Automatic parking control method, system, vehicle and computer-readable storage medium

Abstract

The present invention relates to an automatic parking control method, an automatic parking control system, a vehicle, and a computer-readable storage medium. The automatic parking control method comprises the following steps: A. When a vehicle satisfies automatic parking conditions and is parked, obtaining the vehicle's current road slope; B. Determining whether the road slope is not less than a preset value; if so, calculating the minimum braking force required to park the vehicle on the current road surface based on the road slope and the vehicle's mass; C. Obtaining the vehicle's current actual braking force and comparing it with the minimum braking force, and then determining whether to increase the braking force based on the comparison result. The use of the present invention can effectively improve the safety and reliability of vehicle automatic parking control, and help reduce costs, improve product performance, and enhance competitiveness.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to an automatic parking control method, an automatic parking control system, a vehicle, and a computer-readable storage medium. Background Art

[0002] With technological advancements, many vehicles are now equipped with automatic parking features. When activated, the driver automatically applies the four-wheel brakes to keep the vehicle parked, such as when waiting at a red light or parking on a hill or slope. To release the brakes, the driver simply presses the accelerator. This convenient and practical feature can also effectively reduce or eliminate traffic accidents.

[0003] However, the present applicant has discovered that existing automatic parking functions still have some drawbacks and deficiencies. For example, when a vehicle is traveling uphill or downhill, although the initial braking force provided by the automatic parking function is generally sufficient to keep the vehicle stationary on the slope, over time, due to the vehicle's relatively large weight and the presence of leakage in the vehicle's hydraulic brake system during this period, the braking force may decrease to the point where it is no longer able to hold the vehicle stationary, causing the vehicle to roll down the slope. Existing automatic parking functions typically increase braking force only after detecting that the vehicle is rolling down the slope. This can endanger the safety of vehicles and personnel, resulting in undesirable losses. Summary of the Invention

[0004] In view of this, the present invention provides an automatic parking control method, an automatic parking control system, a vehicle and a computer-readable storage medium, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0005] First, according to a first aspect of the present invention, there is provided an automatic parking control method, which includes the steps of:

[0006] A. When the vehicle meets the automatic parking conditions and is parked, obtain the vehicle's current road slope;

[0007] B. Determining whether the road surface slope is not less than a preset value: If so, calculating the minimum braking force required to stop the vehicle on the current road surface based on the road surface slope and the vehicle mass; and

[0008] C. Obtaining the vehicle's current actual braking force and comparing it with the minimum braking force, and then determining whether to increase the braking force based on the comparison result.

[0009] In the automatic parking control method according to the present invention, optionally, in step A, the road slope is acquired by at least one sensor on the vehicle, and the sensor includes a longitudinal acceleration sensor, an inclination sensor, and a slope sensor.

[0010] In the automatic parking control method according to the present invention, optionally, in step B, the preset value is in the range of 5°-30°.

[0011] In the automatic parking control method according to the present invention, optionally, in step C:

[0012] Obtaining a starting fluid hydraulic pressure of a hydraulic brake system on a vehicle, and obtaining a starting fluid volume of the hydraulic brake system based on the starting fluid hydraulic pressure and a PV curve of the hydraulic brake system, wherein the vehicle provides an initial braking force through the fluid in the hydraulic brake system; and

[0013] The actual fluid pressure of the hydraulic brake system is obtained according to the initial fluid volume, the PV curve, and the leakage characteristic curve of the hydraulic brake system, and the actual braking force is calculated according to the actual fluid pressure and vehicle brake system parameters.

[0014] In the automatic parking control method according to the present invention, optionally, the hydraulic brake system includes an inlet valve and an outlet valve, and the PV curve and the leakage characteristic curve are calibrated in a control device on the vehicle, and the control device includes ESP.

[0015] In the automatic parking control method according to the present invention, optionally, in step C:

[0016] calculating a difference between the actual braking force and the minimum braking force; and

[0017] Determine whether the difference is less than a preset value: if so, increase the braking force.

[0018] In the automatic parking control method according to the present invention, optionally, a ratio of the preset value of the difference to the minimum braking force is in a range of 5%-15%.

[0019] Secondly, according to a second aspect of the present invention, there is also provided an automatic parking control system, which includes:

[0020] processor; and

[0021] a memory for storing instructions;

[0022] Wherein, when the instruction is executed, the processor implements the automatic parking control method as described in any one of the above items.

[0023] In addition, according to a third aspect of the present invention, a vehicle is provided, comprising the automatic parking control system as described above.

[0024] In addition, according to a fourth aspect of the present invention, a computer-readable storage medium is further provided, which is used to store instructions, and when the instructions are executed, the automatic parking control method as described in any one of the above items is implemented.

[0025] By adopting an improved automatic parking control strategy, the present invention can effectively improve the safety and reliability of the vehicle in the automatic parking state, and in particular can timely and effectively increase the braking force before the vehicle rolls away due to insufficient braking force. This not only improves the existing automatic parking function, but also helps to reduce vehicle costs and enhance product performance and competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The figure is a processing flow diagram of an example of the automatic parking control method according to the present invention.

[0027] Figure 2 The figure is a PV curve diagram of a hydraulic brake system on an existing vehicle.

[0028] Figure 3 The figure is a leakage characteristic curve diagram of a hydraulic brake system on an existing vehicle. DETAILED DESCRIPTION

[0029] exist Figure 1 FIG. 4 shows a general flow chart of a specific embodiment of the automatic parking control method according to the present invention, wherein an improved automatic parking control strategy different from the prior art is adopted. Figure 1 As shown, the automatic parking control method may include the following steps:

[0030] In step S11, the automatic parking function can be turned on during vehicle driving so that the vehicle can be parked (i.e., stationary) when the automatic parking conditions are met. At this time, the road slope at the current parking position of the vehicle can be obtained.

[0031] In the above steps, the automatic parking conditions are typically set by the vehicle manufacturer and may vary between different types of vehicles. This is not a limitation of the present invention. Regarding the road slope, the present invention allows for a variety of feasible methods to be used. For example, it can be conveniently obtained through detection by one or more sensors installed on the vehicle. Such sensors include, but are not limited to, longitudinal acceleration sensors, inclination sensors, and slope sensors. These sensors can be selected based on the configuration of different vehicle types and specific application requirements.

[0032] After obtaining the road slope, it is possible to determine in step S12 whether the obtained road slope is not less than a preset value, and then determine the subsequent processing based on this. If it is determined that it is greater than the preset value, that is, in step S12, Figure 1 If the character "Y" is used in the code, then step S13 is executed next; otherwise, it indicates that the slope of the road where the vehicle is currently parked is relatively small and not enough to cause the vehicle to slide down the slope. Figure 1 In the case where the character "N" is used, the process can return to step S11 without taking any additional processing measures. In actual application, the above preset value can be flexibly set according to the application requirements. For example, the value range can be optionally set to 5°-30° or any other appropriate value range.

[0033] like Figure 1 As shown, in step S13, the minimum braking force required to keep the vehicle parked on the current road surface can be very conveniently calculated based on the vehicle mass and the road slope obtained in the above step S11 and greater than the above-mentioned preset value; in addition, in this step, the actual braking force of the vehicle in the current parked state can also be obtained at the same time, so as to be used for comparison with the above-mentioned minimum braking force, which will be discussed in detail later.

[0034] The present invention allows for obtaining the actual braking force of a vehicle in a parked state using any feasible method. For example, on some pure electric vehicles, the actual braking force currently provided by the motor can be obtained through the VCU (Vehicle Control Unit). As another example, this can be obtained by detecting changes in the current fluid volume (i.e., the current fluid volume) in the vehicle's hydraulic brake system. Specifically, many types of vehicles are equipped with hydraulic brake systems to provide braking force. By controlling the volume of fluid flowing through them, the desired braking force can be output or adjusted as needed. Typically, such hydraulic brake systems are equipped with various components, such as inlet and outlet valves. These components may have varying degrees of fluid leakage due to inherent quality and long-term operational wear. Therefore, when the vehicle meets the automatic parking conditions and provides the corresponding initial braking force during driving, the fluid used to provide the braking force may leak from one or more components over time. This can cause the actual braking force of the vehicle to gradually decrease from the initial braking force until it is no longer able to maintain the vehicle in a parked state, resulting in the vehicle rolling away. Therefore, the current fluid volume in the hydraulic brake system can be detected by, for example, using detection sensors and other measures, and by considering the actual leakage problem discussed above, the current actual braking force of the vehicle can be obtained.

[0035] It is understood and known to those skilled in the art that the hydraulic brake systems of various vehicles are provided with corresponding PV curves, which record the corresponding relationship between fluid pressure and fluid volume, for example, Figure 2 A PV curve diagram of an existing hydraulic brake system of this type is shown in . Thus, by querying the above PV curve, the fluid pressure value corresponding to the specific fluid volume value can be obtained very conveniently and quickly.

[0036] Similarly, hydraulic brake systems also have their own leakage characteristic curves, such as Figure 3 A leakage characteristic curve diagram of an existing hydraulic brake system is exemplarily provided in the figure. Based on such leakage characteristic curve data, the influence of leakage on the fluid volume can be obtained, that is, the actual fluid volume affected by the leakage factor can be obtained.

[0037] In practical applications, the PV curve and leakage characteristic curve of the hydraulic brake system can be calibrated on a vehicle control device, such as the Electronic Stability Program (ESP) or a separate controller. Thus, as an optional scenario, the vehicle's current actual braking force can be calculated based on the fluid volume, PV curve, and leakage characteristic curve in the vehicle's hydraulic brake system.

[0038] For example, when a vehicle is parked, the initial fluid pressure of the hydraulic brake system can be obtained using, for example, a master cylinder pressure sensor on the vehicle. The initial fluid volume corresponding to this initial fluid pressure can then be determined based on the PV curve. The actual fluid volume corresponding to the obtained initial fluid volume can then be determined based on the leakage characteristic curve. The actual fluid pressure corresponding to the actual fluid volume can then be determined based on the PV curve. The actual braking force can then be calculated based on this actual fluid pressure and vehicle brake system parameters. Vehicle brake system parameters may include wheel radius, Cp value (unit: Nm / bar, representing brake torque / fluid pressure; brake torque can be used to calculate brake force), etc. These parameters and calculation methods are well known to those skilled in the art and will not be detailed here. It should be noted that, in actual applications, only one or several of the various components in a hydraulic brake system may need to be considered for leakage. This is because some components, due to their high quality and stable performance, are rarely, or need not, be considered for fluid leakage. On the other hand, since the impact of leakage of components in the hydraulic brake system on the actual braking force has been taken into account in the solution of the present invention, this will allow the use of components with low hydraulic performance and low cost in the hydraulic brake system, which will help reduce the costs of vehicles, hydraulic brake systems, etc.

[0039] Next, in step S14, the actual braking force obtained in the above steps is compared with the minimum braking force to determine whether additional braking force is currently required. If so, in step S15, the vehicle's current braking force is increased, for example by increasing the fluid volume of the hydraulic brake system, to maintain the vehicle's stationary state on the current road surface. Otherwise, the current braking force is sufficient to maintain the vehicle's stationary state, and step S15 is not necessary, so the process returns to step S11.

[0040] The comparison process for the actual braking force and the minimum braking force in step S14 can be flexibly implemented according to different application scenarios. For example, various numerical processing methods available in the prior art can be employed. Alternatively, the safety weighting factor can be considered based on on-site environmental conditions (e.g., low road friction coefficients caused by rain, ice, and snow). For example, the difference between the actual braking force and the minimum braking force can be calculated, and then a determination can be made as to whether the difference is less than a preset value. If the difference is indeed less than the minimum braking force, the braking force can be increased. This entire determination process is very simple, convenient, and efficient. The preset value can be set as needed. For example, the ratio of the actual braking force to the minimum braking force can be set within a range of 5%-15%. Selecting a relatively large ratio indicates that the process favors a relatively safer and more conservative vehicle braking force control strategy. To facilitate application, in some optional scenarios, the vehicle user can be given the ability to select and set the preset value, allowing them to flexibly adjust it based on personal preferences, driving area, and other factors.

[0041] It should be noted that, in the method of the present invention, the processing can be cyclically executed using respective preset time periods (e.g., any value between 10ms and 100ms, or any other suitable value), depending on different application requirements. Furthermore, the time intervals between adjacent steps can be flexibly set according to specific application requirements, for example, they can be set to zero or any suitable non-zero value, and they can be the same or different.

[0042] According to the design solution of the present invention, an automatic parking control system is also provided, which may include a processor and a memory for storing instructions. When the instructions are executed, the processor in the automatic parking control system can implement the automatic parking control method according to the present invention, thereby leveraging the advantages of the present invention over the prior art as described above. In particular, it can promptly and quickly increase braking force before the vehicle rolls due to insufficient braking force, thereby preventing the vehicle from rolling, jolting, and making noise, and ensuring that the vehicle can remain parked for a long time. This improves vehicle performance and competitiveness, and provides reliable safety protection for vehicles and personnel.

[0043] In addition, the present invention further provides a vehicle equipped with the automatic parking control system according to the present invention. It should be understood that the vehicle according to the present invention may include, but is not limited to, various types of vehicles such as fuel vehicles, pure electric vehicles, and hybrid vehicles.

[0044] As previously mentioned, because the present invention improves existing automatic parking control strategies, particularly by taking into account component leakage issues within the vehicle's hydraulic brake system, it allows for components that take into account factors such as hydraulic performance and cost to be deployed on the vehicle. For example, valve components with cost advantages but relatively poor hydraulic performance can be deployed in the hydraulic brake system. Because the leakage characteristics of such components have been fully accounted for in the present invention, they do not pose a safety risk, allowing the vehicle to achieve good automatic parking control performance at a lower cost. Furthermore, when fluid leakage issues exist in the hydraulic brake system of existing vehicles, affecting braking force and potentially compromising vehicle safety, by comparison, it will be found that these issues will not occur on the vehicle of the present invention, which exhibits significant technical advantages in automatic parking control.

[0045] The present invention also provides a computer-readable storage medium storing the following instructions: when executed, the automatic parking control method according to the present invention can be implemented. The computer-readable storage medium provided by the present invention can be any type of component, module, or device capable of storing instructions, including, but not limited to, read-only memory (ROM), random access memory (RAM), and erasable programmable read-only memory (EPROM).

Claims

1. An automatic parking control method, characterized in that: Including steps: A. When the vehicle meets the automatic parking conditions and is parked, obtain the vehicle's current road slope; B. Determining whether the road surface slope is not less than a preset value: If so, calculating the minimum braking force required to stop the vehicle on the current road surface based on the road surface slope and the vehicle mass; as well as C. Obtain the vehicle's current actual braking force and compare it with the minimum braking force, and then determine whether to increase the braking force based on the comparison result. Wherein, in step C: Obtaining a starting fluid hydraulic pressure of a hydraulic brake system on a vehicle, and obtaining a starting fluid volume of the hydraulic brake system based on the starting fluid hydraulic pressure and a PV curve of the hydraulic brake system, wherein the vehicle provides an initial braking force through the fluid in the hydraulic brake system; as well as The actual fluid pressure of the hydraulic brake system is acquired according to the initial fluid volume, the PV curve, and the leakage characteristic curve of the hydraulic brake system, and the actual braking force is calculated according to the actual fluid pressure and vehicle brake system parameters.

2. The automatic parking control method according to claim 1, wherein: In step A, the road slope is acquired by at least one sensor on the vehicle, wherein the sensor includes a longitudinal acceleration sensor, an inclination sensor, and a slope sensor.

3. The automatic parking control method according to claim 1, wherein: In step B, the preset value ranges from 5° to 30°.

4. The automatic parking control method according to claim 1, wherein: The hydraulic brake system includes an inlet valve and an outlet valve, and the PV curve and the leakage characteristic curve are calibrated in a control device on a vehicle, the control device including an ESP.

5. The automatic parking control method according to any one of claims 1 to 4, wherein: In step C: calculating a difference between the actual braking force and the minimum braking force; and Determine whether the difference is less than a preset value: if so, increase the braking force.

6. The automatic parking control method according to claim 5, wherein: The ratio of the preset value of the difference to the minimum braking force ranges from 5% to 15%.

7. An automatic parking control system comprising: processor; as well as a memory for storing instructions; It is characterized in that, when the instruction is executed, the processor implements the automatic parking control method according to any one of claims 1-6.

8. A vehicle, characterized in that: The vehicle includes the automatic parking control system according to claim 7.

9. A computer-readable storage medium for storing instructions, characterized in that: When the instructions are executed, the automatic parking control method according to any one of claims 1 to 6 is implemented.

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