is achieved, the problem that a person with smaller strength is difficult to push the vehicle is solved, on the other hand, the purpose of enabling the vehicle not to move by itself when the vehicle is not subjected to external force is achieved, and the safety of the vehicle and personnel outside the vehicle is ensured.

After the vehicle is moved by the blocked vehicle owner through the mode of manual cart and vehicle torque assistance, the vehicle can be smoothly driven away, so that the rapid vehicle moving requirement of the vehicle owner is met. The mobile terminal of the vehicle owner can be a portable terminal such as a smart phone, a tablet personal computer or a wearable smart device (e.g. a smart watch or a smart bracelet) of the vehicle owner.

Taking the scenario shown in fig. 3 as an example, four vehicles A, B, C, D are parked in a certain area of a parking lot, a vehicle B is blocked by a vehicle A in front, a surrounding wall behind, a vehicle C on the left side and a vehicle D on the right side, and cannot drive out, at this time, the vehicle B owner can dial a vehicle owner telephone reserved on the vehicle A to inform the vehicle A owner of moving the vehicle, the vehicle A owner only needs to remotely start a power-assisted cart function of the vehicle A through a smart phone after receiving the telephone, then a vehicle-mounted controller of the vehicle A controls an engine output torque to provide power for the power-assisted cart when the vehicle A detects that the vehicle is intentionally pushed to advance, so that the vehicle A is pushed to move forward under the combined action of the power-assisted cart and the torque power-assisted vehicle, at this time, the vehicle A owner stops the power-assisted cart when observing that the forward moving distance of the vehicle A is enough, and at this time, the vehicle A vehicle owner stops moving accordingly because F2< F1, and the vehicle B vehicle owner can smoothly drive out a parking space, so that the vehicle A owner can save the time of igniting and moving the vehicle A after receiving the telephone, and waiting time of the vehicle B owner is saved, and the vehicle owner waiting time is avoided because the vehicle owner is too long.

In summary, the parked vehicle designed in the embodiment of the application has the function of assisting the trolley, namely, the function of remotely releasing the parking state and providing the trolley with the torque assistance for the personnel, so that when the parked vehicle blocks traffic, the vehicle owner does not need to drive to the on-site ignition vehicle moving, and only needs to remotely activate the function of the vehicle, so that the vehicle can be pushed away under the combined action of the manpower trolley and the torque assistance of the vehicle, thereby saving the time of the two parties, solving the problem that the personnel with smaller strength are difficult to independently push the vehicle, and realizing quick vehicle moving.

Alternatively, in any of the embodiments disclosed above, it is contemplated that when a blocked owner wants to push a vehicle forward, the blocked owner will move to the rear of the vehicle and close to the vehicle while ensuring that no one is within a certain distance in front of the vehicle; when the blocked vehicle owner wants to push the vehicle to move backward, the blocked vehicle owner moves to the front of the vehicle and approaches the vehicle, and meanwhile, the blocked vehicle owner can ensure that no person is in a certain distance behind the vehicle.

Step S11: judging whether the first condition and the second condition are met or not respectively; when it is detected that the first condition is satisfied but the second condition is not satisfied, proceeding to step S12; when it is detected that the second condition is satisfied but the first condition is not satisfied, proceeding to step S13;

wherein the first condition is that an obstacle exists within a preset distance from the tail (for example, within 30cm from the tail), and the second condition is that an obstacle exists within a preset distance from the head (for example, within 30cm from the head); whether an obstacle is present or not can be determined by a vehicle radar (front and rear radar) or a vehicle camera (for example, a vehicle looking around system).

Step S12: and judging that someone intends to push the vehicle forward, and ending the judgment of the present wheel.

Step S13: and judging that someone intends to push the vehicle to retreat, and ending the judgment of the present wheel.

Optionally, when the first condition and the second condition are detected to be satisfied, the parking is forbidden to be released, and the vehicle owner side mobile terminal can be reported at the same time, for example: the movement of the vehicle is limited, and the power assisting trolley is closed.

The above method for detecting whether someone intends to push the vehicle forward or backward is to judge the person as the only obstacle, but in reality, the obstacle approaching the vehicle may be a person or an object, if there is an object other than a person approaching the vehicle, in order to avoid false triggering of the function of the power-assisted cart, a camera (for example, a vehicle looking around the camera) may be used to identify whether the obstacle is a person or an object, that is, the first condition is replaced by a person within a preset distance from the vehicle tail, and the second condition is replaced by a person within a preset distance from the vehicle head.

Of course, other ways of detecting whether the person intends to push the vehicle forward or backward may be adopted, for example, detecting by using a pressure sensor disposed on the vehicle body (pressure may be generated when the person pushes the vehicle), which will not be described herein.

In any of the embodiments disclosed above, when the vehicle is in the D gear or the R gear, the intention judgment of the person outside the vehicle is continuously performed, if it is detected that the person is intentionally pushing the vehicle to continue to move along the current direction during the movement of the vehicle, the vehicle torque assistance is continuously provided, and once it is detected that the person is not intentionally pushing the vehicle to continue to move along the current direction, the vehicle is controlled to be engaged in the P gear or the N gear, thereby stopping the vehicle torque assistance and saving energy.

Alternatively, based on any of the embodiments disclosed above, when the vehicle is in either D or R range, if an obstacle (including people and objects) is detected within a preset distance from the vehicle in the direction of movement of the vehicle, the vehicle is controlled to engage either P or N range to avoid the risk of collision.

Optionally, based on any embodiment disclosed above, when the vehicle is in D gear or R gear, the embodiment of the present application further performs safety protection on the vehicle based on the vehicle speed, and specifically includes: the vehicle is controlled to engage in P or N range when the vehicle speed exceeds a preset vehicle speed (the preset vehicle speed is, for example, 3 kph) or when the time during which the vehicle speed is sustained at zero exceeds a preset time (the preset time is, for example, 3 minutes). The former speed judgment avoids the danger of vehicle out of control caused by too fast speed, and the latter speed judgment avoids the problems of vehicle engine locked-up and the like.

Optionally, based on any of the embodiments disclosed above, when the vehicle is in D gear or R gear, the vehicle may be further safely protected in combination with the vehicle acceleration, as shown in fig. 5, which specifically includes:

step S21: detecting whether someone intends to push the vehicle to continue moving along the current direction (still can be judged by the method shown in fig. 4), if not, entering step S22, if yes, entering step S27;

step S22: judging whether the vehicle acceleration is greater than 0, if not, proceeding to step S23, if yes, proceeding to step S26;

step S23: controlling a braking system of the vehicle to apply braking force to the wheels, and then proceeding to step S24;

step S24: judging whether the vehicle is intended to be pushed to continue moving along the current direction, if not, returning to the step S23, and if so, entering the step S25;

step S25: releasing the braking force until the control of the present wheel is finished;

step S26: and controlling the vehicle to flameout and resume parking, and ending the control of the present wheel.

Step S27: maintaining the function of the power-assisted cart, and ending the control of the present wheel.

Specifically, in the embodiment shown in fig. 5, when no one intends to push the vehicle to move continuously in the current direction and the vehicle acceleration a is less than or equal to 0, it is indicated that the vehicle does not accelerate under the condition of no one pushing, and at this time, the person of the cart may leave briefly, and the vehicle continues to move by virtue of inertia, so that the braking system of the vehicle is controlled to apply braking force to the wheels (that is, the braking system is used to apply braking force to the wheels, so that the wheels are decelerated or stopped to rotate, and the vehicle is decelerated or stopped), so as to avoid collision; when the car pusher returns to the original position and continues to push the car manually, the braking force is released.

In the embodiment shown in fig. 5, when no one intends to push the vehicle to continue moving along the current direction and the acceleration of the vehicle is greater than 0, it is indicated that the vehicle accelerates under the condition of no one pushing, and at this time, the vehicle is most likely pushed into a ramp, so that the vehicle is controlled to flameout and resume parking, and the risk of the vehicle being out of control is avoided.

Optionally, based on any one of the embodiments disclosed above, the vehicle control method further includes: when the time of receiving an exit instruction sent by the vehicle owner to the vehicle owner side moving terminal or receiving a parking releasing instruction reaches a preset time, controlling the vehicle to flameout and recovering the parking. The parking is resumed by engaging the P range and pulling up the EPB.

In addition, the embodiment of the application also discloses a vehicle-mounted controller, as shown in fig. 6, which comprises: a processor and a memory, the processor having stored thereon a computer program which, when executed by the processor, implements any of the vehicle control methods as disclosed above as applied to an on-board controller.

In addition, the embodiment of the application also discloses a vehicle, which comprises the following components: such as any of the vehicle controllers disclosed above.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the vehicle-mounted controller and the vehicle disclosed in the embodiments, since the vehicle-mounted controller and the vehicle correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant points are only referred to the description of the method section.

The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar different objects and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the embodiments of the application. Thus, the present embodiments are not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A vehicle control method, characterized by being applied to an in-vehicle controller, comprising:

responding to a parking releasing request sent by a vehicle owner side mobile terminal, and detecting whether a person intends to push the vehicle forward or backward;

when the fact that the driver intentionally pushes the vehicle to advance is detected, controlling the vehicle to start, engaging a forward gear, releasing an electronic hand brake, and controlling the actual output torque of the vehicle to be smaller than the torque required by the vehicle to drive away;

when the fact that the driver intentionally pushes the vehicle to back is detected, the vehicle is controlled to start, the reverse gear is engaged, the electronic hand brake is released, and the actual output torque of the vehicle is controlled to be smaller than the torque required by the driver to drive away.

2. The vehicle control method according to claim 1, characterized in that the detecting whether someone intends to push the vehicle forward or backward includes:

judging whether the first condition and the second condition are met or not respectively; the first condition is that an obstacle exists in a preset distance from the tail of the vehicle, and the second condition is that an obstacle exists in a preset distance from the head of the vehicle;

when it is detected that the first condition is satisfied but the second condition is not satisfied, it is determined that there is an intention to push the vehicle forward;

when it is detected that the second condition is satisfied but the first condition is not satisfied, it is determined that an intention is to push the vehicle backward.

3. The vehicle control method according to claim 2, characterized in that release of parking is prohibited when both the first condition and the second condition are satisfied.

4. The vehicle control method according to claim 2, characterized in that:

the first condition is replaced with: a person is within a preset distance from the tail of the vehicle;

the second condition is replaced with: people are within a preset distance from the headstock.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that the vehicle control method further includes:

when the vehicle is in a forward gear or a reverse gear, once no one is detected to push the vehicle to continue moving along the current direction, the vehicle is controlled to be in a parking gear or a neutral gear.

6. The vehicle control method according to any one of claims 1 to 4, characterized in that the vehicle control method further includes:

when the vehicle is in a forward gear or a reverse gear, if an obstacle is detected within a preset distance from the vehicle in the moving direction of the vehicle, the vehicle is controlled to enter a parking gear or a neutral gear.

7. The vehicle control method according to any one of claims 1 to 4, characterized in that the vehicle control method further includes:

when the vehicle is in a forward gear or a reverse gear, the vehicle is controlled to enter a parking gear or a neutral gear when the vehicle speed exceeds a preset vehicle speed or the time when the vehicle speed is continuously zero exceeds a preset time.

8. The vehicle control method according to any one of claims 1 to 4, characterized in that the vehicle control method further includes:

when the vehicle is in a forward gear or a reverse gear, when no one is detected to push the vehicle to continue moving along the current direction and the acceleration of the vehicle is less than or equal to 0, controlling a braking system of the vehicle to apply braking force to wheels;

when it is detected that no one intends to push the vehicle to continue moving in the current direction and the vehicle acceleration is greater than 0, the vehicle is controlled to flameout and parking is resumed.

9. A vehicle-mounted controller, characterized by comprising: a processor and a memory, the processor having stored thereon a computer program which, when executed by the processor, implements the vehicle control method according to any one of claims 1 to 8.

10. A vehicle, characterized by comprising: the in-vehicle controller of claim 9.