Vehicle control method and system for cable-type automatic parking system of new energy buses

Abstract

The present application provides a vehicle control method and system for a cable-type automatic parking system of a new energy bus. After determining that the cable actuator is in a normal working state, the vehicle domain controller determines whether the vehicle has an emergency parking release requirement. An emergency parking release judgment is added before the working condition judgment, providing redundant protection for system failures. Using a cable actuator for parking avoids the technical problem that the automatic parking system based on the vehicle air circuit architecture becomes invalid due to the gradual cancellation of the air charging and air storage systems, improving the vehicle adaptability of the system. Based on the design concept of discrete decoupling of vehicle control, the vehicle domain controller and the electronic parking system are separately arranged to distinguish the upper-layer control logic from the lower-layer actuator control, improving the expandability of the system. Moreover, the vehicle end and the electronic parking system end each perform their own functions, reducing software coupling and improving the real-time performance and safety of the system.

Description

Technical Field

[0001] The present application relates to the technical field of new energy bus vehicle control, and particularly to a vehicle control method and system for a cable-type automatic parking system of a new energy bus. Background Art

[0002] A new energy bus refers to a bus powered by new energy, driven by a drive motor, and meeting the requirements of road traffic and safety regulations. With the popularization of new energy buses in the country, the increasing complexity of driving conditions, and the growing demand for driving safety and comfort, vehicle intelligence has become one of the mainstream trends in vehicle control. Since vehicle intelligence provides great flexibility and convenience for vehicle manufacturers, customers, and road traffic, the demand for vehicle intelligence functions has grown rapidly, and the intelligent control of new energy buses has gradually become a major functional module of vehicle control.

[0003] As an important part of vehicle intelligence, the automatic parking system can intelligently identify the driver's parking intention according to vehicle inputs and achieve vehicle parking in complex scenarios. The automatic parking system can greatly improve driving comfort and driving safety, and is currently gradually applied to high-tech automotive fields such as hill-start assist, assisted driving, and autonomous driving, with a wide range of application scenarios.

[0004] However, currently, small new energy buses (less than 6 meters) are gradually transitioning to passenger car configurations, and the air charging and air storage systems are gradually being cancelled, and the automatic parking system based on the vehicle air circuit architecture also becomes invalid accordingly. Moreover, in related technologies, the electronic parking system controller analyzes the vehicle state by receiving vehicle information on the CAN network and independently controls the cable actuator, but in fact, the electronic parking system cannot receive vehicle information in real time and comprehensively, resulting in defects in parking control. Summary of the Invention

[0005] In view of this, the purpose of the present application is to propose a vehicle control method and system for a cable-type automatic parking system of a new energy bus that can solve or partially solve the above technical problems.

[0006] Based on the above purpose, the first aspect of the present application provides a vehicle control method for a cable-type automatic parking system of a new energy bus, including:

[0007] Step S1: In response to determining that the cable actuator is in a normal working state, the vehicle domain controller determines whether the vehicle has an emergency parking release requirement;

[0008] Step S2: In response to determining that the vehicle does not have the emergency parking release requirement, the vehicle domain controller determines whether the vehicle has an automatic parking requirement;

[0009] Step S3: In response to determining that the vehicle has an automatic parking requirement, the vehicle domain controller controls the vehicle to enter the automatic parking mode and sends a parking instruction to the independent electronic parking system controller;

[0010] Step S4: In response to receiving the parking instruction, the independent electronic parking system controller sends a start instruction to the cable actuator;

[0011] Step S5: In response to receiving the start instruction, the cable actuator performs parking and feeds back parking information to the vehicle domain controller through the independent electronic parking system controller;

[0012] Step S6: In response to determining that the received parking information is successful parking information, the vehicle domain controller controls the vehicle to enter the parked state.

[0013] The second aspect of the present application provides a vehicle control system for a cable-type automatic parking system of a new energy bus, including a parking intention acquisition device, a vehicle domain controller, and an electronic parking system:

[0014] Wherein, the electronic parking system includes the independent electronic parking system controller and the cable actuator; the vehicle domain controller is configured to,

[0015] In response to determining that the cable actuator is in a normal working state, the vehicle domain controller determines whether the vehicle has an emergency parking release requirement;

[0016] In response to determining that the vehicle does not have the emergency parking release requirement, the vehicle domain controller determines whether the vehicle has an automatic parking requirement;

[0017] In response to determining that the vehicle has an automatic parking requirement, the vehicle domain controller controls the vehicle to enter the automatic parking mode and sends a parking instruction to the independent electronic parking system controller;

[0018] In response to determining that the received parking information is successful parking information, the vehicle domain controller controls the vehicle to enter the parked state;

[0019] The independent electronic parking system controller is configured to,

[0020] In response to receiving the parking instruction, the independent electronic parking system controller sends a start instruction to the cable actuator;

[0021] The cable actuator is configured to,

[0022] In response to receiving the start instruction, the cable actuator performs parking and feeds back parking information to the vehicle domain controller through the independent electronic parking system controller.

[0023] As can be seen from the above, for the vehicle control method and system of the cable-type automatic parking system of the new energy bus provided by this application, after determining that the cable actuator is in a normal working state, the vehicle domain controller determines whether there is an emergency parking release requirement for the vehicle. An emergency parking release judgment is added before the working condition judgment, providing redundant protection for system failures. After determining that the vehicle does not have an emergency parking release requirement, the vehicle domain controller determines whether the vehicle has an automatic parking requirement. Only when there is an automatic parking requirement can the vehicle enter the automatic parking mode. In the automatic parking mode, the vehicle domain controller sends a parking instruction to the independent electronic parking system controller. After receiving the parking instruction, the independent electronic parking system controller sends a start instruction to the cable actuator. The cable actuator performs parking according to the start instruction and feeds back the parking information to the vehicle domain controller through the independent electronic parking system controller; after determining that the received parking information is the parking success information, the vehicle domain controller controls the vehicle to enter the parked state. Using the cable actuator for parking avoids the technical problem that the automatic parking system based on the vehicle air circuit architecture becomes invalid due to the gradual cancellation of the air charging and air storage systems, improving the vehicle adaptability of the system. Based on the design concept of discrete decoupling of vehicle control, the vehicle domain controller and the electronic parking system are separately set, realizing the distinction between the upper-layer control logic and the lower-layer actuator control, improving the expandability of the system, and the vehicle control end and the electronic parking system end each perform their own duties, reducing the software coupling and improving the real-time performance and safety of the system. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in this application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only the embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 It is a flowchart of the vehicle control method for the cable-type automatic parking system of the new energy bus provided by the embodiment of this application;

[0026] Figure 2 It is a flowchart of the input acquisition provided by the embodiment of this application;

[0027] Figure 3 It is a flowchart for judging the failure of the cable actuator in the unparked state provided by the embodiment of this application;

[0028] Figure 4 It is a flowchart for judging the failure of the cable actuator in the parked state provided by the embodiment of this application;

[0029] Figure 5Schematic diagram of the vehicle control system of the cable-type automatic parking system for new energy buses provided by the embodiments of the present application;

[0030] Figure 6 Flowchart of another vehicle control method of the cable-type automatic parking system for new energy buses provided by the embodiments of the present application. Detailed implementation manners

[0031] To make the objectives, technical solutions, and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0032] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the ordinary meanings understood by those of ordinary skill in the art to which the present application belongs. Words such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0033] As described in the background art, in the related art, an automatic parking system using a pneumatic method is generally adopted. Since small new energy buses (less than 6 meters) are gradually transitioning to passenger vehicle configurations, the air charging and air storage systems are gradually cancelled, and the pneumatic automatic parking system based on the vehicle air circuit architecture cannot be used accordingly. Moreover, in the related art, the automatic parking system controller often receives vehicle information on the CAN network, analyzes the vehicle state, and controls the cable actuator, without the vehicle domain controller participating in the actual control. However, the automatic parking system controller actually cannot receive vehicle information in real time and comprehensively, resulting in defects in parking control.

[0034] The vehicle control method and system of the cable-type automatic parking system for new energy buses provided by the embodiments of the present application, after determining that the cable actuator is in a normal working state, the vehicle domain controller determines whether the vehicle has an emergency parking release requirement. An emergency parking release judgment is added before the working condition judgment, providing redundant protection for system failures. After determining that the vehicle does not have an emergency parking release requirement, the vehicle domain controller determines whether the vehicle has an automatic parking requirement. Only when there is an automatic parking requirement can the vehicle enter the automatic parking mode. In the automatic parking mode, the vehicle domain controller sends a parking command to the independent electronic parking system controller. After receiving the parking command, the independent electronic parking system controller sends a start command to the cable actuator. The cable actuator parks the vehicle according to the start command and feeds back the parking information to the vehicle domain controller through the independent electronic parking system controller. After determining that the received parking information is successful parking information, the vehicle domain controller controls the vehicle to enter the parked state. Using a cable actuator for parking avoids the technical problem that the automatic parking system based on the vehicle air circuit architecture becomes invalid due to the gradual cancellation of the air pumping and air storage systems, improving the vehicle adaptability of the system. Based on the design concept of discrete decoupling of vehicle control, the vehicle domain controller and the electronic parking system are separately set, realizing the distinction between the upper-layer control logic and the lower-layer actuator control, improving the expandability of the system, and the vehicle control end and the electronic parking system end perform their respective functions, reducing the software coupling and improving the real-time performance and safety of the system.

[0035] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. In some embodiments, as Figure 1 shown, the vehicle control method of the cable-type automatic parking system for new energy buses includes:

[0036] Step S1: In response to determining that the cable actuator is in a normal working state, the vehicle domain controller determines whether the vehicle has an emergency parking release requirement.

[0037] In this step, on the premise of determining that the cable actuator is in a normal working state, the vehicle domain controller adds an emergency parking release judgment before the vehicle working condition judgment, providing redundant protection for system failures. By adding an emergency parking release button, the vehicle driver can artificially intervene in this judgment. In specific situations, the driver can press the emergency parking release button to enter a new cycle and artificially end this judgment. If there is no need to release the emergency parking, it is determined whether automatic parking is possible according to the vehicle working condition.

[0038] Step S2: In response to determining that the vehicle does not have an emergency parking release requirement, the vehicle domain controller determines whether the vehicle has an automatic parking requirement.

[0039] In this step, since the vehicle driver can better control the vehicle to park in some critical situations, or the driver is used to manual parking, the vehicle is equipped with an electronic parking system switch. By setting the electronic parking system switch, it can be controlled whether the vehicle has an automatic parking requirement. When the electronic parking system switch is in the on state, it indicates that the vehicle driver has an automatic parking requirement, and the vehicle domain controller controls the vehicle to enter the automatic parking mode. When the electronic parking system switch is in the off state, it indicates that the vehicle driver does not have an automatic parking requirement, and the vehicle domain controller controls the vehicle to enter the manual parking mode.

[0040] Step S3: In response to determining that the vehicle has an automatic parking requirement, the vehicle domain controller controls the vehicle to enter the automatic parking mode and sends a parking instruction to the independent electronic parking system controller.

[0041] In this step, after determining that there is an automatic parking requirement, the vehicle domain controller controls the vehicle to enter the automatic parking mode. After that, automatic parking can be completed without the driver's operation. After entering the automatic parking mode, the vehicle domain controller sends the parking instruction to the independent electronic parking system controller, and the independent electronic parking system controller only responsible for receiving and executing the parking instruction, without participating in the judgment of various requirements, realizing the separation of the upper control logic and the lower actuator control, improving the scalability of the system, and the vehicle control end and the electronic parking system end each perform their own duties, reducing the software coupling, and improving the real-time performance and safety of the system.

[0042] Step S4: In response to receiving the parking instruction, the independent electronic parking system controller sends a start instruction to the cable actuator.

[0043] In this step, the independent electronic parking system controller receives the parking instruction sent by the vehicle domain controller, and the independent electronic parking system controller will send a start instruction to the cable actuator, and the cable DC motor of the cable actuator starts.

[0044] Step S5: In response to receiving the start instruction, the cable actuator parks the vehicle and feeds back the parking information to the vehicle domain controller through the independent electronic parking system controller.

[0045] In this step, after the cable actuator receives the start instruction, the cable DC motor drives the cable to park the vehicle. The tension sensor, limit sensor, and speed sensor in the cable actuator send the detected parking information to the independent electronic parking system controller, and the independent electronic parking system controller feeds back the parking information to the vehicle domain controller.

[0046] Step S6: In response to determining that the received parking information is parking success information, the vehicle domain controller controls the vehicle to enter the parked state.

[0047] In this step, after receiving the parking information, the vehicle domain controller analyzes it. If the parking information is a successful parking message, it indicates that the cable actuator has successfully parked, and the vehicle domain controller will control the vehicle to enter the parked state.

[0048] In some embodiments, as Figure 2 shown, it further includes:

[0049] Step S010, the parking intention acquisition device continuously acquires hardwired signals and messages, and sends the hardwired signals and messages to the vehicle domain controller.

[0050] In this step, the parking intention acquisition device acquires hardwired signals and messages as the signal inputs for the vehicle domain controller to analyze and control the whole vehicle. Among them, the hardwired signals and messages include, but are not limited to, the switch signals of the electronic parking system, the vehicle brake pedal, the vehicle accelerator pedal, the motor speed of the cable actuator, and other signals.

[0051] Step S020, in response to receiving the hardwired signals and messages, the vehicle domain controller performs corresponding control on the vehicle based on the hardwired signals and messages.

[0052] In this step, the vehicle domain controller analyzes the current vehicle parking-related requirements according to the signal inputs, sends control instructions for the electronic parking system through the CAN network, and continuously receives the working and fault status of the cable-type electronic parking system.

[0053] In some embodiments, it further includes: in response to determining that the vehicle has an emergency release parking requirement, the vehicle domain controller continuously sends an emergency release parking instruction to the independent electronic parking system controller until the independent electronic parking system controller releases the emergency parking.

[0054] Among them, on the premise of determining that the cable actuator is in a normal working state, the vehicle domain controller adds an emergency release parking judgment before the vehicle condition determination, providing redundant protection for system failures. By adding an emergency release parking button, the vehicle driver can artificially intervene in this judgment. In specific situations, the driver can press the emergency release parking button to enter a new cycle and artificially end this judgment. The existence of an emergency release parking requirement means that the driver presses the emergency release parking requirement button, indicating that the driver judges according to the situation at that time that there is no need for emergency automatic parking. After pressing the button, the vehicle domain controller continuously sends an emergency release parking instruction to the independent electronic parking system controller until the independent electronic parking system controller releases the emergency parking. Continuously sending the instruction is to cope with the corresponding emergency situation and ensure that the independent electronic parking system controller releases the emergency parking in the shortest time.

[0055] In some embodiments, it further includes: in response to determining that the vehicle does not have an automatic parking requirement, the vehicle domain controller controls the vehicle to enter the manual parking mode.

[0056] Among them, since the vehicle driver can better control the vehicle to park in some critical situations, or the driver is used to manual parking, the vehicle is provided with an electronic parking system switch. By setting the electronic parking system switch, it can be controlled whether the vehicle has an automatic parking requirement. When the electronic parking system switch is in the on state, it indicates that the vehicle driver has an automatic parking requirement, and the vehicle domain controller controls the vehicle to enter the automatic parking mode. When the electronic parking system switch is in the off state, it indicates that the vehicle driver does not have an automatic parking requirement, and the vehicle domain controller controls the vehicle to enter the manual parking mode. After entering the manual parking mode, the driver parks the vehicle according to his own experience.

[0057] In some embodiments, it further includes:

[0058] In response to the received parking information being parking failure information, the vehicle domain controller controls the vehicle to enter the unparked state.

[0059] Among them, after the cable actuator receives the start command, the cable DC motor drives the cable to park. The tension sensor, limit sensor, and speed sensor in the cable actuator send the detected parking information to the independent electronic parking system controller, and the independent electronic parking system controller feeds back the parking information to the vehicle domain controller. After receiving the parking information, the vehicle domain controller analyzes it. If the parking information is parking failure information, it means that the cable actuator fails to park, and the vehicle domain controller will control the vehicle to enter the unparked state.

[0060] In some embodiments, it further includes: in response to determining that the vehicle enters the unparked state, the vehicle domain controller determines whether the vehicle has a parking requirement; in response to determining that the vehicle does not have a parking requirement, return to step S1; in response to determining that there is a parking requirement, the vehicle domain controller sends a parking command to the independent electronic parking system controller.

[0061] Among them, after determining that the vehicle enters the unparked state, the vehicle domain controller determines whether the vehicle has a parking requirement. This determination is to find out the reason for the vehicle to enter the unparked state. The parking requirements can be divided into:

[0062] a. No drive motor resolver fault, parking state, automatic parking function enabled, forward gear, deep brake pedal held for 1500 ms;

[0063] b. No drive motor resolver fault, low speed state, key off held for 500 ms;

[0064] c. Parking brake switch held for 100 ms.

[0065] If it is determined that there is no parking requirement, return to step S1 to restart the process; if it is determined that there is a parking requirement, the vehicle domain controller sends a parking instruction to the independent electronic parking system controller, and determines whether the vehicle enters the unparked state due to a failure of the cable actuator according to the execution situation of the parking instruction.

[0066] In some embodiments, as Figure 3 shown, it further includes:

[0067] Step S110, in response to receiving the parking instruction, the independent electronic parking system controller executes the parking instruction and sends a parking status completion message to the vehicle domain controller.

[0068] In this step, when the independent electronic parking system controller receives the parking instruction sent by the vehicle domain controller, the independent electronic parking system controller will send a start instruction to the cable actuator, the cable DC motor of the cable actuator starts, the cable DC motor drives the cable for parking, and the tension sensor, limit sensor, and speed sensor in the cable actuator send the detected parking status completion messages to the independent electronic parking system controller, and the independent electronic parking system controller feeds back the parking status completion message to the vehicle domain controller.

[0069] Step S120, in response to determining that the parking status completion message is received within the specified time, the vehicle domain controller stops sending the parking instruction to the independent electronic parking system, and confirms that the cable actuator is in a normal working state, and returns to step S1.

[0070] In this step, since the detection and transmission of information are extremely fast and can be ignored, the specified time is greater than or equal to the time required for cable parking. If the parking status completion message is received within the specified time, it indicates that there is no failure in the cable actuator. The vehicle domain controller stops sending the parking instruction to the independent electronic parking system controller, confirms that the cable actuator is in a normal working state, and returns to step S1.

[0071] Step S130, in response to determining that the parking status completion message is not received within the specified time, the vehicle domain controller stops sending the parking instruction to the independent electronic parking system controller, and confirms that the cable actuator is in an overtime failure state.

[0072] In this step, since the detection and transmission of information are extremely fast and can be ignored, the specified time is greater than or equal to the time required for the cable parking. If the parking status completion information is not received within the specified time, it indicates that there is a fault in the cable actuator. The vehicle domain controller stops sending the parking command to the independent electronic parking system controller, confirms that the cable actuator is in an overtime fault state, and returns to step S1. However, at this time, the driver can see the feedback of the fault information through the interaction interface in the vehicle and select manual parking.

[0073] In some embodiments, it further includes: in response to the vehicle entering the parking state, the vehicle domain controller determines whether the vehicle has a demand for releasing parking; in response to determining that the vehicle has no demand for releasing parking, it returns to step S1; in response to determining that the vehicle has a demand for releasing parking, the vehicle domain controller sends a parking release command to the independent electronic parking system controller.

[0074] Among them, after determining that the vehicle enters the parking state, the vehicle domain controller determines whether the vehicle has a demand for releasing parking. This determination is to confirm that the cable actuator after parking is in a normal working state to ensure that the cable actuator can operate normally when used next time. The demand for releasing parking can be divided into:

[0075] a. Turn on the key, shift gears, and lightly step on the accelerator to maintain for 100 ms;

[0076] b. Lightly step on the brake and maintain the parking release switch signal for 100 ms.

[0077] If it is determined that there is no demand for releasing parking, it returns to step S1 to restart the process; if it is determined that there is a demand for releasing parking, the vehicle domain controller sends a parking release command to the independent electronic parking system controller, and determines whether the cable actuator is in a normal working state according to the execution situation of the parking release command.

[0078] In some embodiments, as Figure 4 shown, it further includes:

[0079] Step S210, in response to receiving the parking release command, the independent electronic parking system controller executes the parking release command and sends a parking release status completion message to the vehicle domain controller.

[0080] In this step, the independent electronic parking brake system controller receives the parking release instruction sent by the vehicle domain controller. The independent electronic parking brake system controller will send a start instruction to the cable actuator. Here, the start instruction has a different motor rotation direction from that in step S110. Here, it is the rotation direction for releasing the parking brake. The cable DC motor of the cable actuator starts, and the cable DC motor drives the cable to release the parking brake. The tension sensor, limit sensor, and speed sensor in the cable actuator send the information on the completion status of the parking brake release detected by each of them to the independent electronic parking brake system controller. The independent electronic parking brake system controller feeds back the information on the completion status of the parking brake release to the vehicle domain controller.

[0081] Step S220: In response to determining that the information on the completion status of the parking brake release is received within the specified time, the vehicle domain controller stops sending the parking release instruction to the independent electronic parking brake system controller, and confirms that the cable actuator is in a normal working state, then returns to step S1.

[0082] In this step, since the detection and transmission of information are extremely fast and can be ignored, the specified time is greater than or equal to the time required for cable parking. If the information on the completion status of the parking brake release is received within the specified time, it indicates that there is no fault in the cable actuator. The vehicle domain controller stops sending the parking release instruction to the independent electronic parking brake system controller, confirms that the cable actuator is in a normal working state, and returns to step S1.

[0083] Step S230: In response to determining that the information on the completion status of the parking brake release is not received within the specified time, the vehicle domain controller stops sending the parking release instruction to the independent electronic parking brake system controller, and confirms that the cable actuator is in an overtime fault state.

[0084] In this step, since the detection and transmission of information are extremely fast and can be ignored, the specified time is greater than or equal to the time required for cable parking. If the information on the completion status of the parking brake release is not received within the specified time, it indicates that there is a fault in the cable actuator. The vehicle domain controller stops sending the parking release instruction to the independent electronic parking brake system controller, confirms that the cable actuator is in an overtime fault state, and returns to step S1. However, at this time, the driver can see the feedback of the fault information through the interaction interface in the vehicle and repair the cable actuator.

[0085] It should be noted that the method of the embodiment of the present application can be executed by a single device, such as a computer or a server, etc. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In this case of a distributed scenario, one of the multiple devices can only execute one or more steps of the method of the embodiment of the present application, and these multiple devices will interact with each other to complete the described method.

[0086] It should be noted that some embodiments of the present application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the above embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0087] Based on the same inventive concept, corresponding to any of the above-described method embodiments, the present application further provides a vehicle control system for a cable-type automatic parking system of a new energy bus.

[0088] Refer to Figure 5 , the vehicle control system for the cable-type automatic parking system of the new energy bus includes: a parking intention acquisition device, a vehicle domain controller, and an electronic parking brake system (EPB):

[0089] Among them, the electronic parking brake system includes an independent electronic parking brake system controller and a cable actuator;

[0090] The vehicle domain controller is configured to,

[0091] In response to determining that the cable actuator is in a normal operating state, the vehicle domain controller determines whether the vehicle has an emergency release parking requirement;

[0092] In response to determining that the vehicle does not have an emergency release parking requirement, the vehicle domain controller determines whether the vehicle has an automatic parking requirement;

[0093] In response to determining that the vehicle has an automatic parking requirement, the vehicle domain controller controls the vehicle to enter the automatic parking mode and sends a parking instruction to the independent electronic parking brake system controller;

[0094] In response to determining that the received parking information is parking success information, the vehicle domain controller controls the vehicle to enter the parked state;

[0095] The independent electronic parking brake system controller is configured to,

[0096] In response to receiving the parking instruction, the independent electronic parking brake system controller sends a start instruction to the cable actuator;

[0097] The cable actuator is configured to,

[0098] In response to receiving the start instruction, the cable actuator performs parking and feeds back parking information to the vehicle domain controller through the independent electronic parking brake system controller.

[0099] In some embodiments, an interaction interface is further included. The interaction interface is used to present various vehicle status information in the form of charts or texts for the driver's reference.

[0100] Among them, the independent automatic parking system controller is configured to,

[0101] In response to receiving a parking instruction, the independent automatic parking system controller sends a start instruction to the cable actuator.

[0102] The device in the above embodiments is used to implement the vehicle control method of the cable-type automatic parking system for new energy buses in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0103] It should be noted that, as Figure 6 shown, the embodiments of the present application can also be further described in the following manner:

[0104] (1) The vehicle domain controller wakes up and the vehicle data is initialized;

[0105] (2) The parking intention acquisition device acquires hardwired signals and messages for demand judgment;

[0106] (3) And the cable-type electronic parking system normal working state and timeout fault state are sent to the interaction interface through the vehicle domain controller;

[0107] (4) Determine whether there is an emergency demand to release parking;

[0108] (5) If so, send an emergency release parking instruction to the electronic parking system; the instruction is delayed, that is, the instruction is continuously sent until the emergency parking is released;

[0109] (6) If not, determine whether there is an automatic parking demand;

[0110] (7) If so, enter the automatic parking mode;

[0111] (8) If not, enter the manual parking mode;

[0112] (9) Distinguish the input conditions according to whether it is in the automatic parking state, that is, if it is in the manual parking state, the vehicle domain controller does not need to send a start instruction to the independent electronic parking system controller;

[0113] (10) Judge whether the vehicle is in the parking state according to the working state feedback by the electronic parking system. If so, enter (5a1), if not, enter (5b1);

[0114] (5a1) Enter the parking state;

[0115] (5a2) Judge whether there is a demand to release parking;

[0116] (5a3) If not, return to (2);

[0117] (5a4) If so, send a park release command;

[0118] (5a5) And determine whether the park release completion status feedback of the electronic parking system is received within the specified time. If so, proceed to (5a6); if not, proceed to (5a7);

[0119] (5a6) Cancel the sending of the park release command, clear the cable working overtime fault, confirm that the cable actuator is in a normal working state, and return to (2);

[0120] (5a7) Cancel the sending of the park release command, report the cable working overtime fault, confirm that the cable actuator is in an overtime fault state, and return to (2);

[0121] (5b1) Enter the unparked state;

[0122] (5b2) Determine whether there is a parking requirement;

[0123] (5b3) If not, return to (2);

[0124] (5b4) If so, send a parking command;

[0125] (5b5) And determine whether the parking completion status feedback of the electronic parking system is received within the specified time; if so, proceed to (5b6); if not, proceed to (5b7);

[0126] (5b6) Cancel the sending of the parking command, clear the cable working overtime fault, confirm that the cable actuator is in a normal working state, and return to (2);

[0127] (5b7) Cancel the sending of the parking command, report the cable working overtime fault, confirm that the cable actuator is in an overtime fault state, and return to (2).

[0128] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present application (including the claims) is limited to these examples; under the concept of the present application, the technical features between the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present application as described above, and they are not provided in detail for the sake of brevity.

[0129] In addition, for simplicity of explanation and discussion, and in order not to make the embodiments of the present application difficult to understand, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Further, the devices may be shown in block diagram form in order to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present application are to be implemented (i.e., these details should be fully within the understanding of those skilled in the art). In cases where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application may be practiced without these specific details or with variations of these specific details. Accordingly, these descriptions should be regarded as illustrative rather than restrictive.

[0130] Although the present application has been described in connection with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0131] Embodiments of the present application are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A vehicle control method for a cable-type automatic parking system of a new energy bus, characterized in that, Including: Step S1: In response to determining that the cable actuator is in a normal working state, the vehicle domain controller determines whether the vehicle has an emergency parking release requirement; Step S2: In response to determining that the vehicle does not have the emergency parking release requirement, the vehicle domain controller determines whether the vehicle has an automatic parking requirement; Step S3: In response to determining that the vehicle has an automatic parking requirement, the vehicle domain controller controls the vehicle to enter the automatic parking mode and sends a parking instruction to the independent electronic parking system controller; Step S4: In response to receiving the parking instruction, the independent electronic parking system controller sends a start instruction to the cable actuator; Step S5: In response to receiving the start instruction, the cable actuator parks the vehicle and feeds back parking information to the vehicle domain controller through the independent electronic parking system controller; Step S6: In response to determining that the received parking information is successful parking information, the vehicle domain controller controls the vehicle to enter the parked state; Also including: The parking intention acquisition device continuously acquires hardwired signals and messages and sends the hardwired signals and the messages to the vehicle domain controller; In response to receiving the hardwired signals and the messages, the vehicle domain controller performs corresponding control on the vehicle based on the hardwired signals and the messages; Also including: In response to the received parking information being parking failure information, the vehicle domain controller controls the vehicle to enter the unparked state; In response to determining that the vehicle enters the unparked state, the vehicle domain controller determines whether the vehicle has a parking requirement; In response to determining that the vehicle does not have the parking requirement, return to Step S1; In response to determining that the vehicle has the parking requirement, the vehicle domain controller sends the parking instruction to the independent electronic parking system controller; In response to receiving the parking instruction, the independent electronic parking system controller executes the parking instruction and sends parking status completion information to the vehicle domain controller; In response to determining that the parking status completion information is received within the specified time, the vehicle domain controller stops sending the parking instruction to the independent electronic parking system controller, confirms that the cable actuator is in the normal working state, and returns to Step S1; In response to determining that the parking status completion information is not received within the specified time, the vehicle domain controller stops sending the parking instruction to the independent electronic parking system controller and confirms that the cable actuator is in an overtime failure state.

2. The method according to claim 1, characterized in that Also including; In response to determining that the vehicle has the emergency parking release requirement, the vehicle domain controller continuously sends an emergency parking release instruction to the independent electronic parking system controller until the independent electronic parking system controller releases the emergency parking.

3. The method according to claim 1, characterized in that, Also including: In response to determining that the vehicle does not have the automatic parking requirement, the vehicle domain controller controls the vehicle to enter the manual parking mode.

4. The method according to claim 1, characterized in that, Also including: In response to determining that the vehicle enters the parked state, the vehicle domain controller determines whether the vehicle has a parking release requirement; In response to determining that the vehicle does not have the need to release the parking brake, return to step S1; In response to determining that the vehicle has the need to release the parking brake, the vehicle domain controller sends a parking brake release command to the independent electronic parking brake system controller.

5. The method according to claim 4, characterized in that It further includes: In response to receiving the parking brake release command, the independent electronic parking brake system controller executes the parking brake release command and sends a parking brake release status completion message to the vehicle domain controller; In response to determining that the parking brake release status completion message is received within the specified time, the vehicle domain controller stops sending the parking brake release command to the independent electronic parking brake system controller, and confirms that the cable actuator is in the normal working state, and returns to step S1; In response to determining that the parking brake release status completion message is not received within the specified time, the vehicle domain controller stops sending the parking brake release command to the independent electronic parking brake system controller, and confirms that the cable actuator is in the timeout failure state.

6. The vehicle control system of a cable-type automatic parking system for a new energy bus, characterized in that, It includes: A parking intention acquisition device, a vehicle domain controller, and an electronic parking brake system: Wherein, the electronic parking brake system includes an independent electronic parking brake system controller and a cable actuator; The parking intention acquisition device is configured to: Continuously collect hardwired signals and messages, and send the hardwired signals and the messages to the vehicle domain controller; The vehicle domain controller is configured to: In response to determining that the cable actuator is in the normal working state, the vehicle domain controller determines whether the vehicle has an emergency need to release the parking brake; In response to determining that the vehicle does not have the emergency need to release the parking brake, the vehicle domain controller determines whether the vehicle has an automatic parking need; In response to determining that the vehicle has an automatic parking need, the vehicle domain controller controls the vehicle to enter the automatic parking mode and sends a parking command to the independent electronic parking brake system controller; In response to determining that the received parking information is parking success information, the vehicle domain controller controls the vehicle to enter the parked state; In response to receiving the hardwired signal and the message, the vehicle domain controller performs corresponding control on the vehicle based on the hardwired signal and the message; In response to the received parking information being parking failure information, the vehicle domain controller controls the vehicle to enter the unparked state; In response to determining that the vehicle enters the unparked state, the vehicle domain controller determines whether the vehicle has a parking need; In response to determining that the vehicle does not have the parking need, and in response to determining that the cable actuator is in the normal working state, the vehicle domain controller determines whether the vehicle has an emergency need to release the parking brake; In response to determining that the vehicle has the parking need, the vehicle domain controller sends the parking command to the independent electronic parking brake system controller; In response to determining that the parking state completion information is received within the specified time, the vehicle domain controller stops sending the parking instruction to the independent electronic parking system controller, and confirms that the cable actuator is in the normal working state. In response to determining that the cable actuator is in the normal working state, the vehicle domain controller determines whether the vehicle has an emergency parking release requirement; In response to determining that the parking state completion information is not received within the specified time, the vehicle domain controller stops sending the parking instruction to the independent electronic parking system controller, and confirms that the cable actuator is in the timeout failure state; The independent electronic parking system controller is configured to, In response to receiving the parking instruction, the independent electronic parking system controller sends a start instruction to the cable actuator; In response to receiving the parking instruction, the independent electronic parking system controller executes the parking instruction and sends the parking state completion information to the vehicle domain controller; The cable actuator is configured to, In response to receiving the start instruction, the cable actuator performs parking and feeds back the parking information to the vehicle domain controller through the independent electronic parking system controller.

Images