CN110228452A - Automatic parking control method, control system and automobile - Google Patents
Automatic parking control method, control system and automobile Download PDFInfo
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- CN110228452A CN110228452A CN201910528238.4A CN201910528238A CN110228452A CN 110228452 A CN110228452 A CN 110228452A CN 201910528238 A CN201910528238 A CN 201910528238A CN 110228452 A CN110228452 A CN 110228452A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000006870 function Effects 0.000 claims description 109
- 230000015654 memory Effects 0.000 claims description 14
- 230000003213 activating effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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Classifications
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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
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
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- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of automatic parking function control method, control system and automobiles, control method includes: when automatic parking state, car speed, brake pedal status reach the operating condition for opening parking function, obtain pressure of wheel braking cylinder signal, and when pressure of wheel braking cylinder signal reaches the trigger condition for opening parking function, brake clamping wheel；And/or when automatic parking state, car speed, brake pedal status reach the operating condition for closing parking function, pressure of wheel braking cylinder signal is obtained, and when pressure of wheel braking cylinder signal reaches the trigger condition for closing parking function, releasing of brake wheel.Present invention combination automatic parking state, car speed, brake pedal status and pressure of wheel braking cylinder signal judge that the operation of driver is intended to, and open and close automatically parking function, are not required to driver and operate manually；And it demarcates in the pressure of wheel braking cylinder signal for opening parking function, has been not in that pressure maintaining is insufficient the case where car slipping, improves the experience sense of driving of driver.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an automatic parking control method, an automatic parking control system and an automobile.
Background
The automatic parking function is that when the vehicle is temporarily parked, a driver automatically starts the parking function under the conditions that long-time braking is not needed and electronic parking braking is started, so that unnecessary sliding of the vehicle is avoided.
At present, the automatic parking function of the automobile on the market is controlled to be turned on and off through physical keys or virtual keys, and the controller turns on or turns off the automatic parking function when receiving a voltage signal. The control method is started and closed by a driver, manual operation of the driver is needed, and the steps are complicated; when the automatic parking function is started, the subjective idea of a driver is relied on, the pressure signal of a wheel cylinder is not referred, the pressure is easy to be insufficient when the automatic parking function is started, and then the vehicle slipping is caused.
Therefore, it is desirable to provide an automatic parking control method and control system that automatically turns on and off an automatic parking function in conjunction with a wheel cylinder pressure, recognizing a driver's intention.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic parking control method and a control system which can automatically turn on and off an automatic parking function by combining wheel cylinder pressure, identifying the intention of a driver.
The technical scheme of the invention provides an automatic parking function control method, which comprises the following steps:
acquiring an automatic parking state, a vehicle speed and a brake pedal state;
when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of starting the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of starting the parking function, clamping wheels by a brake; and/or
And when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of closing the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of closing the parking function, releasing wheels by a brake.
According to the invention, whether the operating condition for starting or closing the parking function is achieved is automatically judged according to the vehicle speed and the brake pedal state, and the parking function is started or closed only when the calibrated wheel cylinder pressure signal achieves the set triggering condition, so that the intelligent control of the automatic parking function is realized.
Further, the operating condition for activating the parking function includes:
the automatic parking state is in an off state; and/or
The vehicle speed is gradually reduced to a preset speed threshold; and/or
The brake pedal is in a stepping state.
And judging whether the driver has the brake stopping possibility or not and whether the driver has the brake stopping intention or not according to the automatic parking state, the vehicle speed and the brake pedal state.
Further, the wheel cylinder pressure signal at this time is acquired for use in determining the operation intention of the driver:
if the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of starting the parking function, the obtained wheel cylinder pressure signal comprises:
a first pressure of the wheel cylinder at a preset detection speed of the vehicle; and/or
And the second pressure of the wheel cylinder when the brake pedal is pressed down for a distance less than a preset distance threshold value and the brake pedal is pressed down again for a time exceeding a preset time threshold value.
Further, if the first pressure is greater than a preset pressure threshold, the triggering condition for starting the parking function is as follows: the second pressure is greater than or equal to the sum of the first pressure and a preset pressure comparison value, and the vehicle speed is less than a preset speed threshold;
if the first pressure is smaller than a preset pressure threshold value; the triggering conditions for starting the parking function are as follows: the second pressure is greater than a preset pressure threshold and the vehicle speed is less than a preset speed threshold.
Judging according to the acquired wheel cylinder pressure signal so as to acquire whether the driver has an operation intention of braking and stopping; and meanwhile, the pressure of the wheel cylinder is calibrated, and when the calibrated pressure of the wheel cylinder is reached, braking is carried out again, so that the situation of vehicle sliding caused by insufficient pressure maintaining of a brake is avoided.
Further, the operating condition for turning off the parking function includes:
the automatic parking state is in an on state; and/or
The vehicle speed is less than a preset speed threshold; and/or
The brake pedal is in a released state.
And judging whether the operation of turning off the parking function is possible and whether the driver has the intention of starting the vehicle at the moment according to the automatic parking state, the vehicle speed and the brake pedal state.
Further, the wheel cylinder pressure signal at this time is acquired for use in determining the operation intention of the driver:
if the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of closing the parking function, the obtained wheel cylinder pressure signal comprises:
a third pressure of the wheel cylinder when the brake pedal is in a depressed state.
Further, the triggering condition for turning off the parking function includes:
the third pressure is greater than a preset pressure threshold, and the time that the brake pedal is in a treading state exceeds a preset time threshold.
It is determined whether the driver has an intention to start the vehicle at this time, based on the acquired wheel cylinder pressure signal.
The invention also provides an automatic parking control system for realizing the automatic parking control method, which comprises
At least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring an automatic parking state, a vehicle speed and a brake pedal state;
when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of starting the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of starting the parking function, clamping wheels by a brake; and/or
And when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of closing the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of closing the parking function, releasing wheels by a brake.
The automatic parking control method according to the invention is written as program instructions stored in at least one memory, which are executed by at least one processor communicatively connected to the memory, the processor being able to directly acquire the data required in the automatic parking control method or being communicatively connected to the execution element acquiring said data.
The invention also provides an automobile which comprises the automatic parking control system, and the automatic parking control system is used for realizing the automatic parking method, realizing the automatic control of the automatic parking function of the automobile, reducing the operation of a driver and improving the driving experience.
After adopting above-mentioned technical scheme, have following beneficial effect:
whether the vehicle state meets the operation condition of starting or closing the parking function is judged by judging the automatic parking state, the vehicle speed and the brake pedal state, the operation intention of a driver is judged by combining a wheel cylinder pressure signal after the corresponding condition is met, the parking function is automatically started and closed, and the driver does not need to manually operate; and the pressure signal of the wheel cylinder with the parking function is calibrated, the situation of sliding caused by insufficient pressure maintaining is avoided, and the driving experience of a driver is improved.
Drawings
The disclosure of the present invention will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present disclosure. In the figure:
FIG. 1 is a flow chart of an automatic park function control method in an embodiment of the present invention;
fig. 2 is a hardware connection diagram of an automatic parking function control system according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
It is easily understood that according to the technical solution of the present invention, those skilled in the art can substitute various structures and implementation manners without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as limiting or restricting the technical aspects of the present invention.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms.
The automatic parking function control method in the embodiment includes the following steps:
s01: acquiring an automatic parking state, a vehicle speed and a brake pedal state;
s02-1: when the automatic parking state, the vehicle speed and the brake pedal state all reach the operating condition of starting the parking function, acquiring a wheel cylinder pressure signal;
s03-1: when the wheel cylinder pressure signal reaches a triggering condition for starting a parking function, a brake clamps wheels; and/or
S02-2: when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of closing the parking function, acquiring a wheel cylinder pressure signal;
s03-2: when the wheel cylinder pressure signal reaches a triggering condition for closing the parking function, the brake releases the wheels.
In the embodiment, the driver does not need to manually turn on and off the automatic parking function, and whether the vehicle state reaches the operation condition of turning on the parking function or turning off the parking function is judged through the automatic parking state, the vehicle speed and the brake pedal state, for example, the automatic parking state is the off state, the vehicle is decelerating and is the operation condition of turning on the parking function, the automatic parking state is the on state, and the vehicle is about to start and is the operation condition of turning off the parking function.
If the vehicle state reaches the operation condition for starting the parking function, starting to detect whether the wheel cylinder pressure signal reaches the triggering condition for starting the parking function, pre-judging the operation intention of a driver by combining the operation condition for starting the parking function and the triggering condition, and starting the automatic parking function to control a brake to clamp wheels when the driver stops the vehicle according to the pre-judging result; the process marks the wheel cylinder pressure signal of the parking function, and the situation of sliding due to insufficient pressure maintaining can be avoided.
And if the vehicle state reaches the operation condition for closing the parking function, detecting whether the wheel cylinder pressure signal reaches the triggering condition for closing the parking function, pre-judging the operation intention of the driver by combining the operation condition for closing the parking function and the triggering condition, and closing the automatic parking function and controlling a brake to release wheels if the pre-judging result is that the driver is preparing to start the vehicle.
Further, the operation conditions for activating the parking function include:
the automatic parking state is in a closing state; and/or
Gradually reducing the vehicle speed to a preset speed threshold; and/or
The brake pedal is in a depressed state.
When the automatic parking function is in an off state, the driver steps on the brake pedal to gradually reduce the vehicle speed to a preset speed threshold value, and the preset speed threshold value tends to zero, wherein the preset speed threshold value is 0.1kph in the embodiment; at this time, an operation of braking and stopping the vehicle is possible, that is, an operation condition of the automatic parking function is achieved.
Further, if the automatic parking state, the vehicle speed and the brake pedal state all reach the operating condition of starting the parking function, the obtained wheel cylinder pressure signal comprises:
a first pressure of the wheel cylinder at a vehicle speed of a preset detection speed; and/or
And the second pressure of the wheel cylinder when the brake pedal is pressed for a distance less than a preset distance threshold value and the brake pedal is pressed again for a time exceeding a preset time threshold value.
Specifically, during braking, the driver first decelerates the vehicle by continuously stepping on the brake pedal, and brakes the vehicle by stepping on the brake pedal again when the vehicle is about to stop. The following data are acquired: in the embodiment, the preset detection speed is 0.1 kph; the preset time threshold is 100 ms; can be adjusted according to different automobile models;
when the vehicle speed is 0.1kph, the vehicle is decelerated to be close to zero, and a first pressure signal of a wheel cylinder before braking is acquired at the moment; when the driver treads the brake pedal again and the duration time exceeds 100ms, the fact that the driver treads the brake pedal to brake is explained, and a second pressure signal of the wheel cylinder during braking is obtained.
Because the brake pedal stroke is longer, the driver tramples the brake pedal strength for the first time when controlling the automobile to decelerate, and the stroke of brake pedal compression is less than the preset stroke threshold value, and the trampling force is increased during braking, so that the stroke of brake pedal compression is increased. Therefore, the first treading stroke of the brake pedal is smaller than the preset stroke threshold, and the second treading stroke is larger than the preset stroke threshold, so that whether the driver treads the brake pedal again can be judged.
Further, if the first pressure is greater than the preset pressure threshold, the triggering condition for starting the parking function is as follows: the second pressure is greater than or equal to the sum of the first pressure and a preset pressure comparison value, and the vehicle speed is less than a preset speed threshold value;
if the first pressure is smaller than a preset pressure threshold value; the triggering conditions for starting the parking function are as follows: the second pressure is greater than a preset pressure threshold and the vehicle speed is less than a preset speed threshold.
Specifically, at this time, the preset pressure threshold is 20bar, the preset pressure comparison value is 5bar, and the preset speed threshold is 0.1 kph;
when the vehicle speed is less than 0.1kph, namely the vehicle is in a stop state or a state about to stop, if the first pressure is more than 20bar, the brake pedal stepping force is large during deceleration, for example, the vehicle condition is not good for emergency deceleration, because the compression stroke of the brake pedal is long during deceleration, the wheel cylinder pressure is large, and the compression stroke of the brake pedal is short during re-stepping during braking, at the moment, the automatic parking function can be triggered to be started only by judging that the second pressure is more than the first pressure by at least 5 bar;
when the vehicle speed is less than 0.1kph, namely the vehicle is in a stop state or is about to stop, if the first pressure is less than 20bar, the stepping force of the brake pedal is small during deceleration, which generally belongs to the normal deceleration condition, and the compression stroke of the brake pedal is short, so that the compression stroke of the brake pedal is long during braking, in order to achieve the braking effect, the driver can increase the stepping force, at this moment, the second pressure is required to be determined to be more than 20bar, and the intention of the driver at this moment can be determined to prepare for braking, so that the automatic parking function is started.
Further, the operating conditions for turning off the parking function include:
the automatic parking state is in an opening state; and/or
The vehicle speed is less than a preset speed threshold; and/or
The brake pedal is in a released state.
In the embodiment, the preset speed threshold is 0.1kph, which indicates that the vehicle speed is almost zero at the moment; and the automatic parking function is in an on state. At the moment, the automatic parking function is started, the driver cannot step on the brake pedal at the moment, the brake pedal is in a released state, and the operating condition of closing the automatic parking function is met.
Further, if the automatic parking state, the vehicle speed and the brake pedal state all reach the operating condition of closing the parking function, the obtained wheel cylinder pressure signal includes:
a third pressure of the wheel cylinder when the brake pedal is in a depressed state.
When the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of closing the parking function, if the brake pedal is in a treading state, the driver possibly has the intention of releasing the parking, the wheel cylinder pressure signal at the moment needs to be obtained, and then whether the driver has the intention of releasing the parking is judged according to the wheel cylinder pressure signal.
Further, the triggering condition for turning off the parking function includes:
the third pressure is greater than a preset pressure threshold, and the time that the brake pedal is in the depressed state exceeds a preset time threshold.
At this time, the preset pressure threshold is 20bar, the preset time threshold is 200ms, if the driver intends to release the parking, the brake pedal is stepped with a large force and stays for a certain time, and specifically, the determination is made according to whether the third pressure is greater than 20bar and the duration time of the stepping state of the brake pedal exceeds 200 ms.
In summary, as shown in fig. 1, the automatic parking control flow of the present embodiment is as follows:
s01: acquiring an automatic parking state, a vehicle speed and a brake pedal state;
s21-1: if the automatic parking state is in the off state, the brake pedal is in the stepping state and the vehicle speed is gradually reduced and tends to zero, the triggering condition for starting the parking function is reached, and the steps S22-1 to S32-1 are executed;
s21-2, if the automatic parking state is in an opening state, the brake pedal is in a releasing state and the vehicle speed is less than 0.1 kph; a trigger condition for turning off the parking function is reached, and steps S22-2-through S32-2 are performed;
s22-1: acquiring a wheel cylinder pressure signal, specifically comprising:
a first pressure of the wheel cylinder at a vehicle speed of 0.1 kph;
the distance of the stepped brake pedal is smaller than a preset distance threshold value, and the second pressure of the wheel cylinder is obtained when the time for stepping the brake pedal again exceeds 100 ms;
s31-1: the first pressure is greater than 20bar, the second pressure is at least 5bar greater than the first pressure, and the vehicle speed is less than 0.1 kph; or
The first pressure is less than 20bar, the second pressure is greater than 20bar, and the vehicle speed is less than 0.1 kph;
the automatic parking function is started;
s32-1: the brake clamps the wheel;
s22-2: acquiring a wheel cylinder pressure signal: a third pressure at which the brake pedal is in a depressed state;
s31-2: if the third pressure is greater than 20bar and the brake pedal is in a treading state for more than 200ms, the automatic parking function is closed;
s32-2: the brake releases the wheel.
The preset pressure threshold value and the preset pressure comparison value in the embodiment are optimal critical values obtained through multiple tests, and the data obtained through the tests are used as the standard when the numerical values of vehicles of different models are slightly deviated; the preset time threshold value of the brake pedal in the treading state can be adjusted and calibrated according to practical application.
The embodiment also includes an automatic parking control system for implementing the aforementioned automatic parking control method, including
At least one processor 1; and the number of the first and second groups,
a memory communicatively connected to the at least one processor 1; wherein,
the memory stores instructions executable by the at least one processor 1 to enable the at least one processor 1 to:
acquiring an automatic parking state, a vehicle speed and a brake pedal state;
when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of starting the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of starting the parking function, a brake 2 clamps wheels; and/or
And when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of closing the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of closing the parking function, releasing wheels by the brake 2.
Specifically, if the vehicle state reaches the operation condition for starting the parking function, detecting whether the wheel cylinder pressure signal reaches the triggering condition for starting the parking function, pre-judging the operation intention of the driver by combining the operation condition for starting the parking function and the triggering condition, and starting the automatic parking function and controlling the brake 2 to clamp the wheels when the pre-judging result is that the driver stops the vehicle; when the automatic parking function is started, the pressure of the wheel cylinder is obtained, and the situation of sliding due to insufficient pressure maintaining is not easy to occur.
And if the vehicle state reaches the operation condition for closing the parking function, detecting whether the wheel cylinder pressure signal reaches the triggering condition for closing the parking function, pre-judging the operation intention of the driver by combining the operation condition for closing the parking function and the triggering condition, and closing the automatic parking function and controlling the brake 2 to release the wheels if the pre-judging result is that the driver is preparing to start the vehicle.
Taking the automatic parking control system shown in fig. 2 as an example, the automatic parking control system may further include a brake pedal switch 3, a wheel cylinder pressure sensor 4, and a wheel speed sensor 5.
The brake pedal switch 3, the wheel cylinder pressure sensor 4 and the wheel speed sensor 5 may be electrically connected or communicatively connected to the processor 1, for example, electrically connected.
The brake pedal switch 3 is used to acquire a brake pedal state, the wheel cylinder pressure sensor 4 is used to acquire a wheel cylinder pressure signal, and the wheel speed sensor 5 is used to acquire a vehicle speed.
The two processors 1 provided in the present embodiment are vehicle microcomputers (ECUs) 1(1), 1(2), and memories are integrated in the vehicle microcomputers (ECUs) 1(1), 1 (2).
As a non-volatile computer-readable storage medium, the memory may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic parking control method in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory, that is, implements the automatic parking control method in the above-described embodiments.
The memory may include a stored program area and a stored data area, wherein the stored program area may store an application program required by the automatic parking control method; the storage data area may store data such as a brake pedal state, a wheel cylinder pressure signal, a vehicle speed, and the like acquired by the brake pedal switch 3, the wheel cylinder pressure sensor 4, and the wheel speed sensor 5. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
The embodiment further comprises an automobile, wherein the automatic parking control system in the embodiment is installed, the automatic parking control method in the embodiment is adopted to realize automatic control of the automatic parking function of the automobile, the automatic parking function does not need to be manually turned on and off, the operation of a driver is reduced, and the driving experience is improved.
The foregoing is considered as illustrative only of the principles and preferred embodiments of the invention. It should be noted that, for those skilled in the art, several other modifications can be made on the basis of the principle of the present invention, and the protection scope of the present invention should be regarded.
Claims (9)
1. An automatic parking function control method is characterized by comprising the following steps:
acquiring an automatic parking state, a vehicle speed and a brake pedal state;
when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of starting the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of starting the parking function, clamping wheels by a brake; and/or
And when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of closing the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of closing the parking function, releasing wheels by a brake.
2. The automatic parking function control method according to claim 1, wherein the operation condition for activating the parking function includes:
the automatic parking state is in an off state; and/or
The vehicle speed is gradually reduced to a preset speed threshold; and/or
The brake pedal is in a stepping state.
3. The automatic parking function control method according to claim 2, wherein the wheel cylinder pressure signal obtained if the automatic parking state, the vehicle speed, and the brake pedal state all reach the operating condition for activating the parking function includes:
a first pressure of the wheel cylinder at a preset detection speed of the vehicle; and/or
And the second pressure of the wheel cylinder when the brake pedal is pressed down for a distance less than a preset distance threshold value and the brake pedal is pressed down again for a time exceeding a preset time threshold value.
4. The automatic parking function control method according to claim 3,
if the first pressure is greater than a preset pressure threshold, the triggering condition for starting the parking function is as follows: the second pressure is greater than or equal to the sum of the first pressure and a preset pressure comparison value, and the vehicle speed is less than a preset speed threshold;
if the first pressure is smaller than a preset pressure threshold value; the triggering conditions for starting the parking function are as follows: the second pressure is greater than a preset pressure threshold and the vehicle speed is less than a preset speed threshold.
5. The automatic parking function control method according to claim 1, wherein the operation condition for turning off the parking function includes:
the automatic parking state is in an on state; and/or
The vehicle speed is less than a preset speed threshold; and/or
The brake pedal is in a released state.
6. The automatic parking function control method according to claim 5, wherein the wheel cylinder pressure signal obtained if the automatic parking state, the vehicle speed, and the brake pedal state all reach the operation condition for turning off the parking function includes:
a third pressure of the wheel cylinder when the brake pedal is in a depressed state.
7. The automatic parking function control method according to claim 6, wherein the trigger condition for turning off the parking function includes:
the third pressure is greater than a preset pressure threshold, and the time that the brake pedal is in a treading state exceeds a preset time threshold.
8. An automatic parking control system for implementing the automatic parking control method according to any one of claims 1 to 7, characterized by comprising
At least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring an automatic parking state, a vehicle speed and a brake pedal state;
when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of starting the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of starting the parking function, clamping the wheels by the brake; and/or
And when the automatic parking state, the vehicle speed and the brake pedal state all reach the operation condition of closing the parking function, acquiring a wheel cylinder pressure signal, and when the wheel cylinder pressure signal reaches the triggering condition of closing the parking function, releasing wheels by the brake.
9. An automobile, characterized by comprising an automatic parking control system according to any one of claims 1 to 7.
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| CN201910528238.4A CN110228452B (en) | 2019-06-18 | 2019-06-18 | Automatic parking control method and system and automobile |
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| CN201910528238.4A CN110228452B (en) | 2019-06-18 | 2019-06-18 | Automatic parking control method and system and automobile |
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| CN110228452B CN110228452B (en) | 2020-10-02 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086502A (en) * | 2019-12-30 | 2020-05-01 | 宁波吉利汽车研究开发有限公司 | A control method, device and vehicle for an electronic parking brake system |
| CN111422173A (en) * | 2020-03-13 | 2020-07-17 | 宁波吉利汽车研究开发有限公司 | Automatic parking method and device and storage medium |
| CN111762139A (en) * | 2020-06-29 | 2020-10-13 | 北京汽车集团越野车有限公司 | Brake system, control method thereof and vehicle |
| CN112319686A (en) * | 2020-10-30 | 2021-02-05 | 北京六十六号互动科技有限公司 | Method and device for controlling parking of vehicle, electric scooter and storage medium |
| CN112721658A (en) * | 2021-02-01 | 2021-04-30 | 东风小康汽车有限公司重庆分公司 | Automatic parking control method and control system |
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| CN112959988A (en) * | 2021-04-15 | 2021-06-15 | 浙江吉利控股集团有限公司 | Automatic parking function activation method, automobile and computer-readable storage medium |
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| CN114889573A (en) * | 2022-05-23 | 2022-08-12 | 一汽解放青岛汽车有限公司 | Temporary parking method, device, electronic equipment and storage medium |
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