CN114030449A - Automatic parking method, device, vehicle and computer storage medium - Google Patents
Automatic parking method, device, vehicle and computer storage medium Download PDFInfo
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- CN114030449A CN114030449A CN202111537893.XA CN202111537893A CN114030449A CN 114030449 A CN114030449 A CN 114030449A CN 202111537893 A CN202111537893 A CN 202111537893A CN 114030449 A CN114030449 A CN 114030449A
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- 230000003213 activating effect Effects 0.000 claims abstract description 19
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- 238000001514 detection method Methods 0.000 claims description 26
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
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Abstract
The embodiment of the invention relates to the technical field of vehicles, and discloses an automatic parking method, which comprises the following steps: when the functional state of an electronic parking system of a vehicle is a standby state, detecting whether the vehicle accords with an automatic parking activating condition; the functional states include a standby state and an active state; if the vehicle is determined to accord with the automatic parking activating condition, switching the functional state of the electronic parking system to the activating state, and detecting whether the electronic parking system meets a clamping condition; and if the clamping condition is met, requesting the electronic parking system to clamp for parking. By applying the technical scheme of the invention, the hardware cost for realizing the automatic parking function can be saved, the accuracy of starting the automatic parking function of the vehicle can be ensured, and the condition of mistakenly triggering the automatic parking is effectively avoided, so that the overall efficiency of automatic parking of the vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to an automatic parking method, an automatic parking device, a vehicle and a computer-readable storage medium.
Background
At present, the technology applied to vehicles is more and more rapidly and comprehensively developed, wherein Automatic Vehicle Hold (AVH or auto Hold for short) is one of the rapidly developed technologies of various vehicles.
At present, the implementation process of the automatic parking function of the vehicle is roughly as follows: the driver of the vehicle presses a specific automatic parking button, then, when the vehicle monitors that the vehicle is in a static state and a certain hydraulic pressure state exists in a vehicle braking system, and the state is maintained for a certain time, the automatic parking function is activated immediately without any operation of the driver, the vehicle can automatically control the brake calipers to clamp the brake disc of the wheel for parking, and at the moment, the driver can release the brake pedal of the vehicle, but the vehicle still maintains the parking state. However, the above-mentioned automatic parking function must be implemented by hard-wiring to an ESP (Electronic Stability Controller) based on a preset specific automatic parking button, so that the overall hardware cost is high, and the vehicle is likely to be affected by the erroneous activation of the automatic parking function in a low-speed creep mode of the vehicle.
In conclusion, the existing automatic vehicle parking function needs to rely on higher hardware cost and is easy to trigger by mistake, so that the overall efficiency of automatic vehicle parking is low.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide an automatic parking method, which is used to solve the problem that in the prior art, the implementation of an automatic parking function needs to rely on higher hardware cost and is prone to false triggering, thereby resulting in low overall efficiency of automatic parking of a vehicle.
According to an aspect of an embodiment of the present invention, there is provided an automatic parking method, the method including:
when the functional state of an electronic parking system of a vehicle is a standby state, detecting whether the vehicle accords with an automatic parking activating condition; the functional states include a standby state and an active state;
if the vehicle meets the automatic parking activating condition, switching the functional state of the electronic parking system to the activating state, and detecting whether the electronic parking system meets a clamping condition;
and if the clamping condition is met, requesting the electronic parking system to clamp for parking.
Preferably, the step of switching the functional state of the electronic parking system to the activated state if it is determined that the vehicle meets the automatic parking activation condition specifically includes:
acquiring brake system pressure when the vehicle is running in a creep mode or a non-creep mode when the vehicle is stationary and the electronic parking system is available;
and if the pressure of the brake system is greater than a preset set value, determining that the vehicle meets the automatic parking activation condition, and switching the functional state of the electronic parking system from the standby state to the activation state.
Preferably, the step of switching the functional state of the electronic parking system to the activated state if it is determined that the vehicle meets the automatic parking activation condition specifically includes:
detecting whether a preset external request is received when the vehicle is stationary and the electronic parking system is available;
and if the preset external request is received, determining that the vehicle meets the automatic parking activation condition, and switching the functional state of the electronic parking system from the standby state to the activation state.
Preferably, before the step of detecting whether the vehicle meets the automatic parking activation condition when the functional state of the electronic parking system of the vehicle is a standby state, the method further comprises:
detecting a state parameter of the vehicle; the state parameters include: at least one of a driving state parameter, a safety belt state parameter, a seat state parameter, a door state parameter, an automatic parking function state parameter, an EPB function state parameter, and a vehicle gear state parameter of the vehicle;
determining whether the vehicle meets an automatic parking standby condition according to the state parameters;
and if so, switching the functional state of the electronic parking system to the standby state.
Preferably, the functional states of the electronic parking system further include: a closed state; the method further comprises the following steps:
and if the electronic parking system is detected not to meet the clamping condition, switching the functional state of the electronic parking system from the activated state to the standby state or the closed state.
Preferably, the functional states of the electronic parking system further include: a closed state; after the step of requesting the electronic parking system to clamp for parking, the method further includes:
detecting a clamping state of the electronic parking system after the vehicle is parked for a preset time;
and switching the functional state of the electronic parking system from the active state to the standby state or the off state according to the clamping state.
Preferably, the step of detecting whether the electronic parking system satisfies a clamping condition specifically includes:
detecting the accelerator state, the brake pedal state, the wheel state, the vehicle stable state and/or the clamping state of the vehicle to obtain a detection result;
and determining whether the electronic parking system meets a clamping condition according to the detection result.
According to another aspect of an embodiment of the present invention, there is provided an automatic parking device including:
the system comprises a detection module, a control module and a control module, wherein the detection module is used for detecting whether a vehicle accords with an automatic parking activation condition when the functional state of an electronic parking system of the vehicle is a standby state; the functional states include a standby state and an active state;
the state switching module is used for switching the functional state of the electronic parking system to the activated state and detecting whether the electronic parking system meets the clamping condition or not if the vehicle is determined to meet the automatic parking activation condition;
and the automatic parking module is used for requesting the electronic parking system to clamp for parking if the clamping condition is met.
According to another aspect of an embodiment of the present invention, there is provided a vehicle including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the automatic parking method as described above.
According to a further aspect of the embodiments of the present invention, there is provided a computer-readable storage medium having stored therein at least one executable instruction, which, when executed on an automatic parking device or a vehicle, causes the automatic parking device or the vehicle to perform the operations of the automatic parking method as described above.
According to the embodiment of the invention, when the functional state of the electronic parking system of the vehicle is the standby state of the standby state and the active state, whether the vehicle meets the automatic parking activation condition at present is detected, then, when the vehicle is determined to meet the automatic parking activation condition through detection, the functional state of the electronic parking system of the vehicle is switched to the active state, and whether the electronic parking system meets the clamping condition is further detected, so that when the system is detected to meet the clamping condition, the system can be requested to clamp to automatically park the vehicle.
Therefore, the automatic parking method provided by the invention CAN realize the activation, standby and closing of the automatic parking function through the transmission of the CAN network signal without the need of controlling a specific function button by a driver, saves the hardware cost for realizing the automatic parking function, and CAN execute the state switching of the automatic parking function only when the activation condition is detected to be met by detecting whether the vehicle meets the automatic parking activation condition, thereby ensuring the accuracy of starting the automatic parking function of the vehicle, effectively avoiding the condition of mistakenly triggering the automatic parking, and improving the overall efficiency of the automatic parking of the vehicle and the use experience of the driver of the vehicle.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.
Drawings
The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a schematic flow diagram of a first embodiment of an automatic parking method provided by the present invention;
FIG. 2 is a schematic diagram illustrating an application scenario involved in an embodiment of the automatic parking method provided by the present invention;
fig. 3 shows a detailed flowchart of step S120 in the first embodiment of the automatic parking method provided by the present invention;
fig. 4 shows another detailed flowchart of step S120 in the first embodiment of the automatic parking method provided by the present invention;
FIG. 5 is a schematic flow chart diagram illustrating a second embodiment of an automatic park method provided by the present invention;
fig. 6 shows a schematic structural view of a first embodiment of an automatic parking device provided by the present invention;
fig. 7 shows a schematic structural diagram of an embodiment of the device for realizing automatic parking of a vehicle provided by the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein.
Fig. 1 shows a flow chart of a first embodiment of the automatic parking method of the invention, which is performed by a vehicle. As shown in fig. 1, the method comprises the steps of:
step 110: when the functional state of an electronic parking system of a vehicle is a standby state, detecting whether the vehicle accords with an automatic parking activating condition; the functional states include a standby state and an active state.
In the whole process of starting the vehicle, when the functional state of the electronic parking system of the vehicle is a standby state, the vehicle continuously detects whether the automatic parking activating condition is met.
It should be noted that, in this embodiment and each embodiment described later, the vehicle may specifically detect various states of the vehicle continuously through an ESP (Electronic Stability Controller), transmit signals of detected various state parameters and the like through a form of a CAN network signal, and request and control the Electronic parking system of the vehicle to realize the standby, activation, and shutdown of the automatic parking function based on the form of the CAN network signal.
In an alternative manner, in step 110 above: when the functional state of the electronic parking system of the vehicle is a standby state, before detecting whether the vehicle meets the automatic parking activating condition, the automatic parking method of the invention may further include:
step 140: detecting a state parameter of the vehicle; the state parameters include: at least one of a driving state parameter, a safety belt state parameter, a seat state parameter, a door state parameter, an automatic parking function state parameter, an EPB function state parameter, and a vehicle gear state parameter of the vehicle;
during the whole starting process of the vehicle, when the functional state of the electronic parking system of the vehicle does not enter the standby state, the vehicle continuously detects the running state, the belt state, the seat state, the door state, the automatic parking functional state, the EPB functional state, and/or the vehicle gear state of the vehicle, so as to obtain at least one of the running state parameter, the belt state parameter, the seat state parameter, the door state parameter, the automatic parking functional state parameter, the EPB functional state parameter, and/or the vehicle gear state parameter of the vehicle.
Specifically, please refer to the signal definition list shown below, the vehicle continuously detects the various states of the vehicle through the vehicle body electronic stability control system in the whole process of starting operation, packages the detected various state parameters in the signal definition list, and transmits the signal definition list in the form of a CAN network signal, and the vehicle CAN know one or more of the various state parameters based on the signal definition list to perform subsequent specific judgment operation.
List of signal definitions:
step 150: determining whether the vehicle meets an automatic parking standby condition according to the state parameters;
step 160: and if so, switching the functional state of the electronic parking system to the standby state.
After the vehicle detects the one or more state parameters, whether the vehicle currently meets the automatic parking standby condition is further determined based on the state parameters, and therefore when the vehicle is determined to currently meet the automatic parking standby condition, the functional state of the electronic parking system of the vehicle is immediately switched from the current state to the standby state.
Specifically, referring to the application scenario shown in fig. 2, after the vehicle obtains the driving state parameter, the seat state parameter, the door state parameter, the automatic parking function state parameter, the EPB (Electrical Park Brake) function state parameter, and/or the vehicle shift state parameter of the vehicle detected by the vehicle body electronic stability control system through the network signal transmitted by the CAN communication network, if the vehicle determines that the driving state parameter indicates that the entire vehicle is the enable state, or if the seat state parameter indicates that the main driver seat has fastened the seat belt, or if the seat state parameter indicates that the main driver seat has a person to ride, or if the door state parameter indicates that the left front door of the vehicle is closed, or if the automatic parking function state parameter indicates that the automatic parking function has no fault, or, if it is determined that the EPB function state parameter indicates that the function of the electronic parking system is not faulty, or if it is determined that the vehicle gear state parameter indicates that the vehicle is currently in the N range, the vehicle determines that the automatic parking standby condition is currently met, and immediately transmits a signal through the CAN communication network to control the function state of the electronic parking system to be switched from the current state (which may be an off state or an active state) to the standby state, that is, to request to implement the function standby of the electronic parking system.
Step 120: if the vehicle is determined to accord with the automatic parking activating condition, switching the functional state of the electronic parking system to the activating state, and detecting whether the electronic parking system meets a clamping condition;
when the functional state of the electronic parking system of the vehicle is in a standby state and the vehicle is detected to be in accordance with the automatic parking activation condition currently, the vehicle controls the functional state of the electronic parking system to be switched to an activation state from the current standby state so as to activate the electronic parking function, and then the vehicle further detects whether the electronic parking system meets the clamping condition currently.
In the present embodiment, the clamping condition is a condition for causing an electronic parking system of a vehicle to control a caliper in a vehicle brake system to clamp for parking.
In an optional manner, in step 120, the step of detecting whether the electronic parking system satisfies the clamping condition may specifically include:
detecting the accelerator state, the brake pedal state, the wheel state, the vehicle stable state and/or the clamping state of the vehicle to obtain a detection result;
and determining whether the electronic parking system meets a clamping condition according to the detection result.
In the whole process of starting and running of the vehicle, the accelerator state, the brake pedal state, the wheel state, the vehicle stable state and/or the clamping state of the vehicle are detected, the detected detection result is transmitted on the basis of the CAN network signal form, and whether the electronic parking system of the vehicle meets the clamping condition at present is further determined on the basis of the detection result.
Specifically, if the detection result of the vehicle detecting the accelerator state is: the accelerator is pressed by the driver and causes the vehicle to move, or if the vehicle detects the state of the brake pedal, the detection result is: the pressure of the brake system of the pedal which is braked by the second foot of the driver is larger than a set value, or if the detection result of the vehicle for detecting the wheel state is as follows: wheel locking, or, if the vehicle detects that the vehicle is in a stable state, the detection result is: the vehicle sideslips, or if the vehicle detects the clamped state: the caliper of the EPB-controlled brake system is in a clamped state, the vehicle determines that the electronic parking system does not currently satisfy the clamping condition.
It should be understood that, when the vehicle determines that the vehicle state is opposite to the above-mentioned state through the detection result of detecting the above-mentioned accelerator state, brake pedal state, wheel state, vehicle stable state and/or clamping state, the vehicle determines that the electronic parking system currently satisfies the clamping condition.
It should be noted that, in this embodiment, the vehicle may also determine whether the electronic parking system currently satisfies the clamping condition based on the driving state parameter, the seat belt state parameter, the seat state parameter, the door state parameter, the automatic parking function state parameter, the EPB function state parameter, and/or the vehicle gear state parameter of the vehicle detected by the electronic stability control system.
Specifically, the vehicle detects, through one or more of the state parameters mentioned above: if the whole vehicle is in an inoperable state, or a main driving safety belt is not fastened, or a main driving seat is unmanned, or a left front door is not closed, or the function of the electronic parking system is failed, or the gear is N gear and a brake pedal is stepped down, or the EPB is failed, the vehicle determines that the electronic parking system does not meet the clamping condition at present.
It should be understood that when the vehicle state detected by the vehicle through the one or more state parameters corresponds to the opposite of the above state, the vehicle determines that the electronic parking system currently satisfies the clamping condition.
Referring to fig. 3, in an optional manner, in step 120, if it is determined that the vehicle meets the automatic parking activation condition, the step of switching the functional state of the electronic parking system to the activated state may specifically include:
step 1201: acquiring brake system pressure when the vehicle is running in a creep mode or a non-creep mode when the vehicle is stationary and the electronic parking system is available;
step 1202: and if the pressure of the brake system is greater than a preset set value, determining that the vehicle meets the automatic parking activation condition, and switching the functional state of the electronic parking system from the standby state to the activation state.
Specifically, when the vehicle is determined to be stationary through the running state parameters and the caliper of the brake system of the electronic parking system is clamped through the EPB function state parameters, whether the vehicle is in a creeping mode or a non-creeping mode currently, the pressure of the brake system generated by the vehicle through the stepping of a brake pedal by a driver in the creeping mode or the non-creeping mode is acquired; therefore, if the pressure of the brake system of the vehicle in the creeping mode is further detected to be larger than a first set value, or the pressure of the brake system of the vehicle in the non-creeping mode is further detected to be larger than a second set value smaller than the first set value, the vehicle immediately determines that the electronic parking system meets the clamping condition, and synchronously transmits a signal through the CAN communication network to control the functional state of the electronic parking system to be switched from the current standby state to the activated state, namely, the function activation of the electronic parking system is required to be realized.
Referring to fig. 4, in an alternative mode, the vehicle may be operated based on a single pedal mode, and at this time, in step 120, if it is determined that the vehicle meets the automatic parking activation condition, the step of switching the functional state of the electronic parking system to the activated state may further include:
step 1204: detecting whether a preset external request is received when the vehicle is stationary and the electronic parking system is available;
step 1205: and if the preset external request is received, determining that the vehicle meets the automatic parking activation condition, and switching the functional state of the electronic parking system from the standby state to the activation state.
Specifically, if the vehicle is operated based on the single-pedal mode, the vehicle receives an external request, namely, a VCU sends out an electronic hand brake request when the vehicle is determined to be stationary through the running state parameters and the calipers of the functional non-failure brake system of the electronic parking system are determined to be clamped through the EPB functional state parameters, and when a positive reply based on the request is obtained by a driver, the vehicle immediately determines that the electronic parking system meets the clamping condition, and synchronously transmits a signal through a CAN communication network to control the functional state of the electronic parking system to be switched from the current standby state to the activated state, namely, the function activation of the electronic parking system is requested to be realized.
Step 130: and if the clamping condition is met, requesting the electronic parking system to clamp for parking.
The method comprises the steps that a vehicle is controlled to switch a functional state of an electronic parking system from a current standby state to an activated state so as to activate an electronic parking function, and after the electronic parking system is detected to meet a clamping condition at present, the electronic parking system is immediately controlled through transmission of CAN network signals to enable calipers in a brake system to clamp so as to automatically park the vehicle.
It should be noted that, in this embodiment, after the functional state of the electronic parking system is switched from the current standby state to the active state to activate the electronic parking function, the brake system of the vehicle enters the pressure maintaining state, and after the pressure maintaining state exceeds a specified time or when the vehicle rolls for a second time, the vehicle will continue to request the EPB clamp through the transmission of the CAN network signal to keep the vehicle in the parking state.
In the embodiment, in the whole process of starting and running of the vehicle, when the functional state of the electronic parking system of the vehicle is in a standby state, the automatic parking method continuously detects whether the vehicle meets the automatic parking activating condition or not; when the functional state of the electronic parking system of the vehicle is in a standby state and an activated state, and the vehicle is detected to be in accordance with the automatic parking activation condition currently, the vehicle controls the functional state of the electronic parking system to be switched from the current standby state to the activated state to realize the activation of the electronic parking function, and then the vehicle further detects whether the electronic parking system meets the clamping condition currently; and finally, after the vehicle further detects that the electronic parking system meets the clamping condition at present, immediately controlling the electronic parking system to clamp a caliper in the brake system through the transmission of CAN network signals so as to automatically park the vehicle.
Therefore, the automatic parking method provided by the invention CAN realize the activation, standby and closing of the automatic parking function through the transmission of the CAN network signal without the need of controlling a specific function button by a driver, saves the hardware cost for realizing the automatic parking function, and CAN execute the state switching of the automatic parking function only when the activation condition is detected to be met by detecting whether the vehicle meets the automatic parking activation condition, thereby ensuring the accuracy of starting the automatic parking function of the vehicle, effectively avoiding the condition of mistakenly triggering the automatic parking, and improving the overall efficiency of the automatic parking of the vehicle and the use experience of the driver of the vehicle.
A second embodiment of the automatic parking method according to the present invention is proposed based on the above-described first embodiment of the automatic parking method according to the present invention, and referring to fig. 5, fig. 5 shows a flow of this embodiment of the automatic parking method according to the present invention, which is also performed by the vehicle in this embodiment.
In this embodiment, the functional states of the electronic parking system further include: a closed state; the automatic parking method of the present invention further includes:
step 170: and if the electronic parking system is detected not to meet the clamping condition, switching the functional state of the electronic parking system from the activated state to the standby state or the closed state.
After the vehicle controls the functional state of the electronic parking system to be switched from the current standby state to the activated state to realize the activation of the electronic parking function, if the electronic parking system is further detected to meet the clamping condition at present, the vehicle further controls the functional state of the electronic parking system to be switched from the current activated state to the closed state to realize the closing of the electronic parking function.
Specifically, the vehicle is in a state of transmitting a signal to control the functional state of the electronic parking system to be switched from a current standby state to an active state through the CAN communication network, i.e., the activation of the function of the electronic parking system is requested to be achieved, so that after parking is automatically performed for the vehicle, since the brake system of the vehicle will slowly be vented after this delay, which may be set based on the design requirements of the actual application, then at this point, if the vehicle determines that the electronic parking system does not meet the clamping condition currently through the detection results, or, when the electronic parking system is determined not to meet the clamping condition currently through one or more state parameters, the vehicle transmits a signal through the CAN communication network to control the functional state of the electronic parking system to be switched from the current activated state to the closed state, namely, the function of the electronic parking system is required to be closed.
In an alternative mode, the automatic parking method of the present invention further includes:
step 180: detecting a clamping state of the electronic parking system after the vehicle is parked for a preset time;
step 190: and switching the functional state of the electronic parking system from the active state to the standby state or the off state according to the clamping state.
It should be noted that, in the present embodiment, the preset time may be set correspondingly based on different design requirements of an actual design, and the automatic parking method of the present invention is not limited to a specific size of the preset time.
The method comprises the steps that a vehicle is controlled to be switched from a current standby state to an activated state in a functional state of an electronic parking system to achieve activation of the electronic parking function, so that automatic parking for the vehicle is achieved, after the vehicle is parked for preset time, the vehicle further starts to detect a clamping state of the electronic parking system, and the functional state of the electronic parking system is controlled to be switched from the current activated state to a closed state according to the clamping state to achieve closing of the electronic parking function.
Specifically, the vehicle transmits a signal through a CAN communication network to control the functional state of the electronic parking system to be switched from a current standby state to an activated state, namely, requests to realize the functional activation of the electronic parking system, thereby realizing automatic parking for the vehicle, further detects the clamping state of the electronic parking system after the vehicle maintains the parking state for a preset time, if the clamping state indicates that calipers of the brake system are still clamped at present, the vehicle transmits a signal through the CAN communication network to control the functional state of the electronic parking system to be switched from the current activated state to the standby state, namely, requests to realize the functional standby of the electronic parking system, or if the clamping state indicates that the calipers of the brake system become unclamped at present, the vehicle transmits a signal through the CAN communication network to control the functional state of the electronic parking system to be switched from the current activated state to the closed state, that is, the function of implementing the electronic parking system is requested to be turned off.
In the embodiment, after the vehicle controls the functional state of the electronic parking system to be switched from the current standby state to the activated state to activate the electronic parking function, so that the vehicle is automatically parked, whether the electronic parking system meets the clamping condition is further detected, and the functional state of the electronic parking system is switched to be closed under the condition that the clamping condition is not met. And after the automatic parking of the vehicle is delayed for a certain time, the brake system can slowly release pressure, so that the vehicle further judges the clamping condition of the EPB, and the function of the electronic parking system is enabled to enter a standby state when the calipers are still in a clamping state, or the function of the electronic parking system is enabled to enter a closing state when the calipers are not clamped.
Fig. 6 shows a schematic structural view of an embodiment of the automatic parking apparatus of the present invention. The automatic parking apparatus of the present invention may be applied to a vehicle, as shown in fig. 6, the apparatus 600 including: a detection module 610, a state switching module 620 and an automatic parking module 630.
In an alternative manner, the detecting module 610 is configured to detect whether the vehicle meets an automatic parking activating condition when a functional state of an electronic parking system of the vehicle is a standby state; the functional states include a standby state and an active state;
a state switching module 620, configured to switch a functional state of the electronic parking system to the activated state if it is determined that the vehicle meets the automatic parking activation condition, and detect whether the electronic parking system meets a clamping condition;
an automatic parking module 630, configured to request the electronic parking system to clamp for parking if a clamping condition is satisfied.
In an alternative manner, the state switching module 620 includes:
an acquisition unit for acquiring a brake system pressure when the vehicle is traveling in a creep mode or a non-creep mode when the vehicle is stationary and the electronic parking system is available;
and the first switching unit is used for determining that the vehicle meets the automatic parking activation condition and switching the functional state of the electronic parking system from the standby state to the activation state if the pressure of the brake system is greater than a preset set value.
In an alternative manner, the state switching module 620 includes:
a detection unit for detecting whether a preset external request is received when the vehicle is stationary and the electronic parking system is available;
and the second switching unit is used for determining that the vehicle meets the automatic parking activation condition and switching the functional state of the electronic parking system from the standby state to the activation state if the preset external request is received.
In an alternative manner, the detecting module 610 of the automatic parking device 600 of the present invention is further configured to detect a state parameter of the vehicle; the state parameters include: at least one of a driving state parameter, a safety belt state parameter, a seat state parameter, a door state parameter, an automatic parking function state parameter, an EPB function state parameter, and a vehicle gear state parameter of the vehicle;
the automatic parking apparatus 600 of the present invention further includes:
the determining module is used for determining whether the vehicle meets the automatic parking standby condition or not according to the state parameters;
the state switching module 620 of the automatic parking apparatus 600 of the present invention is further configured to switch the functional state of the electronic parking system to the standby state if the determination module determines that the functional state is satisfied.
In an alternative manner, the functional states of the electronic parking system further include: a closed state; the state switching module 620 of the automatic parking apparatus 600 of the present invention is further configured to switch the functional state of the electronic parking system from the activated state to the standby state or the deactivated state if it is detected that the electronic parking system does not satisfy the clamping condition.
In an alternative manner, the functional states of the electronic parking system further include: a closed state; the detecting module 610 of the automatic parking device 600 of the present invention is further configured to detect a clamping state of the electronic parking system after the vehicle is parked for a preset time;
the state switching module 620 of the automatic parking apparatus 600 of the present invention is further configured to switch the functional state of the electronic parking system from the activated state to the standby state or the deactivated state according to the clamping state.
The state switching module 620 of the automatic parking apparatus 600 of the present invention includes:
the detection unit is used for detecting the accelerator state, the brake pedal state, the wheel state, the vehicle stable state and/or the clamping state of the vehicle to obtain a detection result;
and the determining unit is used for determining whether the electronic parking system meets a clamping condition according to the detection result.
The automatic parking device provided by the embodiment of the invention CAN realize the activation, standby and closing of the automatic parking function through the transmission of the CAN network signal without the control of a specific function button by a driver, saves the hardware cost for realizing the automatic parking function, and CAN execute the state switching of the automatic parking function only when the activation condition is met by detecting whether the vehicle meets the automatic parking activation condition, thereby ensuring the accuracy of starting the automatic parking function of the vehicle, effectively avoiding the condition of mistakenly triggering the automatic parking, and improving the overall efficiency of the automatic parking of the vehicle and the use experience of the driver of the vehicle.
Fig. 7 is a schematic structural diagram of an embodiment of the vehicle according to the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the vehicle.
As shown in fig. 7, the vehicle may include: a processor (processor)702, a Communications Interface 704, a memory 706, and a communication bus 708.
Wherein: the processor 702, communication interface 704, and memory 706 communicate with each other via a communication bus 708. A communication interface 704 for communicating with network elements of other devices, such as clients or other servers. The processor 702 is configured to execute the program 710, and may specifically execute the relevant steps in the embodiment of the automatic parking method described above.
In particular, the program 710 may include program code comprising computer-executable instructions.
The processor 702 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the present invention. The vehicle includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
The memory 706 stores a program 710. The memory 706 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The routine 710 may be specifically invoked by the processor 702 to cause the vehicle to perform the following operations:
when the functional state of an electronic parking system of a vehicle is a standby state, detecting whether the vehicle accords with an automatic parking activating condition; the functional states include a standby state and an active state;
if the vehicle is determined to accord with the automatic parking activating condition, switching the functional state of the electronic parking system to the activating state, and detecting whether the electronic parking system meets a clamping condition;
and if the clamping condition is met, requesting the electronic parking system to clamp for parking.
In an alternative manner, the routine 710 is invoked by the processor 702 to cause the vehicle to perform the following operations:
acquiring brake system pressure when the vehicle is running in a creep mode or a non-creep mode when the vehicle is stationary and the electronic parking system is available;
and if the pressure of the brake system is greater than a preset set value, determining that the vehicle meets the automatic parking activation condition, and switching the functional state of the electronic parking system from the standby state to the activation state.
In an alternative manner, the routine 710 is invoked by the processor 702 to cause the vehicle to perform the following operations:
detecting whether a preset external request is received when the vehicle is stationary and the electronic parking system is available;
and if the preset external request is received, determining that the vehicle meets the automatic parking activation condition, and switching the functional state of the electronic parking system from the standby state to the activation state.
In an alternative manner, the program 710 is invoked by the processor 702 to enable the vehicle to perform the following operations before performing the step of detecting whether the vehicle meets the automatic parking activation condition when the functional state of the electronic parking system of the vehicle is the standby state:
detecting a state parameter of the vehicle; the state parameters include: at least one of a driving state parameter, a safety belt state parameter, a seat state parameter, a door state parameter, an automatic parking function state parameter, an EPB function state parameter, and a vehicle gear state parameter of the vehicle;
determining whether the vehicle meets an automatic parking standby condition according to the state parameters;
and if so, switching the functional state of the electronic parking system to the standby state.
In an alternative manner, the functional states of the electronic parking system further include: a closed state; the routine 710 is invoked by the processor 702 to cause the vehicle to perform the following operations:
and if the electronic parking system is detected not to meet the clamping condition, switching the functional state of the electronic parking system from the activated state to the standby state or the closed state.
In an alternative manner, the functional states of the electronic parking system further include: a closed state; the routine 710 is invoked by the processor 702 to cause the vehicle to perform the following operations:
detecting a clamping state of the electronic parking system after the vehicle is parked for a preset time;
and switching the functional state of the electronic parking system from the active state to the standby state or the off state according to the clamping state.
In an alternative manner, the routine 710 is invoked by the processor 702 to cause the vehicle to perform the following operations:
detecting the accelerator state, the brake pedal state, the wheel state, the vehicle stable state and/or the clamping state of the vehicle to obtain a detection result;
and determining whether the electronic parking system meets a clamping condition according to the detection result.
The vehicle provided by the embodiment of the invention CAN realize the activation, standby and closing of the automatic parking function through the transmission of the CAN network signal without controlling a specific function button by a driver, so that the hardware cost for realizing the automatic parking function is saved, and the state switching of the automatic parking function is executed only when the activation condition is detected to be met by detecting whether the vehicle meets the automatic parking activation condition, so that the starting accuracy of the automatic parking function of the vehicle is ensured, the condition of mistakenly triggering the automatic parking is effectively avoided, and the overall efficiency of the automatic parking of the vehicle and the use experience of the driver of the vehicle are improved.
The embodiment of the invention provides a computer-readable storage medium, wherein the storage medium stores at least one executable instruction, and when the executable instruction is operated on an automatic parking device or a vehicle, the automatic parking device or the vehicle executes the automatic parking method in any method embodiment.
The executable instruction stored in the computer-readable storage medium provided by the embodiment of the invention CAN enable an automatic parking device or a vehicle to be capable of realizing the activation, standby and shutdown of an automatic parking function through the transmission of CAN network signals without a driver controlling a specific function button when the executable instruction is operated, so that the hardware cost for realizing the automatic parking function is saved, and the state switching of the automatic parking function is executed only when the activation condition is detected to be met by detecting whether the vehicle meets the automatic parking activation condition, so that the accuracy of starting the automatic parking function of the vehicle is ensured, the condition of mistakenly triggering the automatic parking is effectively avoided, and the overall efficiency of the automatic parking of the vehicle and the use experience of the vehicle driver are improved.
The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present invention are not directed to any particular programming language.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. Similarly, in the above description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. Where the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.
Claims (10)
1. An automatic parking method, characterized in that the method comprises:
when the functional state of an electronic parking system of a vehicle is a standby state, detecting whether the vehicle accords with an automatic parking activating condition; the functional states include a standby state and an active state;
if the vehicle meets the automatic parking activating condition, switching the functional state of the electronic parking system to the activating state, and detecting whether the electronic parking system meets a clamping condition;
and if the clamping condition is met, requesting the electronic parking system to clamp for parking.
2. The method according to claim 1, wherein the step of switching the functional state of the electronic parking system to the active state if the vehicle meets the automatic parking activation condition specifically comprises:
acquiring brake system pressure when the vehicle is running in a creep mode or a non-creep mode when the vehicle is stationary and the electronic parking system is available;
and if the pressure of the brake system is greater than a preset set value, determining that the vehicle meets the automatic parking activation condition, and switching the functional state of the electronic parking system from the standby state to the activation state.
3. The method according to claim 1, wherein the step of switching the functional state of the electronic parking system to the active state if the vehicle meets the automatic parking activation condition specifically comprises:
detecting whether a preset external request is received when the vehicle is stationary and the electronic parking system is available;
and if the preset external request is received, determining that the vehicle meets the automatic parking activation condition, and switching the functional state of the electronic parking system from the standby state to the activation state.
4. The method according to any one of claims 1 to 3, characterized in that before the step of detecting whether the vehicle complies with an automatic parking activation condition when the functional state of the electronic parking system of the vehicle is a standby state, the method further comprises:
detecting a state parameter of the vehicle; the state parameters include: at least one of a driving state parameter, a safety belt state parameter, a seat state parameter, a door state parameter, an automatic parking function state parameter, an EPB function state parameter, and a vehicle gear state parameter of the vehicle;
determining whether the vehicle meets an automatic parking standby condition according to the state parameters;
and if so, switching the functional state of the electronic parking system to the standby state.
5. The method according to any of claims 1 to 3, characterized in that the functional status of the electronic parking system further comprises: a closed state; the method further comprises the following steps:
and if the electronic parking system is detected not to meet the clamping condition, switching the functional state of the electronic parking system from the activated state to the standby state or the closed state.
6. The method of claim 1, wherein the functional state of the electronic parking system further comprises: a closed state; after the step of requesting the electronic parking system to clamp for parking, the method further includes:
detecting a clamping state of the electronic parking system after the vehicle is parked for a preset time;
and switching the functional state of the electronic parking system from the active state to the standby state or the off state according to the clamping state.
7. The method according to claim 1, wherein the step of detecting whether the electronic parking system satisfies a clamping condition specifically comprises:
detecting the accelerator state, the brake pedal state, the wheel state, the vehicle stable state and/or the clamping state of the vehicle to obtain a detection result;
and determining whether the electronic parking system meets a clamping condition according to the detection result.
8. An automatic parking device, characterized in that the device comprises:
the system comprises a detection module, a control module and a control module, wherein the detection module is used for detecting whether a vehicle accords with an automatic parking activation condition when the functional state of an electronic parking system of the vehicle is a standby state; the functional states include a standby state and an active state;
the state switching module is used for switching the functional state of the electronic parking system to the activated state and detecting whether the electronic parking system meets the clamping condition or not if the vehicle is determined to meet the automatic parking activation condition;
and the automatic parking module is used for requesting the electronic parking system to clamp for parking if the clamping condition is met.
9. A vehicle, characterized by comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the automatic parking method of any of claims 1-7.
10. A computer-readable storage medium, wherein the storage medium has stored therein at least one executable instruction, which when executed on an automatic parking device or a vehicle, causes the automatic parking device or the vehicle to perform the operations of the automatic parking method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111537893.XA CN114030449A (en) | 2021-12-15 | 2021-12-15 | Automatic parking method, device, vehicle and computer storage medium |
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| CN202111537893.XA CN114030449A (en) | 2021-12-15 | 2021-12-15 | Automatic parking method, device, vehicle and computer storage medium |
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| CN116101252A (en) * | 2023-01-13 | 2023-05-12 | 上海拿森汽车电子有限公司 | Control method, system, device, storage medium and vehicle for electronic parking |
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