Automatic parking assistance control method, device, equipment and storage medium

Abstract

The present invention belongs to the field of clutch technology, and discloses a control method, device, equipment and storage medium for automatic parking assistance. The present invention obtains the virtual throttle opening at the current moment when receiving the automatic parking instruction, and then determines the clutch torque control strategy according to the virtual throttle opening, and determines the target clutch torque according to the clutch torque control strategy, and performs torque control according to the target clutch torque when in the automatic parking state. The present invention determines the clutch torque control strategy according to the virtual throttle opening, and determines the target clutch torque according to the clutch torque control strategy. It can control the whole vehicle to enter different clutch torque control strategies according to the virtual throttle opening during automatic parking, and determine the precise target clutch torque according to the clutch torque control strategy, and then perform torque control according to the target clutch torque, so as to ensure the drivability of the whole vehicle during the automatic parking process and improve the user experience.

Description

Technical Field

[0001] The present invention relates to the field of clutch technology, and in particular to a control method, device, equipment and storage medium for automatic parking assistance. Background Art

[0002] As cars become more intelligent, automatic parking assistance has become more and more popular as a necessary function of advanced driver assistance systems. However, the torque characteristic curve of the dual-clutch transmission has low accuracy in the low torque section, which can easily cause problems such as engine speed drop and vehicle shaking. Therefore, how to accurately determine the clutch torque during automatic parking, ensure the drivability of the vehicle during automatic parking, and improve user experience has become an urgent problem to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method, device, equipment and storage medium for automatic parking assistance, aiming to solve the technical problem of how to accurately determine the clutch torque during automatic parking, ensure the drivability of the entire vehicle during automatic parking, and improve the user experience.

[0005] To achieve the above object, the present invention provides a control method for automatic parking assistance, the control method for automatic parking assistance comprising the following steps:

[0006] When receiving an automatic parking instruction, obtaining a virtual throttle opening at the current moment;

[0007] determining a clutch torque control strategy according to the virtual throttle opening, and determining a target clutch torque according to the clutch torque control strategy;

[0008] When in the automatic parking state, torque control is performed according to the target clutch torque.

[0009] Optionally, the step of determining the clutch torque control strategy according to the virtual throttle opening, and determining the target clutch torque according to the clutch torque control strategy specifically includes:

[0010] When the virtual throttle opening is less than or equal to the preset throttle threshold, determining that the clutch torque control strategy is a clutch torque engagement strategy;

[0011] When the clutch torque control strategy is a clutch torque engagement strategy, obtaining a target clutch torque in a clutch torque engagement state;

[0012] When the virtual throttle opening is greater than the preset throttle threshold, determining that the clutch torque control strategy is an engine speed detection strategy;

[0013] When the clutch torque control strategy is the engine speed detection strategy, the target clutch torque in the engine speed detection state is obtained.

[0014] Optionally, when the clutch torque control strategy is the clutch torque engagement strategy, the step of obtaining the target clutch torque in the clutch torque engagement state specifically includes:

[0015] When the clutch torque control strategy is the clutch torque engagement strategy, entering the clutch torque engagement state to adjust the clutch torque;

[0016] Get the current brake pressure and vehicle speed;

[0017] The target clutch torque is determined according to the brake pressure and the current vehicle speed.

[0018] Optionally, after the step of determining the target clutch torque according to the brake pressure and the current vehicle speed, the method further comprises:

[0019] Obtaining a first requested torque fed back by a vehicle body electronic stability system;

[0020] Get the current transmission oil temperature and vehicle speed;

[0021] feeding back a second requested torque according to the transmission oil temperature, the current vehicle speed, and the target clutch torque;

[0022] The maximum torque of the first request torque and the second request torque is set as the engine target torque.

[0023] Optionally, when the clutch torque control strategy is the engine speed detection strategy, the step of obtaining the target clutch torque in the engine speed detection state specifically includes:

[0024] When the clutch torque control strategy is the engine speed detection strategy, the engine speed detection state is entered to obtain the current engine speed;

[0025] When the current engine speed is greater than the target idle speed minus the preset speed, the target clutch torque is obtained.

[0026] Optionally, the step of obtaining the target clutch torque when the current engine speed is greater than the target idle speed minus the preset speed specifically includes:

[0027] When the current engine speed is greater than the target idle speed minus the preset speed, obtaining a first requested torque, a loss coefficient, and a speed correction coefficient fed back by the vehicle body electronic stability system;

[0028] A target clutch torque is determined according to the first request torque, the loss coefficient, and the speed correction coefficient.

[0029] Optionally, when receiving the automatic parking instruction, the step of obtaining the virtual throttle opening at the current moment specifically includes:

[0030] When receiving an automatic parking instruction, obtaining a first requested torque fed back by the vehicle body electronic stability system;

[0031] A virtual throttle opening is searched from a preset mapping relationship according to the first requested torque.

[0032] In addition, to achieve the above-mentioned purpose, the present invention further provides a control device for automatic parking assistance, the control device for automatic parking assistance comprising:

[0033] A throttle acquisition module is used to obtain the virtual throttle opening at the current moment when receiving an automatic parking instruction;

[0034] a torque determination module, configured to determine a clutch torque control strategy according to the virtual throttle opening, and determine a target clutch torque according to the clutch torque control strategy;

[0035] The torque control module is used to perform torque control according to the target clutch torque when the vehicle is in an automatic parking state.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also proposes a control device for automatic parking assistance, which includes: a memory, a processor, and a control program for automatic parking assistance stored in the memory and executable on the processor, and the control program for automatic parking assistance is configured to implement the steps of the control method for automatic parking assistance as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a control program of automatic parking assistance is stored. When the control program of automatic parking assistance is executed by a processor, the steps of the control method of automatic parking assistance as described above are implemented.

[0038] The present invention obtains the virtual throttle opening at the current moment when receiving the automatic parking command, and then determines the clutch torque control strategy according to the virtual throttle opening, and determines the target clutch torque according to the clutch torque control strategy, and performs torque control according to the target clutch torque when in the automatic parking state. The present invention determines the clutch torque control strategy according to the virtual throttle opening, and determines the target clutch torque according to the clutch torque control strategy. It can control the whole vehicle to enter different clutch torque control strategies according to the virtual throttle opening during automatic parking, and determines the accurate target clutch torque according to the clutch torque control strategy, and then performs torque control according to the target clutch torque, thereby ensuring the drivability of the whole vehicle during the automatic parking process and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic diagram of the structure of an automatic parking assistance control device in a hardware operating environment involved in an embodiment of the present invention;

[0040] Figure 2 A schematic flow chart of a first embodiment of a control method for automatic parking assistance according to the present invention;

[0041] Figure 3 A schematic flow chart of a second embodiment of a control method for automatic parking assistance according to the present invention;

[0042] Figure 4 FIG. 1 is a structural block diagram of a first embodiment of a control device for automatic parking assistance according to the present invention.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0045] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the control device for automatic parking assistance in the hardware operating environment involved in the embodiment of the present invention.

[0046] like Figure 1As shown, the control device of the automatic parking assistance may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the control device of the automatic parking assistance, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0048] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a control program for automatic parking assistance.

[0049] exist Figure 1 In the control device of the automatic parking assistance shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the control device of the automatic parking assistance of the present invention can be set in the control device of the automatic parking assistance, and the control device of the automatic parking assistance calls the control program of the automatic parking assistance stored in the memory 1005 through the processor 1001, and executes the control method of the automatic parking assistance provided by the embodiment of the present invention.

[0050] Based on the above automatic parking assistance control device, an embodiment of the present invention provides an automatic parking assistance control method, referring to Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a control method for automatic parking assistance according to the present invention.

[0051] In this embodiment, the automatic parking assistance control method includes the following steps:

[0052] Step S10: upon receiving the automatic parking instruction, obtaining the virtual throttle opening at the current moment;

[0053] It should be noted that the execution subject of this embodiment may be a computing service device with data processing and network communication functions, such as a central processing unit, a microprocessor, etc., or an electronic device or an automatic parking assistance control device capable of realizing the above functions. The following takes the automatic parking assistance control device as an example to illustrate this embodiment and the following embodiments.

[0054] It is understandable that the automatic parking command refers to a command for automatically parking the vehicle, which can be issued by the automatic parking assist system (AutoParkingAssist, APA). In this embodiment, the controller related to the automatic parking can also include the electronic stability program (Electronic Stability Program, ESP), the engine management system (Engine-Management-System, EMS), and the automatic transmission adjustment system (transmission-control-unit, TCU).

[0055] It should be understood that first, APA sends a signal to prepare for automatic parking, and the controllers of ESP / EPS / EMS / TCU will perform self-check signal interaction. If the signal interaction is normal, the return judgment signal is normal, and APA issues an automatic parking command; if the signal interaction is abnormal, the return judgment signal is error, the automatic parking process is exited, and the driver is prompted to take over the vehicle.

[0056] Furthermore, in order to accurately determine the virtual throttle opening, in this embodiment, the step S10 includes: when receiving the automatic parking instruction, obtaining the first request torque fed back by the vehicle body electronic stability system; and searching the virtual throttle opening from a preset mapping relationship according to the first request torque.

[0057] It is understandable that when receiving the automatic parking command, that is, when APA issues the automatic parking command, ESP starts to request torque and feeds back the first requested torque. TCU searches for the virtual throttle opening corresponding to the first requested torque based on the preset mapping relationship. The preset mapping relationship can be a preset throttle-torque correspondence relationship. This embodiment does not impose specific restrictions on the preset mapping relationship.

[0058] Step S20: determining a clutch torque control strategy according to the virtual throttle opening, and determining a target clutch torque according to the clutch torque control strategy;

[0059] It should be noted that the clutch torque control strategy refers to a strategy for controlling the clutch torque, which can be specifically divided into a control strategy corresponding to small torque and a control strategy corresponding to large torque, which can be specifically determined according to the virtual throttle opening.

[0060] In a specific implementation, after the clutch torque control strategy is obtained, the clutch torque can be controlled according to the corresponding control strategy to obtain the target clutch torque.

[0061] Step S30: When in the automatic parking state, torque control is performed according to the target clutch torque.

[0062] It is understandable that when the vehicle is in the automatic parking state, the clutch torque of the vehicle can be controlled according to the target clutch torque to realize the automatic parking assist function, so that the vehicle has better drivability and improves the user experience.

[0063] This embodiment obtains the virtual throttle opening at the current moment when receiving the automatic parking command, and then determines the clutch torque control strategy according to the virtual throttle opening, and determines the target clutch torque according to the clutch torque control strategy, and performs torque control according to the target clutch torque when in the automatic parking state. This embodiment determines the clutch torque control strategy according to the virtual throttle opening, and determines the target clutch torque according to the clutch torque control strategy, and can control the whole vehicle to enter different clutch torque control strategies according to the virtual throttle opening during automatic parking, and determines the precise target clutch torque according to the clutch torque control strategy, and then performs torque control according to the target clutch torque, thereby ensuring the drivability of the whole vehicle during the automatic parking process and improving the user experience.

[0064] refer to Figure 3 , Figure 3 FIG. 1 is a flow chart of a second embodiment of a control method for automatic parking assistance according to the present invention.

[0065] Based on the above first embodiment, in this embodiment, step S20 includes:

[0066] Step S201: when the virtual throttle opening is less than or equal to a preset throttle threshold, determining that the clutch torque control strategy is a clutch torque engagement strategy;

[0067] It should be noted that the preset throttle threshold is a pre-set throttle threshold, which can be set according to actual conditions, and this embodiment does not impose any specific restrictions on this.

[0068] It is understandable that when the virtual throttle opening is less than or equal to the preset throttle threshold, the clutch torque control strategy is determined to be the clutch torque engagement strategy, and the clutch torque engagement strategy corresponds to a small torque state and a working condition with small resistance, such as a flat road.

[0069] Step S202: when the clutch torque control strategy is the clutch torque engagement strategy, obtaining a target clutch torque in the clutch torque engagement state;

[0070] Furthermore, in order to accurately determine the target clutch torque in the clutch torque engagement state, in the present embodiment, the step S202 includes: when the clutch torque control strategy is the clutch torque engagement strategy, entering the clutch torque engagement state to adjust the clutch torque; obtaining the braking pressure and the current vehicle speed at the current moment; and determining the target clutch torque according to the braking pressure and the current vehicle speed.

[0071] It should be understood that when the clutch torque control strategy is the clutch torque engagement strategy, the clutch torque is entered into the clutch torque engagement state and the clutch torque can be adjusted.

[0072] It is understandable that the present embodiment can determine the target clutch torque according to the braking pressure at the current moment and the current vehicle speed. Specifically, the target clutch torque can be found from a preset relationship mapping table according to the braking pressure and the current vehicle speed.

[0073] Furthermore, in order to determine the engine target torque to protect the engine, in the present embodiment, after the step of determining the target clutch torque according to the brake pressure and the current vehicle speed, the step further includes: obtaining a first requested torque fed back by a vehicle body electronic stability system; obtaining the transmission oil temperature and the current vehicle speed at the current moment; feeding back a second requested torque according to the transmission oil temperature, the current vehicle speed and the target clutch torque; and taking the maximum torque of the first requested torque and the second requested torque as the engine target torque.

[0074] It is understandable that after determining the target clutch torque, the first requested torque fed back by the vehicle electronic stability system and the second requested torque fed back by the automatic transmission adjustment system based on the transmission oil temperature, the current vehicle speed and the target clutch torque can be obtained, that is, the first requested torque fed back by the ESP and the second requested torque fed back by the TCU.

[0075] It should be understood that the TCU can obtain the second requested torque according to the target clutch torque, specifically by multiplying the second requested torque by a torque coefficient, and the torque coefficient can be found from a preset relationship based on the current transmission oil temperature and the current vehicle speed.

[0076] In a specific implementation, the engine target torque is the larger value of the first request torque and the second request torque. When the engine target torque is small, the engine speed will drop or even stall. Therefore, this embodiment determines the engine target torque and issues an early warning when the engine target torque is less than a preset threshold.

[0077] Step S203: when the virtual throttle opening is greater than the preset throttle threshold, determining that the clutch torque control strategy is the engine speed detection strategy;

[0078] It is understandable that when the virtual throttle opening is greater than the preset throttle threshold, the clutch torque control strategy is determined to be the engine speed detection strategy, and the clutch torque combination strategy corresponds to the large torque state and the working conditions with large resistance, such as speed bumps and slopes, etc. During the whole process, the request is sent to ensure that the control logic of the engine is in idle control during the parking process, and no switching occurs, so as to ensure control stability while taking into account the engine speed.

[0079] Step S204: When the clutch torque control strategy is the engine speed detection strategy, the target clutch torque in the engine speed detection state is obtained.

[0080] Furthermore, in order to accurately determine the target clutch torque in the engine speed detection state, in the present embodiment, the step S204 includes: when the clutch torque control strategy is the engine speed detection strategy, entering the engine speed detection state to obtain the current engine speed; when the current engine speed is greater than the target idle speed minus the preset speed, obtaining the target clutch torque.

[0081] It is understandable that when the clutch torque control strategy is the engine speed detection strategy, the engine speed detection state is entered, and the current engine speed at the current moment can be obtained.

[0082] It should be understood that idle speed is a working condition of a car, which means that the engine is running in neutral, and the speed of the engine when idling is called idle speed. The target idle speed is the upper limit of the idle speed set in advance, which can be set according to the actual situation, and this embodiment does not make specific restrictions on this.

[0083] In a specific implementation, the preset speed is a preset speed, and the specific value is not specifically limited in this embodiment. When the current engine speed is less than or equal to the target idle speed minus the preset speed, the anti-stall mode is entered, and the clutch torque is reduced at a preset gradient. The preset gradient is not specifically limited in this embodiment, and the minimum clutch torque is the torque corresponding to the clutch half-engagement point. When the current engine speed is greater than the target idle speed minus the preset speed, the clutch torque is increased to the target clutch torque at a certain gradient, and the increased gradient can be found based on the current engine speed and the target idle speed from the relationship between the preset engine speed, the target idle speed, and the gradient.

[0084] Furthermore, in order to accurately determine the target clutch torque, in the present embodiment, when the current engine speed is greater than the target idle speed minus the preset speed, the first requested torque, loss coefficient and speed correction coefficient fed back by the vehicle body electronic stability system are obtained; the target clutch torque is determined based on the first requested torque, the loss coefficient and the speed correction coefficient.

[0085] It can be understood that when the current engine speed is greater than the target idle speed minus the preset speed, the first requested torque fed back by the ESP can be obtained, the loss coefficient can be found from the preset relationship between the first requested torque and the loss coefficient according to the first requested torque, and the speed correction coefficient is found based on the preset relationship between the current engine speed and the speed correction coefficient.

[0086] It should be understood that the target clutch torque may be obtained by multiplying the first request torque by the loss coefficient and the speed correction coefficient.

[0087] In the specific implementation, the entire clutch torque engagement state is used to calculate the target clutch torque based on the ESP torque request to ensure the drivability requirements of automatic parking. Based on the engine speed detection state, the engine control mode is limited, and the engine speed fluctuation is taken into account to ensure the performance of various working conditions during automatic parking.

[0088] This embodiment determines that the clutch torque control strategy is a clutch torque combination strategy when the virtual throttle opening is less than or equal to the preset throttle threshold, obtains the target clutch torque in the clutch torque combination state when the clutch torque control strategy is the clutch torque combination strategy, determines that the clutch torque control strategy is an engine speed detection strategy when the virtual throttle opening is greater than the preset throttle threshold, and obtains the target clutch torque in the engine speed detection state when the clutch torque control strategy is the engine speed detection strategy. This embodiment determines that the clutch torque control strategy is a clutch torque combination strategy when the virtual throttle opening is less than or equal to the preset throttle threshold, determines that the clutch torque control strategy is an engine speed detection strategy when the virtual throttle opening is greater than the preset throttle threshold, and determines the precise target clutch torque accordingly, thereby achieving smooth power output to the wheel end during the automatic parking process and ensuring drivability. At the same time, for automatic parking conditions with large loads such as steep slopes and speed bumps, the engine state is considered to ensure power output and NVH performance during the entire driving process.

[0089] Reference Figure 4 , Figure 4 FIG. 1 is a structural block diagram of a first embodiment of a control device for automatic parking assistance according to the present invention.

[0090] like Figure 4 As shown, the control device for automatic parking assistance provided in an embodiment of the present invention includes:

[0091] The throttle acquisition module 10 is used to obtain the virtual throttle opening at the current moment when receiving the automatic parking instruction;

[0092] a torque determination module 20, for determining a clutch torque control strategy according to the virtual throttle opening, and determining a target clutch torque according to the clutch torque control strategy;

[0093] The torque control module 30 is used to perform torque control according to the target clutch torque when the vehicle is in an automatic parking state.

[0094] This embodiment obtains the virtual throttle opening at the current moment when receiving the automatic parking command, and then determines the clutch torque control strategy according to the virtual throttle opening, and determines the target clutch torque according to the clutch torque control strategy, and performs torque control according to the target clutch torque when in the automatic parking state. This embodiment determines the clutch torque control strategy according to the virtual throttle opening, and determines the target clutch torque according to the clutch torque control strategy, and can control the whole vehicle to enter different clutch torque control strategies according to the virtual throttle opening during automatic parking, and determines the precise target clutch torque according to the clutch torque control strategy, and then performs torque control according to the target clutch torque, thereby ensuring the drivability of the whole vehicle during the automatic parking process and improving the user experience.

[0095] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0096] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the control method for automatic parking assistance provided in any embodiment of the present invention, and will not be repeated here.

[0097] Based on the first embodiment of the control device for automatic parking assistance of the present invention, a second embodiment of the control device for automatic parking assistance of the present invention is proposed.

[0098] In the present embodiment, the torque determination module 20 is also used to determine that the clutch torque control strategy is a clutch torque engagement strategy when the virtual throttle opening is less than or equal to a preset throttle threshold; when the clutch torque control strategy is the clutch torque engagement strategy, obtain the target clutch torque in the clutch torque engagement state; when the virtual throttle opening is greater than the preset throttle threshold, determine that the clutch torque control strategy is an engine speed detection strategy; when the clutch torque control strategy is the engine speed detection strategy, obtain the target clutch torque in the engine speed detection state.

[0099] Furthermore, the torque determination module 20 is also used to enter the clutch torque engagement state to adjust the clutch torque when the clutch torque control strategy is the clutch torque engagement strategy; obtain the braking pressure and the current vehicle speed at the current moment; and determine the target clutch torque based on the braking pressure and the current vehicle speed.

[0100] Furthermore, the torque determination module 20 is also used to obtain a first requested torque fed back by a vehicle body electronic stability system; obtain a transmission oil temperature and a current vehicle speed at a current moment; feed back a second requested torque based on the transmission oil temperature, the current vehicle speed and the target clutch torque; and use the maximum torque of the first requested torque and the second requested torque as the engine target torque.

[0101] Furthermore, the torque determination module 20 is also used to enter the engine speed detection state to obtain the current engine speed when the clutch torque control strategy is the engine speed detection strategy; when the current engine speed is greater than the target idle speed minus the preset speed, the target clutch torque is obtained.

[0102] Furthermore, the torque determination module 20 is also used to obtain the first requested torque, loss coefficient and speed correction coefficient fed back by the vehicle body electronic stability system when the current engine speed is greater than the target idle speed minus the preset speed; and determine the target clutch torque according to the first requested torque, the loss coefficient and the speed correction coefficient.

[0103] Furthermore, the throttle acquisition module 10 is further configured to acquire a first requested torque fed back by the vehicle body electronic stability system when receiving an automatic parking instruction; and search for a virtual throttle opening from a preset mapping relationship according to the first requested torque.

[0104] Other embodiments or specific implementations of the automatic parking assistance control device of the present invention can refer to the above-mentioned method embodiments, which will not be described in detail here.

[0105] In addition, an embodiment of the present invention further provides a storage medium, on which a control program for automatic parking assistance is stored. When the control program for automatic parking assistance is executed by a processor, the steps of the control method for automatic parking assistance as described above are implemented.

[0106] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0107] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0108] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0109] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control method for automatic parking assistance, characterized in that: The control method of the automatic parking assistance comprises the following steps: When receiving an automatic parking instruction, obtaining a first requested torque fed back by a vehicle body electronic stability system; searching a virtual throttle opening from a preset mapping relationship according to the first requested torque; When the virtual throttle opening is less than or equal to the preset throttle threshold, determining that the clutch torque control strategy is a clutch torque engagement strategy; When the clutch torque control strategy is a clutch torque engagement strategy, obtaining a target clutch torque in a clutch torque engagement state; When the virtual throttle opening is greater than the preset throttle threshold, determining that the clutch torque control strategy is an engine speed detection strategy; When the clutch torque control strategy is the engine speed detection strategy, obtaining the target clutch torque in the engine speed detection state; When in an automatic parking state, performing torque control according to the target clutch torque; When the clutch torque control strategy is the clutch torque engagement strategy, obtaining the target clutch torque in the clutch torque engagement state specifically includes: When the clutch torque control strategy is the clutch torque engagement strategy, entering the clutch torque engagement state to adjust the clutch torque; Get the current brake pressure and vehicle speed; determining a target clutch torque according to the brake pressure and the current vehicle speed; When the clutch torque control strategy is the engine speed detection strategy, the step of obtaining the target clutch torque in the engine speed detection state specifically includes: When the clutch torque control strategy is the engine speed detection strategy, the engine speed detection state is entered to obtain the current engine speed; When the current engine speed is greater than the target idle speed minus the preset speed, obtaining a first requested torque, a loss coefficient, and a speed correction coefficient fed back by the vehicle body electronic stability system; A target clutch torque is determined according to the first request torque, the loss coefficient, and the speed correction coefficient.

2. The control method of automatic parking assistance according to claim 1, characterized in that: After the step of determining the target clutch torque according to the brake pressure and the current vehicle speed, the method further includes: Obtaining a first requested torque fed back by a vehicle body electronic stability system; Get the current transmission oil temperature and vehicle speed; feeding back a second requested torque according to the transmission oil temperature, the current vehicle speed, and the target clutch torque; The maximum torque of the first request torque and the second request torque is set as the engine target torque.

3. A control device for automatic parking assistance, characterized in that: The control device of the automatic parking assistance includes: A throttle acquisition module is used to acquire a first requested torque fed back by a vehicle body electronic stability system when receiving an automatic parking instruction; and to search for a virtual throttle opening from a preset mapping relationship according to the first requested torque; a torque determination module, for determining that the clutch torque control strategy is a clutch torque engagement strategy when the virtual throttle opening is less than or equal to a preset throttle threshold; when the clutch torque control strategy is the clutch torque engagement strategy, obtaining a target clutch torque in a clutch torque engagement state; when the virtual throttle opening is greater than the preset throttle threshold, determining that the clutch torque control strategy is an engine speed detection strategy; when the clutch torque control strategy is the engine speed detection strategy, obtaining a target clutch torque in an engine speed detection state; a torque control module, configured to perform torque control according to the target clutch torque when the vehicle is in an automatic parking state; The torque determination module is further used to enter the clutch torque engagement state to adjust the clutch torque when the clutch torque control strategy is the clutch torque engagement strategy; obtain the brake pressure and the current vehicle speed at the current moment; and determine the target clutch torque according to the brake pressure and the current vehicle speed; The torque determination module is also used to enter the engine speed detection state to obtain the current engine speed when the clutch torque control strategy is the engine speed detection strategy; when the current engine speed is greater than the target idle speed minus the preset speed, obtain the first requested torque, loss coefficient and speed correction coefficient fed back by the vehicle body electronic stability system; determine the target clutch torque according to the first requested torque, the loss coefficient and the speed correction coefficient.

4. A control device for automatic parking assistance, characterized in that: The device includes: a memory, a processor, and an automatic parking assistance control program stored in the memory and executable on the processor, wherein the automatic parking assistance control program is configured to implement the steps of the automatic parking assistance control method as claimed in claim 1 or 2.

5. A storage medium, characterized in that: The storage medium stores a control program for automatic parking assistance, and when the control program for automatic parking assistance is executed by the processor, the steps of the control method for automatic parking assistance as claimed in claim 1 or 2 are implemented.

Images