Automatic parking control method, and electronic device and vehicle

Abstract

The present invention relates to the technical field of wheel braking system control, and specifically relates to an automatic parking control method, and an electronic device and a vehicle. The automatic parking control method provided in the present invention comprises: under flat-road conditions, on the basis of the braking style of a driver, automatically adjusting a braking pressure baseline threshold; and under slope conditions, modifying the braking pressure baseline threshold. In the present invention, a congestion level recognition module is designed, and during creeping and tailgating under congestion conditions, an AVH trigger policy is automatically adjusted on the basis of real-time congestion situations, thereby further reducing the frequency of false triggers of AVH. In the present invention, the frequency of consecutive triggers and the trigger duration of AVH are monitored in combination with a designed thermal protection policy, thereby achieving failover to EPB parking.

Description

Automatic parking control method, electronic device and vehicle

[0001] Cross-reference to related applications

[0002] Embodiments of the present application are based on and claim priority from Chinese Patent Application No. 202410524532.9 filed on April 29, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of automatic parking control of vehicles, in particular to an automatic parking control method, an electronic device and a vehicle. BACKGROUND

[0004] AVH (Automatic Vehicle Hold) is an additional function of ESC (Electric Stability Control), which aims to reduce the intensity of the driver's parking operation. When the vehicle needs to be temporarily parked during operation (such as a red light at a crossroads or a short-term parking on a slope), after the driver stops the vehicle by applying the service brake, the AVH function is activated to maintain a suitable brake pressure in the brake pipe, so that the vehicle can be safely parked. When the driver wants to control the vehicle to drive away, after stepping on the accelerator pedal, the AVH will release the brake pressure, and the vehicle can start driving. Throughout the process, the driver does not need to manually operate the parking brake system, including pulling up the handbrake or operating the EPB (Electric Parking Brake) switch.

[0005] With the increasing electrification of vehicles, the automatic parking function (AVH) has become a mainstream configuration of passenger cars. For parking during vehicle driving, this function can ensure the vehicle to be stationary on a flat road or a slope by maintaining pressure on the four-wheel brakes. When the function is triggered, the valve in the hydraulic unit is controlled to achieve wheel edge pressure maintenance.

[0006] The mainstream AVH function scheme of the prior art is that when AVH is turned on, it is activated according to the vehicle speed and brake signal; on a slope or a flat road, as long as the vehicle is stopped by braking, the driver can then step on the brake pedal switch, and the AVH parking pressure maintaining function can be triggered after the brake pedal is released; the longest time for pressure maintenance is 3 minutes, and after the time is exceeded, the EPB electronic parking brake takes over the parking brake; the parking can be performed continuously for multiple times.

[0007] The above scheme can activate the AVH function by the driver stepping on the brake pedal lightly on a flat road, but has the following disadvantages: 1. for the slow-moving condition in a congested urban traffic, the AVH function is easily activated by mistake when the vehicle continuously follows a vehicle at a low speed; and 2. for the condition of continuous parking in a very congested condition, the AVH function is activated for a long time continuously, which reduces the service life of the valve and coil in the ESC controller. SUMMARY

[0008] The technical problem to be solved by the present application is to provide an automatic parking control method, which can automatically adjust the brake pressure threshold according to the driver's braking style and road conditions without increasing the hardware cost, effectively reduce the frequency of false triggering of the automatic parking function, improve the driving experience of the vehicle, and prolong the service life of the electromagnetic valve and coil of the ESC controller through a thermal protection strategy.

[0009] To solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0010] An automatic parking control method comprises the following steps:

[0011] S1. In a flat road condition, automatically adjusting a brake pressure basic threshold based on the driver's braking style to reduce the frequency of AVH triggering;

[0012] S2. In a slope condition, correcting the brake pressure basic threshold to ensure driving safety;

[0013] S3. In a congested condition, identifying the congestion degree and adjusting the automatic parking function triggering strategy according to the congestion degree;

[0014] S4. Real-time monitoring the frequency and duration of continuous AVH triggering and executing the corresponding thermal protection strategy to jump to the EPB parking in time, thereby protecting the electromagnetic valve and coil of the ESC controller.

[0015] Compared with the prior art, the present application has the following main advantages:

[0016] 1. The present application provides an automatic parking control method, which can automatically adjust the brake pressure basic threshold based on the driver's braking style in a flat road condition, effectively reduce the frequency of false triggering of the automatic parking function, and correct the brake pressure threshold in a slope condition to ensure driving safety;

[0017] 2. The present application designs a congestion degree identification module, which can automatically adjust the AVH triggering strategy according to the real-time congestion condition when following a vehicle at a slow speed in a congested condition, further reduce the frequency of false triggering of the AVH, and improve the driving experience of the vehicle;

[0018] 3、The application can timely jump to EPB parking through monitoring the continuous triggering frequency and triggering time length of AVH and cooperating with the designed thermal protection strategy, effectively improving the service life of the electromagnetic valve and coil of the ESC controller. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 is a whole flow chart of the automatic parking control method in the embodiment one of the application;

[0020] Fig. 2 is a logic diagram of the automatic parking control method in the embodiment two of the application. Embodiment of the application

[0021] In order to make the purpose, technical scheme and advantages of the application more clear, the application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and not to limit the application. In addition, the technical features involved in each embodiment of the application described below can be combined with each other as long as they do not conflict with each other.

[0022] It should be pointed out that according to the needs of implementation, each step / component described in this application can be split into more steps / components, or two or more steps / components or part of the operation of the steps / components can be combined into a new step / component to achieve the purpose of the application.

[0023] In the application, unless otherwise explicitly specified and limited, the terms "first", "second" are only used for description purpose and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0024] Embodiment one, the embodiment provides an automatic parking control method, which can automatically adjust the brake pressure threshold according to the driver's braking style and road working conditions without increasing the hardware cost, effectively reduce the automatic parking function false triggering frequency, improve the vehicle driving experience, and can improve the service life of the electromagnetic valve and coil of the ESC controller through the thermal protection strategy.

[0025] As shown in Fig. 1, the following strategies are mainly included:

[0026] S1, in the flat road working condition, the brake pressure basic threshold is automatically adjusted based on the driver's braking style to reduce the AVH triggering frequency;

[0027] S2, in the slope working condition, the brake pressure basic threshold is corrected to ensure driving safety;

[0028] S3, in the congestion condition, the congestion degree is identified, and the automatic parking function triggering strategy is adjusted according to the congestion degree;

[0029] S4, the AVH continuous triggering frequency and triggering time are monitored in real time, and the corresponding thermal protection strategy is executed, and the EPB parking is jumped in time, so as to protect the electromagnetic valve and coil of the ESC controller.

[0030] Further, the evaluation strategy of the driver braking style includes:

[0031] S11, real-time acquisition of front vehicle distance, vehicle speed and brake pressure, the front vehicle distance is detected by millimeter wave radar and transmitted to the ESC controller through CAN bus, the vehicle speed is calculated by the ESC controller according to the wheel speed, and the brake pressure is collected by the pressure sensor integrated in the ESC controller;

[0032] S12, when the real-time vehicle speed meets the preset vehicle speed range, m times of brake pressure values are collected in n different front vehicle distance intervals respectively, and are recorded as ;

[0033] S13, according to the average value of the brake pressure value , the evaluation of the plurality of different driver braking styles is carried out.

[0034] Further, the automatic adjustment of the brake pressure basic threshold includes: according to the plurality of different driver braking styles, the corresponding brake pressure basic threshold is adjusted respectively, and the automatic parking function is executed according to the adjusted brake pressure basic threshold ; the corrected brake pressure basic threshold , wherein SLP is the actual slope value.

[0035] Further, the congestion condition judgment method includes:

[0036] 1) collect the vehicle speed value every preset time interval, and solve the average value of the vehicle speed, the average value of the vehicle speed is lower than the preset vehicle speed threshold one;

[0037] 2) the vehicle braking frequency and the acceleration frequency are both greater than the preset number threshold one;

[0038] 3) when the vehicle brakes and accelerates each time, the front vehicle distance is collected once respectively, and , are recorded respectively, the average value of the front vehicle distance is in the preset range;

[0039] 4) record the number of times that the real-time vehicle speed in the driving process is lower than the preset vehicle speed threshold two, which is greater than the preset number threshold two;

[0040] When the above conditions are met at the same time, it is determined that the congestion condition is met, and the congestion identifier is set to be valid.

[0041] Further, the congestion degree is identified, including:

[0042] According to the real-time vehicle speed value, the vehicle braking frequency and the acceleration frequency, the average value of the front vehicle distance, and the number of times that the real-time vehicle speed is lower than the preset vehicle speed threshold, a congestion degree score is calculated According to the score segment of the congestion degree score The congestion condition is divided into a high congestion condition, a moderate congestion condition, and a low-speed crawling following condition.

[0043] Further, when in the low-speed crawling following condition, if the parking time length The automatic parking function is prohibited from being triggered, and if the parking time length is The automatic parking function is executed according to the highest brake pressure base threshold value.

[0044] Further, when in the high congestion condition or the moderate congestion condition, an electronic stability controller thermal protection strategy is executed, including:

[0045] According to the continuous triggering frequency and the triggering time length of the automatic parking function, the upper limit value of the pressure maintaining time of the automatic parking function is adjusted, and the upper limit value of the pressure maintaining time is sequentially decreased after each triggering of the automatic parking function;

[0046] When the pressure maintaining time of the automatic parking function reaches the upper limit value of the pressure maintaining time, the AVH function is exited and switched to the EPB parking takeover.

[0047] Embodiment two provides an automatic parking control method, which mainly relies on an ESC electronic stability control unit, as shown in FIG. 2, and mainly includes three parts:

[0048] 1) In the flat road condition, the brake pressure base threshold is automatically adjusted based on the driver's braking style to reduce the triggering frequency of the automatic parking function; in the slope condition, the brake pressure threshold is corrected to ensure driving safety.

[0049] Specifically, first, the driver's braking style is evaluated by a braking style evaluation module according to the working condition and driving operation information, which is divided into three styles: strong, medium and weak; then according to the three styles, three brake pressure thresholds are designed: high, medium and low.

[0050] The working principle of the braking style evaluation module is as follows:

[0051] S1, the braking style evaluation module needs input signals: front vehicle distance D, vehicle speed V, brake pressure P; the front vehicle distance is obtained by millimeter wave radar detection and transmitted to the ESC controller through the CAN bus. The vehicle speed is calculated by the ESC controller according to the wheel speed. The brake pressure P is obtained by the pressure sensor integrated in the ESC controller.

[0052] S2, this embodiment mainly evaluates the braking style under low-speed working conditions, and the vehicle speed range for collecting brake pressure is designed as 0-20 km / h. The front vehicle distance is classified into three distances: 1 m~3 m, 3 m~5 m and 5 m~10 m. When the vehicle is running in the above vehicle speed range, 3 brake pressure values are collected respectively. A total of 9 brake pressure data are recorded as The average value of the above data is calculated, .

[0053] S3, according to the brake pressure average value , the driver's braking style is evaluated as strong, medium and weak, as follows:

[0054] Strong: 25 bar <35 bar;

[0055] Medium: 15 bar <25 bar;

[0056] Weak: 5 bar <15 bar;

[0057] S4, for the above three braking styles, the brake pressure trigger basic threshold of AVH is designed as high, medium and low. They are 5 bar, 15 bar and 25 bar respectively. The brake pressure basic threshold is marked as , as shown in the following table:

[0058] F-Bar braking pressure basic threshold TPbase5--15 weak 10 bar15--25 medium 20 bar25--35 strong 30 bar

[0059] S5, the above strategy determines the brake pressure basic threshold on flat road according to the driver's braking style. Since the vehicle is more likely to slide on the slope, the demand for AVH function increases. Therefore, it is necessary to correct the above brake pressure basic threshold according to the slope.

[0060] S6, the working range of the slope is 0%~30%. The correction principle is that the greater the slope, the lower the brake pressure threshold, and the vehicle is safer when stopping. The correction strategy is designed to adjust the amount of 5 bar according to the ratio of the actual slope SLP to 30%. The corrected brake pressure threshold The calculation is as follows, .

[0061] 2) In the congestion condition, the triggering strategy is automatically adjusted according to the real-time congestion situation, and the adjustment strategy is divided into two points: first, the brake pressure threshold is increased by identifying the low-speed following condition; second, the time threshold of brake parking is added to reduce the frequency of AVH false triggering; .

[0062] Specifically as follows:

[0063] S1, the congestion degree is identified by a congestion degree identification module, which is divided into low, medium and high, and the congestion degree is low, that is, the low-speed creeping following condition;

[0064] The input signals of the congestion degree identification module include the distance from the front vehicle, the vehicle speed, the brake frequency, the parking time and the acceleration frequency; when identifying the congestion degree, 3 minutes are taken as an identification period, and the above information is collected.

[0065] The specific method for identifying the congestion degree is as follows:

[0066] S11: collect the vehicle speed every 10s and calculate the average value. When the average vehicle speed is lower than 15km / h, proceed to the next layer of judgment.

[0067] S12: brake frequency is greater than 5 times, and acceleration frequency is greater than 5 times. Turn to the next layer of judgment.

[0068] S13: when braking and accelerating each time, collect the distance from the front vehicle by the front radar once, and record , . The average value of the distance from the front vehicle is lower than 2m; The average value of the distance from the front vehicle is greater than 2m and less than 5m. Turn to the next layer of judgment.

[0069] S14: record the vehicle speed close to parking or short parking conditions during driving, that is, the vehicle speed is less than 3km / h. If the number of times is more than 3, end the collection.

[0070] If the above 4 layers of judgment are met, the congestion condition is identified, and the congestion identifier is set to be valid.

[0071] S2, set the congestion degree index, which is designed as a percentage score, denoted as , and the score is estimated by the following reference factors:

[0072]

[0073] When St≥50 points, it is determined as high congestion condition; when 50>St>30 points, it is determined as moderate congestion condition; when St≤30 points, it is determined as low-speed creeping following condition.

[0074] S3, when judging as low-speed creeping following, the parking time length is increased as a trigger condition. When , the AVH function is directly prohibited from being activated. Thus, when parking for a short time occasionally at low-speed following, the AVH is effectively prevented from being triggered by mistake. When , the brake pressure basic threshold is directly selected as the highest gear. The driver can trigger the AVH function by deliberately deep pressing, to ensure safety.

[0075] S4, when the congestion degree is determined as moderate and high, that is, when the congestion is compared to the special congestion, the parking time length threshold is not considered, and a thermal protection strategy is adopted to protect the electromagnetic valve and coil of the ESC controller.

[0076] 3) By monitoring the continuous trigger frequency and trigger time length of the AVH, the thermal protection strategy is designed, and the EPB parking is switched in time, to further protect the electromagnetic valve and coil of the ESC controller;

[0077] The thermal protection strategy mainly modifies the current AVH function that can be triggered for multiple times continuously and for a long time, to a strategy that the upper limit of the trigger time length is gradually decreased, that is, the upper limit of the pressure maintaining for the first three times is 3 minutes, 2 minutes and 1 minute respectively, and the upper limit of the pressure maintaining for the fourth time is 1 minute. Then, it is decreased to 15 seconds. When the time limit of the AVH pressure maintaining is reached, the EPB parking is switched to take over.

[0078] The specific implementation method is as follows:

[0079] S1, suppose: the AVH trigger time length is A; the AVH temperature model timing is B, the initial value of A is 0; and the initial value of B is 10;

[0080] S2, A=A+1; B=B+10; (A is timed from 0 each time when the AVH is triggered; B starts to accumulate, and decays when the AVH is exited);

[0081] S3, If B≤3min, and A≥3min, the AVH is exited, and the pressure maintaining time length is limited to 3 minutes; (the AVH is activated for the first time);

[0082] Else if B≤3min+2min, and A≥2min, the AVH is exited, and the pressure maintaining time length is limited to 2 minutes; (the AVH is activated for the second time);

[0083] Else if B≤3min+2min+1min, and A≥1min, AVH exits, the pressure maintaining duration limit is 1 minute; (AVH third activation);

[0084] Else if B≤3min+2min+1min+0.5min, and A≥0.5min, AVH exits, the pressure maintaining duration limit is 0.5 minute; (AVH fourth activation);

[0085] Else if B≥3min+2min+1min+0.5min+15s, at this time, AVH exits; (AVH fifth activation);

[0086] S4, when the AVH function exits or jumps to the EPB, A=0 (AVH trigger duration is set to 0);

[0087] AVH temperature model timing B, start to decay - the condition is that when B≥5min, B=B-5; thereafter, the above steps are cycled.

[0088] Embodiment three, based on the same inventive concept, the embodiment further provides a vehicle electronic device, comprising a memory, a processor and a program stored in the memory and executable on the processor, wherein the processor executes the program to realize the control method as described above.

[0089] Embodiment four, based on the same inventive concept, the embodiment further provides a vehicle with a manual automatic transmission, wherein the vehicle is provided with the vehicle electronic device as described above.

[0090] Further, the parts not described in detail in the present application are the same as or realized by the prior art.

[0091] In summary:

[0092] 1. The present application provides an automatic parking control method, which can automatically adjust the brake pressure threshold based on the driver's braking style under flat road conditions, effectively reducing the frequency of automatic parking function false triggering, and can correct the brake pressure threshold under slope conditions to ensure driving safety.

[0093] 2. The present application designs a congestion degree recognition module, which can automatically adjust the AVH trigger strategy according to real-time congestion conditions when crawling and following a vehicle under congestion conditions, further reducing the frequency of AVH false triggering and improving the vehicle driving experience.

[0094] 3. The present application monitors the frequency and duration of continuous AVH triggering, and cooperates with the designed thermal protection strategy to jump to the EPB parking in time, effectively improving the service life of the electromagnetic valve and coil of the ESC controller.

[0095] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, apparatus, or computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0096] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0097] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams block or blocks.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0099] Those skilled in the art will readily observe that the application described above can be modified variations and substitutions for elements illustrated and / or described. Such intended modifications, equivalents, and variations, being within the spirit and scope of the application, should be considered as within the scope of the application.

Claims

1. An automatic parking control method applied to an electronic device of a vehicle, comprising: automatically adjusting a brake pressure base threshold based on a driver braking style in a flat road condition; correcting the brake pressure base threshold in a slope condition and performing an automatic parking function according to the corrected brake pressure base threshold; identifying a congestion degree and adjusting an automatic parking function triggering strategy according to the congestion degree in a congestion condition; monitoring a continuous triggering frequency and a triggering duration of the automatic parking function in real time and performing a corresponding electronic stability controller thermal protection strategy.

2. The automatic parking control method according to claim 1, wherein The evaluation strategy of the driver braking style comprises: collecting a front vehicle distance, a vehicle speed and a brake pressure in real time, the front vehicle distance being detected by a millimeter wave radar and transmitted to an ESC controller through a CAN bus, the vehicle speed being calculated by the ESC controller according to a wheel speed, and the brake pressure being collected by a pressure sensor integrated in the ESC controller; When the real-time vehicle speed meets the preset vehicle speed range, m times of braking pressure values are respectively collected in n different front vehicle distance intervals, and are respectively denoted as ； According to the average value of the brake pressure values evaluating a plurality of different driver braking styles.

3. The automatic parking control method according to claim 2, wherein The automatic adjustment of the brake pressure base threshold comprises: adjusting the corresponding brake pressure base threshold respectively according to the plurality of different driver braking styles , and performing the automatic parking function according to the adjusted brake pressure base threshold ; the corrected brake pressure base threshold , wherein SLP is an actual slope value.

4. The automatic parking control method according to claim 1, wherein The determination method of the congestion condition comprises: collecting a vehicle speed value every preset time interval and solving a vehicle speed average value, the vehicle speed average value being lower than a preset vehicle speed threshold one; a vehicle braking frequency and an acceleration frequency both being greater than preset frequency threshold one; The front vehicle distance is collected once every time the vehicle brakes and accelerates, respectively, and is recorded 、 an average value of the front vehicle distance being within a preset range; recording a number of times that a real-time vehicle speed during a driving process is lower than a preset vehicle speed threshold two, the number of times being greater than a preset number threshold two; when the above conditions are met simultaneously, determining that the condition is a congestion condition and setting a congestion identifier as valid.

5. The automatic parking control method according to claim 4, wherein The method for identifying congestion levels includes: calculating a congestion level score based on real-time vehicle speed, vehicle braking and acceleration frequency, average distance to the vehicle in front, and the number of times the real-time vehicle speed is lower than a preset speed threshold. Scoring based on the level of congestion The congestion conditions are divided into three categories based on the score range: high congestion, moderate congestion, and low-speed crawling.

6. The automatic parking control method according to claim 5, wherein When in the low-speed creeping following vehicle working condition, if the parking time is less than , the automatic parking function is prohibited from being triggered, and if the parking time is greater than , the automatic parking function is executed according to the highest brake pressure basic threshold value.

7. The automatic parking control method according to claim 5, wherein When in a high congestion condition or a medium congestion condition, an electronic stability controller thermal protection strategy is performed, comprising: adjusting an upper limit value of a pressure maintaining time of the automatic parking function according to the continuous triggering frequency and the triggering duration of the automatic parking function, and the upper limit value of the pressure maintaining time being sequentially decreased after each triggering of the automatic parking function; and when the pressure maintaining time of the automatic parking function reaches the upper limit value of the pressure maintaining time, exiting an AVH function and jumping to an EPB parking takeover.

8. A vehicle electronic device comprising a memory, a processor and a program stored in the memory and executable on the processor, the processor implementing the control method of any one of claims 1 to 7 when executing the program.

9. A non-transitory readable storage medium having a program stored thereon, the program being executed by a vehicle electronic device to implement the control method of any one of claims 1 to 7.

10. A hybrid vehicle comprising the vehicle electronic device of claim 8.

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