CN110723136A - Method and system for activating automatic parking function, storage medium and vehicle - Google Patents
Method and system for activating automatic parking function, storage medium and vehicle Download PDFInfo
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- CN110723136A CN110723136A CN201910979061.XA CN201910979061A CN110723136A CN 110723136 A CN110723136 A CN 110723136A CN 201910979061 A CN201910979061 A CN 201910979061A CN 110723136 A CN110723136 A CN 110723136A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000003213 activating effect Effects 0.000 title claims abstract description 14
- 230000004913 activation Effects 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 abstract description 8
- 230000000994 depressogenic effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- Automation & Control Theory (AREA)
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- Regulating Braking Force (AREA)
Abstract
The invention discloses a method, a system, a storage medium and a vehicle for activating an automatic parking function, which comprises the following steps of 1. detecting the gradient of a road in real time in the driving process of the vehicle, and finding out a pressure threshold value for activating the automatic parking function under the gradient by utilizing an interpolation method from a corresponding relation table of matched different gradients and an automatic parking activation pressure threshold; step 2, when the brake pedal is stepped until the vehicle is stationary, if the pressure signal of the brake master cylinder reaches a pressure threshold value, the automatic function is activated; if the pressure signal of the brake master cylinder does not reach the pressure threshold value, the automatic function is still in an opening state but is not activated until the driver continues to deeply step on the brake until the pressure of the master cylinder reaches the threshold requirement, and the automatic function is activated. The method can completely avoid the problems of vehicle sliding, towering, working noise and the like caused by inaccurate judgment of the 'static' state of the vehicle when the automatic is activated.
Description
Technical Field
The invention belongs to the technical field of vehicle parking, and particularly relates to an activation method and system of an automatic parking function, a storage medium and a vehicle.
Background
The automatic function (i.e., automatic parking function) is an additional function of an ESC (i.e., vehicle body stability control system) that currently improves the driving comfort and driving convenience of a vehicle.
The function can be started by pressing the automatic function switch. When the vehicle meets a red light or other road conditions at a crossroad and needs to be temporarily stopped, a user only needs to step on the brake pedal until the vehicle is static, the automatic function starts to be activated and keeps the current brake pressure, at the moment, the user does not need to continuously step on the brake pedal or manually pull up the electronic hand brake, and the vehicle can be kept stopped for a period of time (the time for keeping the brake pressure can be matched) so as to improve the driving comfort. In the time period, when the vehicle needs to start, the electronic hand brake does not need to be released, the brake pressure can be released only by stepping on the accelerator pedal, the vehicle normally runs away, and the driving convenience is improved.
The conventional automatic parking function has simple activation conditions, and can be activated only by 'stepping down a brake pedal until a vehicle is stationary'. The accuracy of the wheel speed sensor is limited, the judgment of the vehicle 'stationary' condition is not completely accurate, the vehicle stops by lightly stepping on the brake pedal, and a vehicle display instrument shows that the vehicle speed is 0, the automatic is activated, but actually the vehicle still rolls forwards at extremely low speed. Thus, when the logic determines that the vehicle is stationary and the Auto-hold is already active, two consequences may occur: one is that the driver can relax and be alert when in an automatic parking state, and the driver is easy to contact and collide with a front static vehicle; the other is that the vehicle speed is faster and faster, the ESC recognizes that the vehicle is not static, the electronic hand brake is actively boosted or suddenly and automatically pulled to forcibly stop the vehicle, the motor and the solenoid valve act, and the vehicle generates noise and erects to cause discomfort. Both of them not only affect the driving experience of the user, but also may cause safety accidents such as rear-end collision.
Therefore, it is necessary to develop a new activation method, system, storage medium, and vehicle for the automatic parking function.
Disclosure of Invention
The invention aims to provide an activation method, a system, a storage medium and a vehicle with an automatic parking function, which can completely avoid the problems of vehicle sliding, towering, working noise and the like caused by inaccurate judgment of a 'static' state of the vehicle when the automatic parking function is activated.
The invention relates to an activation method of an automatic parking function, which comprises the following steps:
step 1, detecting the gradient of a road in real time in the running process of a vehicle, and finding out a pressure threshold value for activating an automatic threshold function under the gradient by utilizing an interpolation method from a matched corresponding relation table of different gradients and the automatic threshold activation pressure threshold;
step 2, when the brake pedal is stepped until the vehicle is stationary, if the pressure signal of the brake master cylinder reaches a pressure threshold value, the automatic function is activated; if the pressure signal of the brake master cylinder does not reach the pressure threshold value, the automatic function is still in an opening state but is not activated until the driver continues to deeply step on the brake until the pressure of the master cylinder reaches the threshold requirement, and the automatic function is activated.
Further, the different slopes mean that the slopes do not exceed the range of +/-30%.
The invention relates to an activation system of an automatic parking function, comprising: a longitudinal acceleration sensor for checking the gradient of the road, and a controller electrically connected to the longitudinal acceleration sensor, said controller being programmed so as to carry out the steps of the method for activating the automatic parking function according to the invention.
A storage medium according to the present invention stores an executable program that, when executed by a processor, implements the steps of the method for activating an automatic parking function according to the present invention.
The invention provides a vehicle, which adopts the activation system of the automatic parking function.
The invention has the following advantages:
(1) selecting the pressure threshold activated by the automatic function through a linear interpolation method according to the gradient, so that each gradient value is not matched with the corresponding pressure threshold in the function matching process, and compared with the prior art, the matching process does not increase too much workload;
(2) the condition of pressure threshold judgment is added, starting from the aspect of functional logic, and a plurality of problems of vehicle sliding, pump valve action noise, vehicle cocking and the like can be avoided at the same time.
(3) The deep functional logic conditions are optimized, and compared with the existing functions, the use method has no difference on the user level and cannot change the use habits of the user.
Drawings
FIG. 1 is a flow chart of the prior art for activating the Autohold function;
FIG. 2 is a fault data screenshot of an automatic activated roll without a brake pressure threshold;
FIG. 3 is a flow chart of the Autohold function activation with the master cylinder pressure threshold increased.
Detailed Description
The invention will be further explained with reference to the drawings.
After the logic conditions (ignition, door, seat belt, etc.) of the basic Autohold function are met, the Autohold function is in a standby state.
Referring to FIG. 1, the ESC system determines whether the vehicle is "stationary" based solely on the standstill signal after the brake pedal is depressed. If "stationary," Authold activates; if not, the Autohold is not activated.
Referring to fig. 2, limited by wheel speed accuracy, the ESC system determines that a vehicle stationary state signal is not completely accurate (curve ②). when the vehicle is stationary, the actual wheel speed of the whole vehicle may not be zero (curve ③④⑤⑥, wheel speed data is 0.0.1125km/h), but creep forward (rolling) at an extremely low speed lower than a certain speed threshold, at this time, the automatic is in an activated state (curve ①), the hydraulic pressure of the brake master cylinder is 0bar (curve ⑧). if the vehicle is in a downhill working condition, the sliding speed is faster and faster, and when a certain value is reached, the ESC system determines that the vehicle is in a "non-stationary" state, so as to actively boost pressure (pump valve working noise exists) or pull up the electronic hand brake, instantly brake the vehicle, and the whole vehicle rises.
In view of the above problems, the present embodiment proposes an activation method of an automatic parking function, including the following steps:
step 1, detecting the gradient of a road in real time in the running process of a vehicle, and finding out a pressure threshold value for activating an automatic threshold function under the gradient by utilizing an interpolation method from a matched corresponding relation table of different gradients and the automatic threshold activation pressure threshold;
step 2, when a brake pedal is stepped on until a vehicle is stationary (a stand-dstill signal is set to be 1), if a master cylinder pressure signal (MasCylinderPressure) reaches a pressure threshold value, the automatic function is activated; if the pressure signal of the brake master cylinder does not reach the pressure threshold value, the automatic function is still in an opening state but is not activated until the driver continues to deeply step on the brake until the pressure of the master cylinder reaches the threshold requirement, and the automatic function is activated. The process of reaching the pressure threshold ensures that the vehicle is at a complete standstill.
In this embodiment, in the process of matching the corresponding relation table between the gradient and the auto hold activation pressure threshold, the pressure threshold for activating the auto hold function under different gradients (not exceeding ± 30%) needs to be set in consideration of the vehicle mass, the torque and other factors, and the pressure threshold needs to ensure that the vehicle is completely stationary and the starting dragging cannot be generated to the maximum extent.
Referring to fig. 3, after the brake pedal is depressed for the first time, the ESC system determines whether the vehicle is "stationary", and if not, the automatic function is not activated. If the vehicle is in the static state, the ESC system continuously judges whether the pressure of the brake master cylinder reaches a calibrated pressure threshold value (as shown in table 1, the calibrated example of the master cylinder pressure threshold corresponding to a slope) or not under the current static state, if the pressure of the brake master cylinder is greater than or equal to the pressure threshold value (the pressure threshold value is set to ensure that the vehicle is completely static), the automatic function is activated, otherwise, the automatic function is not activated, and the driver continuously and deeply steps on the brake pedal to reach the threshold value and then activates the automatic function.
Table 1: and the corresponding relation table of different gradients and the automatic threshold activation pressure threshold.
Table 1.
Claims (5)
1. A method of activating an automatic parking function, comprising the steps of:
step 1, detecting the gradient of a road in real time in the running process of a vehicle, and finding out a pressure threshold value for activating an automatic threshold function under the gradient by utilizing an interpolation method from a matched corresponding relation table of different gradients and the automatic threshold activation pressure threshold;
step 2, when the brake pedal is stepped until the vehicle is stationary, if the pressure signal of the brake master cylinder reaches a pressure threshold value, the automatic function is activated; if the pressure signal of the brake master cylinder does not reach the pressure threshold value, the automatic function is still in an opening state but is not activated until the driver continues to deeply step on the brake until the pressure of the master cylinder reaches the threshold requirement, and the automatic function is activated.
2. The activation method of the automatic parking function according to claim 1, characterized in that: the different slopes mean that the slopes do not exceed the range of +/-30%.
3. An activation system for an automatic parking function, comprising: a longitudinal acceleration sensor for checking a gradient of a road, and a controller electrically connected to the longitudinal acceleration sensor, characterized in that: the controller is programmed to carry out the steps of the method of activating an automatic parking function as claimed in claim 1 or 2.
4. A storage medium, characterized in that an executable program is stored, which when executed by a processor, carries out the steps of the method of activating an automatic parking function according to claim 1 or 2.
5. A vehicle, characterized in that: an activation system employing the automatic parking function according to claim 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910979061.XA CN110723136A (en) | 2019-10-15 | 2019-10-15 | Method and system for activating automatic parking function, storage medium and vehicle |
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| CN201910979061.XA CN110723136A (en) | 2019-10-15 | 2019-10-15 | Method and system for activating automatic parking function, storage medium and vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208357A (en) * | 2020-10-23 | 2021-01-12 | 大陆泰密克汽车系统（上海）有限公司 | Control method for parking brake system, parking brake system and vehicle |
| 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 |
| CN112758085A (en) * | 2021-01-28 | 2021-05-07 | 重庆长安汽车股份有限公司 | Method and system for controlling automatic parking speed of variable ramp, vehicle and storage medium |
| CN113071456A (en) * | 2021-05-14 | 2021-07-06 | 奇瑞商用车（安徽）有限公司 | Starting control method for automatic parking function |
| CN114030449A (en) * | 2021-12-15 | 2022-02-11 | 阿维塔科技(重庆)有限公司 | Automatic parking method, device, vehicle and computer storage medium |
| CN115027429A (en) * | 2022-05-31 | 2022-09-09 | 中国第一汽车股份有限公司 | Brake pressure threshold value iteration method, device, equipment and storage medium |
| CN115649137A (en) * | 2022-10-29 | 2023-01-31 | 重庆长安新能源汽车科技有限公司 | Parking brake control method, device, equipment and storage medium |
| CN117302126A (en) * | 2023-11-29 | 2023-12-29 | 中国第一汽车股份有限公司 | Vehicle control method, system, vehicle and storage medium |
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| CN115649137A (en) * | 2022-10-29 | 2023-01-31 | 重庆长安新能源汽车科技有限公司 | Parking brake control method, device, equipment and storage medium |
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| CN117302126B (en) * | 2023-11-29 | 2024-03-19 | 中国第一汽车股份有限公司 | Vehicle control method, system, vehicle and storage medium |
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