Automatic parking system and vehicle

Abstract

The application provides an automatic parking system and a vehicle, and belongs to the field of vehicle brake control. The automatic parking system comprises a controller, a parking air chamber, a relay valve, a two-position three-way valve and a parking spring air chamber. The parking air chamber is connected to the control port of the relay valve through the two-position three-way valve and is also directly connected to the air inlet of the relay valve. The air outlet of the relay valve is connected to the parking spring air chamber, and the air outlet of the relay valve is connected to the atmosphere. The controller is connected to the two-position three-way valve to control the switching of the two-position three-way valve between the first valve position and the second valve position. If the controller detects the plug-in charging signal when the charging gun is inserted into the vehicle or detects the driver's departure signal or the key power-off signal, the two-position three-way valve is switched to the second valve position, the control port of the relay valve is connected to the atmosphere, the pressure at the control port of the relay valve is released, the relay valve is in an under-pressure state, the air outlet of the relay valve is connected to the air outlet of the relay valve, the pressure in the parking spring air chamber is released, and the automatic parking of the vehicle is completed.

Description

Technical Field

[0001] This invention relates to an automatic parking system and a vehicle, belonging to the field of vehicle braking control technology, and particularly to an automatic parking system employing pneumatic braking. Background Technology

[0002] New energy commercial vehicles and traditional commercial vehicles typically use pneumatic braking systems for service braking and a parking system for parking braking after parking. The parking system uses an air-operated mechanical parking system that is compatible with the pneumatic braking system. During vehicle operation, if it is necessary to wait at a traffic light or pull into a station, the driver needs to activate the parking brake by engaging the handbrake. When starting the vehicle, the parking brake needs to be released by disengaging the handbrake.

[0003] In certain special scenarios, there may be situations where the driver forgets to engage the handbrake when getting out of the car in an emergency, or the handbrake may automatically retract after the driver gets out of the car because it was not fully engaged. In both of these situations, the vehicle may be in an uncontrollable and dangerous state.

[0004] With the continuous development of intelligent technology in automobiles, electronic parking systems based on air-operated mechanical brakes have begun to be gradually promoted and used in vehicles, improving parking safety. For example, Chinese patent document CN207466634U discloses an electronic parking control system and bus for buses, including a vehicle controller, an accelerator pedal signal generator, an electronic parking control switch, an electric control switch, a control power supply, a main switch, a normally closed valve, and a normally open valve. The normally closed valve and the normally open valve are installed in the air pipeline for supplying air to the air-operated brake. The normally closed valve is controlled by closing or opening the power supply of the main switch to achieve automatic parking braking when the vehicle is powered off. The normally open valve, which is connected in series with the normally closed valve, is controlled by the controller to achieve control of the air-operated brake state when the vehicle is in motion.

[0005] Therefore, electronic parking systems require the addition of parking operation switches and multiple valve components to the original vehicle. Furthermore, the driver must actively operate the switch to activate and deactivate the electronic parking system. This still does not solve the problem of the driver forgetting to operate the switch, which can easily lead to the vehicle moving uncontrollably after the driver leaves the vehicle, causing significant safety hazards. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic parking system and vehicle to solve the problem of drivers forgetting to park after parking.

[0007] To achieve the above objectives, the present invention provides an automatic parking system, including a parking air tank, a relay valve, and a parking spring chamber. The parking air tank is connected to the control port of the relay valve via a pipeline and is also directly connected to the air inlet of the relay valve via a pipeline. The air outlet of the relay valve is connected to the parking spring chamber, and the exhaust port of the relay valve is open to the atmosphere. If the control port of the relay valve is pressurized, the air inlet and outlet of the relay valve are connected; if the control port of the relay valve is underpressurized, the exhaust port and outlet of the relay valve are connected. The system also includes a controller and a two-position three-way valve disposed on the pipeline between the parking air tank and the control port of the relay valve. The controller controls the two-position three-way valve to switch between a first valve position and a second valve position. When the two-position three-way valve is in the first valve position, the control port of the relay valve is connected to the parking air tank; when the two-position three-way valve is in the second valve position, the control port of the relay valve is open to the atmosphere.

[0008] When the vehicle is stationary, if the controller detects a charging signal, a driver leaving the seat signal, or a key de-energizing signal, it controls the two-position three-way valve to switch to the second valve position.

[0009] The automatic parking system provided by this invention includes a controller, a parking air chamber, a relay valve, a two-position three-way valve, and a parking spring chamber. The parking air chamber is connected to the control port of the relay valve via the two-position three-way valve and is also directly connected to the air inlet of the relay valve. The air outlet of the relay valve is connected to the parking spring chamber, and the exhaust port of the relay valve is connected to the atmosphere. The controller is connected to the two-position three-way valve to control the switching of the two-position three-way valve between the first and second valve positions. In a vehicle parking and charging scenario, if the driver does not perform a parking operation, the vehicle may move during charging, damaging the charging pile, or the charging gun may fall to the ground and cause arcing, affecting the safety of the vehicle and personnel. Therefore, in a charging scenario, if the controller detects a charging signal when the charging gun is inserted into the vehicle, it controls the two-position three-way valve to switch to the second valve position, making the control port of the relay valve connected to the atmosphere. The pressure at the control port of the relay valve is released, reaching a low-pressure state, connecting the air outlet and exhaust port of the relay valve, releasing the pressure in the parking spring chamber, and completing the automatic parking of the vehicle. If a driver forgets to park the vehicle after driving, leaving the vehicle can easily lead to uncontrolled movement, posing a significant safety hazard to the vehicle and its occupants. Therefore, when the vehicle is stationary, the system uses a driver leaving-seat signal or a key-off signal to determine if the driver has left their seat or intends to do so. If a driver leaving-seat signal is detected, it is assumed the driver has left their seat; if a key-off signal is detected, it is assumed the driver intends to leave. At this point, the controller switches the two-position three-way valve to the second valve position, connecting the relay valve control port to the atmosphere. This releases the pressure at the relay valve control port, creating a low-pressure state, connecting the relay valve outlet and exhaust port, and releasing the pressure in the parking spring chamber, thus completing the automatic parking maneuver. This invention enables automatic parking in charging and parking scenarios, even when the driver forgets to actively park or fails to properly engage the parking maneuver, reducing safety hazards and enhancing vehicle safety.

[0010] Furthermore, in the above system, if the controller detects a key ignition signal and the brake pedal opening is greater than a first set opening, it controls the two-position three-way valve to switch to the first valve position.

[0011] The automatic parking system also enables automatic release of the parking brake. After the driver turns the key to power on the vehicle, the controller detects the ignition signal and then judges the driver's intention to drive by checking the brake pedal opening. If the brake pedal opening is greater than a first preset opening, the controller assumes the driver intends to drive. Therefore, the controller switches the two-position three-way valve to the first position, causing the parking air tank to pressurize the relay valve control port. When the pressure at the relay valve control port reaches a pressurized state, the relay valve inlet and outlet are connected, and the parking air tank pressurizes the parking spring chamber, compressing the parking spring and completing the automatic release of the parking brake. This ensures the continuity of the driver's operation, does not change the driver's operating habits, and enhances the driving experience.

[0012] Furthermore, in the above system, when the controller detects the key ignition signal and the brake pedal opening is less than the first set opening, if the brake pedal opening is greater than the second set opening and the gear is in a non-neutral state, the vehicle controller controls the two-position three-way valve to switch to the first valve position.

[0013] The automatic parking system can also determine the driver's intention by observing the brake pedal opening and gear position while the vehicle is powered on. If the brake pedal opening is greater than a second preset opening but less than a first preset opening, and the gear is not in neutral, it is assumed that the driver intends to drive. Therefore, the controller switches the two-position three-way valve to the first position, causing the parking air tank to pressurize the relay valve control port. When the pressure at the relay valve control port reaches a pressurized state, the air inlet and outlet of the relay valve are connected, and the parking air tank pressurizes the parking spring chamber, compressing the parking spring and completing the automatic parking release. Automatic parking release occurs when the driver lightly presses the brake and engages gear, without altering the driver's operating habits, thus enhancing the driving experience.

[0014] Furthermore, in the above system, the driver leaving the seat signal detection interface is used to connect to a pressure sensor that detects the pressure at the driver's seat; if the pressure at the driver's seat is less than a set pressure, the driver leaving the seat signal is generated.

[0015] To address the issue of driver leaving the seat signal, a specific and easy-to-implement method is provided. This method involves installing a pressure sensor at the driver's seat to determine whether the driver is in the seat. If the driver is in the seat, the pressure at the driver's seat will be significantly higher. Therefore, if the detected pressure at the driver's seat is lower than a set pressure, it is assumed that the driver is not in the seat, and a driver leaving the seat signal is generated.

[0016] Furthermore, in the above system, if the vehicle speed is less than the set vehicle speed, the wheel speed is less than the set wheel speed, and the ABS is not activated, the vehicle is considered stationary.

[0017] For the automatic parking activation process where the vehicle is stationary, engine speed is typically used to determine this. However, during driving, if the engine speed is low, it cannot be determined whether automatic parking needs to be activated. Activating automatic parking in this situation could pose a safety hazard. This invention uses multiple redundancy checks based on vehicle speed, wheel speed, and ABS signals. When the vehicle speed is lower than a set speed, the wheel speed is lower than a set speed, and ABS is not activated, the vehicle is considered stationary. Therefore, when the vehicle is stationary, it is determined whether automatic parking needs to be activated, thus preventing unexpected parking situations during driving.

[0018] Furthermore, the system also includes a pressure sensor for detecting the air pressure in the parking spring chamber, and the controller is connected to the pressure sensor for sampling. When the two-position three-way valve is in the second position, if the air pressure in the parking spring chamber is greater than the set air pressure, an automatic parking system fault will be reported.

[0019] To determine if there is a malfunction in the automatic parking system, a pressure sensor is used to detect the air pressure in the parking spring chamber. If the pressure in the parking spring chamber remains high and exceeds the set pressure after automatic parking is activated, the automatic parking system is considered to be malfunctioning, and an alarm is triggered in time to reduce potential vehicle safety hazards.

[0020] Furthermore, in the above system, the two-position three-way valve has a self-locking structure for locking in the first valve position or the second valve position. If the controller drives the two-position three-way valve for a longer time than a set time, the drive will stop.

[0021] The two-position three-way valve is an electrically controlled valve with a self-locking function. The controller only needs to send a drive command to the coil of the two-position three-way valve for a certain period of time, and the valve can be locked in the first or second position through the self-locking structure of the two-position three-way valve. This extends the service life of the two-position three-way valve, avoids failure of the two-position three-way valve, and reduces the safety hazards of the automatic parking system.

[0022] Furthermore, in the above system, the two-position three-way valve has a manual switch for manually switching between the first valve position and the second valve position.

[0023] To ensure vehicle safety in emergency situations such as when the vehicle cannot be powered on or when the automatic parking system malfunctions, a manual switch is added to the two-position three-way valve to enable manual activation and release of the automatic parking system. This allows for emergency parking when the vehicle needs to be parked, as well as temporary driving or towing in case of a malfunction.

[0024] Furthermore, in the above system, a handbrake valve is installed on the pipeline between the two-position three-way valve and the relay valve control port. The handbrake valve is controlled by the handbrake. When the handbrake is pulled up, the pipeline between the handbrake valve and the relay valve control port is connected to the atmosphere through the handbrake valve exhaust port. When the handbrake is released, the relay valve control port is connected to the air outlet of the two-position three-way valve through the handbrake valve.

[0025] A handbrake valve is installed on the pipeline between the two-position three-way valve and the relay valve control port. The handbrake valve is switched and controlled by the handbrake. After the automatic parking is activated, the vehicle is in a parked state regardless of whether the handbrake is in the engaged or disengaged position. This prevents the risk of the driver losing the key or forgetting to engage the handbrake when leaving the seat. It also avoids the risk of the vehicle rolling away after the handbrake rebounds and the parking is automatically released when the driver leaves.

[0026] The present invention also provides a vehicle employing the above-described automatic parking system. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the vehicle structure in an embodiment of the system of the present invention;

[0028] In the diagram, 1 is the parking air chamber, 2 is the two-position three-way valve, 21 and 22 are the coils of the two-position three-way valve, 3 is the vehicle controller, 4 is the handbrake valve, 41 is the handbrake valve air inlet, 42 is the handbrake valve air outlet, 43 is the handbrake valve exhaust port, 5 is the differential relay valve, 51 is the relay valve air inlet, 52 is the relay valve air outlet, 53 is the relay valve exhaust port, 54 is the relay valve control port, 6 is the air pressure sensor, and 7 and 8 are the parking spring air chambers.

[0029] Figure 2 This is a flowchart illustrating the activation control process for automatic parking in the vehicle's driving end state in an embodiment of the present invention.

[0030] Figure 3 This is a flowchart illustrating the activation control process for automatic parking in a vehicle-on-demand charging state, as shown in the system embodiment of the present invention.

[0031] Figure 4 This is a flowchart illustrating the release control process of the automatic parking system in an embodiment of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0033] System Implementation Example:

[0034] This invention provides an automatic parking system, such as... Figure 1 As shown, the system includes a parking air tank 1, a relay valve 5, a parking spring chamber 7, and a parking spring chamber 8. The parking air tank 1 is connected to the parking spring chambers 7 and 8 via pipelines and the relay valve 5. Specifically, the parking air tank 1 is connected to the relay valve inlet 51 of the relay valve 5 via a pipeline, and is also connected to the relay valve control port 54 via a pipeline. Both the first parking spring chamber 7 and the second parking spring chamber 8 are connected to the relay valve outlet 52, and the relay valve exhaust port 53 is open to the atmosphere.

[0035] The automatic parking system also includes a two-position three-way valve 2 and a vehicle controller 3. The two-position three-way valve 2 is located on the pipeline connecting the parking air tank 1 and the relay valve control port 54. In this embodiment, the two-position three-way valve 2 is a two-position three-way dual-control solenoid valve, including coil 21, coil 22, air inlet P, air outlet A, and exhaust port R. The parking air tank 1 is connected to the air inlet P, the air outlet A is connected to the relay valve control port 54 through a pipeline, and the exhaust port R is open to the atmosphere. When the two-position three-way valve 2 is in the first valve position, the air inlet P and the air outlet A are connected. When the two-position three-way valve 2 is in the second valve position, the exhaust port R and the air outlet A are connected.

[0036] The vehicle controller 3 connects to coils 21 and 22 of the two-position three-way valve 2. By outputting drive commands to the coils, the two-position three-way valve 2 can switch between the first valve position and the second valve position. When the vehicle controller 3 outputs drive commands to coil 21, the two-position three-way valve 2 is in the second valve position. When the vehicle controller 3 outputs drive commands to coil 22, the two-position three-way valve 2 is in the first valve position.

[0037] A pressure sensor 6 is installed on the pipeline connecting the relay valve outlet 52 to the parking spring air chambers 7 and 8 to detect the air pressure in the parking spring air chamber. The vehicle controller 3 is connected to the pressure sensor 6 via a hard wire.

[0038] The vehicle controller 3 acquires signals such as brake pedal opening, key switch, gear position, driver exit signal, wheel speed, vehicle speed, ABS signal, and charging gun signal via CAN bus or hard wire connection, and makes comprehensive judgments to output drive commands to control the two-position three-way valve 2.

[0039] The automatic parking system of the present invention can realize the activation and release of automatic parking. The activation and release of automatic parking do not require any additional operation by the driver. The vehicle parking safety protection can be achieved by operating it in the same way as the traditional mechanical handbrake.

[0040] The control process for activating automatic parking is as follows: Figure 2 and Figure 3 As shown, it includes the following steps:

[0041] 1) When the driver turns the key switch to power on the vehicle, the vehicle controller receives the ignition signal from the key switch, determines that the vehicle is powered on, and then obtains the vehicle speed, wheel speed and ABS signals. If the vehicle speed is less than the set vehicle speed threshold V and the wheel speed is less than the set wheel speed threshold X and the ABS is not activated, then the vehicle is determined to be stationary and proceeds to the next step.

[0042] 2) The vehicle controller detects the driver leaving the seat signal to determine whether the driver has left the seat. If the vehicle controller receives the driver leaving the seat signal, it assumes that the driver has left the seat and proceeds to the next step to activate automatic parking. Alternatively, the vehicle controller detects the key switch power-off signal to determine whether the driver has turned off the key switch. If the vehicle controller receives the key switch power-off signal, it assumes that the driver has turned off the key switch and proceeds to the next step to activate automatic parking.

[0043] When the vehicle is in a standby charging scenario, the vehicle controller also detects the plug-in charging signal to determine whether the vehicle is in plug-in charging mode. If the vehicle is in plug-in charging mode, that is, when the charging gun is inserted into the vehicle's charging port, then proceed to the next step to activate automatic parking.

[0044] The automatic parking activation process is as follows: The vehicle controller outputs a drive command to the coil 21 of the two-position three-way valve, so that the two-position three-way valve is in the second valve position, and the exhaust port R is connected to the exhaust port A. At this time, the pressure at the relay valve control port 54 is discharged from the exhaust port R, so that the relay valve exhaust port 52 and the relay valve exhaust port 53 are connected. The pressure in the parking spring air chambers 7 and 8 is discharged to the atmosphere from the relay valve exhaust port 53, and the spring extends, thereby realizing automatic parking activation.

[0045] 3) After activating automatic parking, the vehicle controller collects the signal from the air pressure sensor to determine the air pressure in the parking spring chamber. If the air pressure in the parking spring chamber is less than the set air pressure threshold P, it is determined that the parking brake has been activated; otherwise, it is determined that there is a fault in the parking brake system.

[0046] In this embodiment, a pressure sensor is installed at the driver's seat to detect the pressure at the driver's seat. If the pressure at the driver's seat is less than the set pressure, it is considered that the driver has left the seat, and a driver leaving the seat signal is generated and sent to the vehicle controller.

[0047] As another implementation method, a distance sensor can be installed at the steering wheel, and the distance between the distance sensor and the back of the driver's seat can be used as a signal for the driver to leave the seat to determine whether the driver has left the seat. If the distance between the distance sensor and the back of the driver's seat is greater than a set distance, it is determined that the driver has left the seat.

[0048] The automatic parking system also includes a handbrake valve 4, which is installed on the pipeline between the air outlet A of the two-position three-way valve 2 and the control port 54 of the relay valve. The handbrake valve 4 includes a handbrake valve air inlet 41, a handbrake valve air outlet 42 and a handbrake valve exhaust port 43. The handbrake valve 4 is controlled by the handbrake. When the handbrake is pulled up, the handbrake valve air outlet 42 is connected to the atmosphere through the handbrake valve exhaust port 43. When the handbrake is released, the handbrake valve air outlet 42 is connected to the handbrake valve air inlet 41.

[0049] At this time, the automatic parking activation process is as follows: The vehicle controller outputs a drive command to the coil 21 of the two-position three-way valve, causing the two-position three-way valve to be in the second valve position, and the exhaust port R is connected to the exhaust port A. If the driver pulls the handbrake at this time, the handbrake valve exhaust port 42 is connected to the atmosphere through the handbrake valve exhaust port 43. The pressure at the relay valve control port 54 is discharged from the exhaust port R, connecting the relay valve exhaust port 52 and the relay valve exhaust port 53. The pressure in the parking spring air chambers 7 and 8 is released from the relay valve. When the valve exhaust port 53 is discharged into the atmosphere, the spring extends, thereby activating automatic parking. If the driver forgets to engage the handbrake, or the handbrake rebounds after the driver leaves, the handbrake valve exhaust port 42 connects with the handbrake valve inlet port 41. The pressure at the relay valve control port 54 is then discharged from the exhaust port R, connecting the relay valve exhaust port 52 and the relay valve exhaust port 53. The pressure in the parking spring air chambers 7 and 8 is then discharged into the atmosphere from the relay valve exhaust port 53, causing the spring to extend and thus activating automatic parking.

[0050] The control process for automatic parking release is as follows: Figure 4 As shown, it includes the following steps:

[0051] 1) When the driver turns the key switch to power on the vehicle, the vehicle controller receives the key ignition signal and determines that the vehicle is powered on. At this time, the vehicle determines whether to release the automatic parking brake based on the obtained brake pedal opening. If the brake pedal opening is at the first preset opening U, the automatic parking brake release is executed in the next step; if the brake pedal opening is less than or equal to the first preset opening U, the system determines whether the brake pedal opening is greater than the second preset opening W.

[0052] 2) If the brake pedal opening is greater than the second set opening W and less than or equal to the first set opening U, the vehicle controller determines the current gear status based on the acquired gear signal. If the current gear status is not neutral, it is considered that the driver has engaged the gear by pressing the brake, and the vehicle has entered a drivable state, proceeding to the next step of releasing the automatic parking brake.

[0053] The automatic parking release process is as follows: The vehicle controller outputs a drive command to the coil 22 of the two-position three-way valve, causing the two-position three-way valve to be in the first valve position, with the air inlet P connected to the air outlet A. If the handbrake is in the released state at this time, that is, the air outlet 42 of the handbrake valve is connected to the air inlet 41 of the handbrake valve, the pressure of the parking air tank 1 reaches the control port 54 of the relay valve, connecting the air inlet 51 and the air outlet 52 of the relay valve. The pressure of the parking air tank 1 is transmitted to the parking spring air chamber 7 and the parking brake through the air inlet 51 and the air outlet 52 of the relay valve. The parking spring chamber 8 compresses the spring, achieving automatic parking release. If the handbrake is engaged at this time, the driver releases the handbrake according to driving habits, connecting the handbrake valve outlet 42 with the handbrake valve inlet 41. The pressure of the parking air tank 1 reaches the relay valve control port 54, connecting the relay valve inlet 51 and the relay valve outlet 52. The pressure of the parking air tank 1 is transmitted to the parking spring chamber 7 and parking spring chamber 8 through the relay valve inlet 51 and relay valve outlet 52, compressing the spring and achieving automatic parking release.

[0054] In this embodiment, the two-position three-way valve 2 adopts a two-position three-way dual-control solenoid valve. Since the two-position three-way dual-control solenoid valve has a self-locking function, if the driving time of the vehicle controller 3 sending the driving command to coil 21 or coil 22 is greater than the set time T, the driving will stop, and the two-position three-way valve 2 will be locked in the position where the exhaust port R and the outlet port P are connected or the position where the inlet port A and the outlet port P are connected.

[0055] Furthermore, considering the failure of the automatic parking system or emergency situations, a corresponding structure was designed to enable automatic parking activation and release in emergency situations. Two manual switches are installed on the valve body of the two-position three-way valve 2, one for parking and the other for driving. The parking manual switch is connected to coil 21. When the driver manually presses the parking manual switch, the two-position three-way valve 2 locks in the second valve position, connecting the air inlet A and the exhaust port R, thus manually activating the automatic parking system. The driving manual switch is connected to coil 22. When the driver manually presses the driving manual switch, the two-position three-way valve 2 locks in the first valve position, connecting the air outlet P and the air inlet A, thus manually releasing the automatic parking system.

[0056] If the vehicle cannot be powered on or the automatic parking system malfunctions and cannot be released, the automatic parking can be manually released by pressing the manual driving switch. The vehicle can then be released normally, enabling normal vehicle towing or temporary driving in case of malfunction.

[0057] The parameters mentioned in this invention, such as the set vehicle speed threshold V, set wheel speed threshold X, set air pressure threshold P, first set opening degree U, second set opening degree W, and set time T, need to be matched and calibrated according to the specific vehicle model. In this embodiment, the set vehicle speed threshold V is 5 km / h, the set wheel speed threshold X is 5 km / h, the set air pressure threshold P is 600 kPa, the first set opening degree is 30%, the second set opening degree is 15%, and the set time T is 1 s.

[0058] Vehicle Example:

[0059] The present invention provides a vehicle that employs the automatic parking system described in the system embodiment. The structure and function of the system have been clearly described in the system embodiment and will not be repeated here.

Claims

1. An automatic parking system comprising a parking air chamber, a relay valve and a parking spring air chamber, the parking air chamber being connected to a control port of the relay valve through a pipeline and directly connected to an air inlet of the relay valve through a pipeline, an air outlet of the relay valve being connected to the parking spring air chamber, and an air exhaust port of the relay valve being connected to the atmosphere; if the control port of the relay valve is in a pressure state, the air inlet of the relay valve is connected to the air outlet of the relay valve; if the control port of the relay valve is in an under-pressure state, the air exhaust port of the relay valve is connected to the air outlet of the relay valve; characterized in that, The controller controls the two-position three-way valve to switch between the first valve position and the second valve position; when the two-position three-way valve is in the first valve position, the relay valve control port is in communication with the parking air chamber; when the two-position three-way valve is in the second valve position, the relay valve control port is in communication with the atmosphere; When the vehicle is stationary, if the controller detects a plug-in charging signal, a driver leaving signal or a key power-off signal, the two-position three-way valve is controlled to switch to the second valve position; if the controller detects a key power-on signal and the brake pedal opening is greater than a first set opening, the two-position three-way valve is controlled to switch to the first valve position; if the controller detects a key power-on signal, detects that the brake pedal opening is greater than a second set opening and less than the first set opening, and detects that the gear is in a non-neutral state, it is determined that the driver is lightly pressing the brake and the gear, and the two-position three-way valve is controlled to switch to the first valve position.

2. The automatic parking system according to claim 1, characterized in that The vehicle is determined to be stationary when the vehicle speed is less than a set vehicle speed threshold, the wheel speed is less than a set wheel speed threshold, and the ABS is in an inactive state.

3. The automatic parking system according to claim 1, characterized in that The distance between the steering wheel and the driver's seat backrest is retrieved by a distance measuring sensor arranged at the steering wheel, and if the distance between the distance measuring sensor and the driver's seat backrest is greater than a set distance, it is determined that the driver has left the seat.

4. The automatic parking system according to claim 1, characterized in that, The pressure at the driver's seat is detected by a pressure sensor arranged at the driver's seat, and if the pressure at the driver's seat is less than a set pressure, the driver leaving signal is generated.

5. The automatic parking system according to claim 1, characterized in that, The vehicle is considered to be stationary when the vehicle speed is less than a set vehicle speed, the wheel speed is less than a set wheel speed, and the ABS is not activated.

6. The automatic parking system according to claim 1, characterized in that The controller samples the pressure sensor connected to the parking spring air chamber; when the two-position three-way valve is in the second valve position, if the pressure in the parking spring air chamber is greater than a set pressure, an automatic parking system fault is reported.

7. The automatic parking system according to claim 1, characterized in that, When the controller controls the two-position three-way valve to switch valve positions, the driving time of the driving instruction sent to the corresponding coil of the two-position three-way valve is greater than a set time before stopping driving.

8. The automatic parking system according to claim 1, characterized in that, The two-position three-way valve has a manual switch for manually switching the two-position three-way valve between the first valve position and the second valve position.

9. The automatic parking system according to claim 1, characterized in that, A hand brake valve is arranged on the pipeline between the two-position three-way valve and the relay valve control port, and the hand brake valve is controlled by the hand brake; when the hand brake is pulled up, the pipeline between the hand brake valve and the relay valve control port is connected to the atmosphere through the hand brake valve exhaust port; when the hand brake is released, the relay valve control port is connected to the two-position three-way valve gas outlet through the hand brake valve.

10. A vehicle characterized by comprising: The automatic parking system of any one of claims 1-9 is adopted.

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