Automatic parking method and device, vehicle and storage medium

Abstract

The application relates to the technical field of vehicles, in particular to an automatic parking method and device, a vehicle and a storage medium, wherein the method comprises the following steps: identifying a road state in which a vehicle is located in an automatic parking mode; matching a torque output mode in the automatic parking mode according to the current road state, and acquiring pre-calibration parameters corresponding to the torque output mode, wherein the output torque of different torque output modes is different; and controlling the output torque of the vehicle based on the pre-calibration parameters to execute an automatic parking action. Therefore, the embodiment of the application can solve the problem that, in the related art, the driving mode parameters and the parking mode demand parameters do not match, power conflicts occur between parking speed control and driving mode idling, vehicle power may be too strong to cause steps to be rushed, sudden braking or the like, the working hours of joint debugging increase under different power performances, the driving mode power change has an impact on the parking performance, and the user experience is poor.

Description

Technical Field

[0001] This application relates to the field of parking technology, and in particular to an automatic parking method, device, vehicle, and storage medium. Background Technology

[0002] With the advancement and development of automatic parking technology, its application in vehicles is becoming increasingly widespread. One related technology utilizes intelligent lateral and longitudinal control of the vehicle to achieve automatic parking. The longitudinal control can be matched with TCU (Transmission Control Unit) control and ECU (Electronic Control Unit) control. The TCU can offer three driving modes: Eco, Standard, and Sport. Based on the selected driving mode, the TCU can be controlled accordingly, or all three driving modes can be simultaneously adapted.

[0003] However, during parking, if the TCU in the relevant technology only performs gear shifting, and the vehicle starts and controls speed through ESP (Electronic Stability Program), parameters such as engine idle speed, maximum idle torque, and clutch engagement ratio may not be matched throughout the parking process. This could lead to excessive power causing the vehicle to lurch forward or brake suddenly when planning short routes. If the TCU's gear shifting and power engagement are controlled simultaneously, then with multiple driving modes in the vehicle configuration, the power performance of different driving modes needs to be matched simultaneously, which would significantly increase the debugging time. Summary of the Invention

[0004] This application provides an automatic parking method, device, vehicle, and storage medium to solve the problems in related technologies, such as the mismatch between driving mode parameters and parking mode requirement parameters, which causes power conflict between parking speed control and driving mode idling speed, potentially resulting in excessive vehicle power causing sudden acceleration or braking, or increased debugging time under different power performance, thus affecting parking performance due to power changes in driving mode and resulting in a poor user experience.

[0005] The first aspect of this application provides an automatic parking method, comprising the following steps: identifying the road state of the vehicle in an automatic parking mode; matching the torque output mode of the automatic parking mode according to the current road state, and obtaining pre-calibrated parameters corresponding to the torque output mode, wherein the output torque of different torque output modes is different; controlling the output torque of the vehicle based on the pre-calibrated parameters to perform an automatic parking action.

[0006] Based on the aforementioned technical means, this embodiment of the application can provide pre-calibrated parameters by matching road conditions, enabling the vehicle to automatically switch to the corresponding control mode after entering parking control, and outputting adapted vehicle parameters to control the vehicle's parking. Thus, the vehicle in this embodiment can enter an automatic parking control mode during automatic parking, completely distinct from the driving mode. This effectively reduces vehicle power to meet the low-speed performance requirements of parking control, resolving the power conflict between parking control and idling in driving mode. Furthermore, in this automatic parking mode, power changes in driving mode no longer affect parking performance, improving parking intelligence and safety. This makes the parking process more comfortable, with smoother starting and braking, meeting practical usage needs and enhancing the user experience.

[0007] Optionally, the road condition includes a flat road surface condition and an uneven road surface condition, the torque output mode includes a first output mode and a second output mode, and the step of matching the torque output mode under the automatic parking mode according to the current road condition includes: if the current road condition is the flat road surface condition, then the torque output mode is the first output mode; if the current road condition is the uneven road surface condition, then the torque output mode is the second output mode, wherein the output torque of the second output mode is greater than the output torque of the first output mode.

[0008] Based on the above technical means, the embodiments of this application can classify road conditions and distinguish matching modes when road conditions are different, so that the vehicle can automatically enter the corresponding mode, match the corresponding parameters and control the vehicle after entering the automatic parking state. This can completely distinguish between driving mode and automatic parking mode, improve the automatic parking matching speed and meet the actual use needs.

[0009] Optionally, the pre-calibration parameters of the first output mode include one or more of the following: maximum torque, minimum torque, torque limit, acceleration, open-loop control shaft speed threshold, and torque rise slope. Obtaining the pre-calibration parameters corresponding to the torque output mode includes: calibrating the maximum torque requested for idling in the first output mode using a one-dimensional table based on oil temperature; calibrating the minimum torque requested for idling in the first output mode using a two-dimensional table based on slope and target gear; calibrating the torque limit for idling during the speed increase phase in the first output mode; calibrating the acceleration in the first output mode using a two-dimensional table based on speed synchronization process and actual gear; calibrating the open-loop control shaft speed threshold in the first output mode; and calibrating the torque rise slope during the open-loop control phase in the first output mode using a two-dimensional table based on oil temperature and actual gear.

[0010] Based on the above technical means, the embodiments of this application can adapt parameters such as engine idle speed and maximum and minimum idle crawl torque, and match automatic parking parameter data under smooth road conditions. Therefore, when the vehicle enters the automatic parking state, the embodiments of this application can automatically match the corresponding parking control data under smooth road conditions, perform parking control on the vehicle, reduce vehicle power, meet the low-speed performance requirements of parking speed control, save resources, and meet actual use needs.

[0011] Optionally, the pre-calibrated parameters of the second output mode include the starting clutch torque request slope and / or the starting engine speed. Before obtaining the pre-calibrated torque output curve corresponding to the torque output mode, the method further includes: calibrating the starting clutch torque request slope in the second output mode, wherein the starting clutch torque request slope in the automatic parking mode is different from the starting clutch torque request slope in the non-automatic parking mode, and has a higher priority than the torque request slope in the non-automatic parking mode; and calibrating the starting engine speed in the second output mode, wherein the starting engine speed in the automatic parking mode is different from the starting engine speed in the non-automatic parking mode, and has a higher priority than the starting engine speed in the non-automatic parking mode.

[0012] Based on the above technical means, the embodiments of this application can adapt to automatic parking parameter data under uneven road conditions. Therefore, when the vehicle enters the automatic parking state, the embodiments of this application can automatically match the corresponding parking control data when the road surface is uneven, perform parking control on the vehicle, reduce vehicle power, meet the low-speed performance requirements of parking speed control, save resources while meeting actual use needs, and improve user experience.

[0013] A second aspect of this application provides an automatic parking device, comprising: an identification module for identifying the road state of a vehicle in an automatic parking mode; an acquisition module for matching a torque output mode in the automatic parking mode according to the current road state and acquiring pre-calibrated parameters corresponding to the torque output mode, wherein the output torque of different torque output modes is different; and an execution module for controlling the output torque of the vehicle based on the pre-calibrated parameters to perform an automatic parking action.

[0014] Optionally, the road state includes a flat road surface state and an uneven road surface state, the torque output mode includes a first output mode and a second output mode, and the acquisition module is further configured to: determine if the current road state is the flat road surface state, then the torque output mode is the first output mode; if the current road state is the uneven road surface state, then the torque output mode is the second output mode, wherein the output torque of the second output mode is greater than the output torque of the first output mode.

[0015] Optionally, the pre-calibration parameters of the first output mode include one or more of the following: maximum torque, minimum torque, torque limit, acceleration, open-loop control shaft speed threshold, and torque rise slope. The acquisition module is further configured to: calibrate the maximum torque requested for idling in the first output mode using a one-dimensional table based on oil temperature; calibrate the minimum torque requested for idling in the first output mode using a two-dimensional table based on slope and target gear; calibrate the torque limit requested for idling during the speed rise phase in the first output mode; calibrate the acceleration in the first output mode using a two-dimensional table based on speed synchronization process and actual gear; calibrate the open-loop control shaft speed threshold in the first output mode; and calibrate the torque rise slope during the open-loop control phase in the first output mode using a two-dimensional table based on oil temperature and actual gear.

[0016] Optionally, the pre-calibration parameters of the second output mode include the starting clutch torque request slope and / or the starting engine speed. The acquisition module is further configured to: calibrate the starting clutch torque request slope in the second output mode, wherein the starting clutch torque request slope in the automatic parking mode is different from the starting clutch torque request slope in the non-automatic parking mode, and has a higher priority than the torque request slope in the non-automatic parking mode; and calibrate the starting engine speed in the second output mode, wherein the starting engine speed in the automatic parking mode is different from the starting engine speed in the non-automatic parking mode, and has a higher priority than the starting engine speed in the non-automatic parking mode.

[0017] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic parking method as described in the above embodiments.

[0018] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon that is executed by a processor to implement the automatic parking method as described in the above embodiments.

[0019] Therefore, this application has at least the following beneficial effects:

[0020] (1) This application embodiment can provide pre-calibrated parameters by matching road conditions, so that the vehicle can automatically switch to the corresponding control mode after entering parking control, and output the corresponding vehicle parameters to control the vehicle parking; thus, the vehicle of this application embodiment can enter the automatic parking control mode when parking, which is completely different from the driving mode, effectively reducing the vehicle power to meet the low-speed performance requirements of parking control speed, so that the conflict between parking control and idling power in driving mode is resolved, and in this automatic parking mode, the power change in driving mode no longer affects parking performance, improving parking intelligence and safety, making the vehicle parking process more comfortable, starting and braking more stable, meeting actual use needs, and improving user experience;

[0021] (2) The embodiments of this application can classify road conditions and distinguish matching modes when road conditions are different, so that the vehicle can automatically enter the corresponding mode, match the corresponding parameters and control the vehicle after entering the automatic parking state. Thus, the driving mode and automatic parking mode can be completely distinguished, the automatic parking matching speed can be improved, and the actual use needs can be met.

[0022] (3) The embodiments of this application can adapt to parameters such as engine idle speed and maximum and minimum idle crawl torque, and match the automatic parking parameter data under the condition of smooth road surface. Therefore, the embodiments of this application can automatically match the corresponding parking control data when the road surface is smooth when the vehicle enters the automatic parking state, and make parking control on the vehicle, reduce vehicle power, meet the low speed performance requirements of parking speed control, save resources and meet the actual use needs.

[0023] (4) The embodiments of this application can adapt to automatic parking parameter data under uneven road conditions. Therefore, when the vehicle enters the automatic parking state, the embodiments of this application can automatically match the corresponding parking control data when the road is uneven, perform parking control on the vehicle, reduce vehicle power, meet the low-speed performance requirements of parking speed control, save resources while meeting actual use needs, and improve user experience.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 This is a flowchart of an automatic parking method provided according to an embodiment of this application;

[0027] Figure 2This is a schematic diagram of the vehicle driving and parking process provided according to an embodiment of this application;

[0028] Figure 3 This is an example diagram of an automatic parking device provided according to an embodiment of this application;

[0029] Figure 4 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0030] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0031] In related technologies, automatic parking can be achieved using a method of intelligent control of the vehicle's lateral and longitudinal axes. Longitudinal control includes controls for starting, driving, braking, and gear shifting, while lateral control includes steering. Automatic parking is a low-speed control system (2 km / h-3 km / h), with the vehicle's idle speed (speed with throttle open at 0) at 5 km / h-6 km / h. The longitudinal control can be matched with both TCU and ECU control. The TCU can offer three driving modes: Eco, Standard, and Sport.

[0032] The longitudinal control method of TCU during parking can be: based on the selection of a driving mode, the control of TCU is matched or can be adapted to three driving modes at the same time. The longitudinal control of TCU during parking can be: (1) only control the gear shift, and the vehicle start and speed control are achieved by the braking system ESP; (2) control the TCU shift and power engagement degree to achieve vehicle start and speed control.

[0033] However, if the TCU only performs gear shifting during parking, and starting and speed control are achieved through ESP control, parameters such as engine idle speed, maximum idle torque, and clutch engagement percentage are not matched throughout the parking process. This can lead to excessive power during short-circuit planning, causing the vehicle to lurch forward or brake suddenly. If the TCU's gear shifting and power engagement are controlled simultaneously, and the vehicle has multiple driving modes, the power performance of each driving mode needs to be matched simultaneously, which increases the debugging time exponentially.

[0034] In response to the aforementioned background technologies, where the driving mode parameters and parking mode requirements parameters are mismatched, resulting in power conflicts between parking speed control and driving mode idling, this application provides an automatic parking method. The following description, with reference to the accompanying drawings, describes the automatic parking method, device, vehicle, and storage medium according to embodiments of this application.

[0035] Specifically, Figure 1 This is a flowchart illustrating an automatic parking method provided in an embodiment of this application.

[0036] like Figure 1 As shown, the automatic parking method includes the following steps:

[0037] In step S101, the road condition of the vehicle in automatic parking mode is identified.

[0038] It is understood that, in this application embodiment, after the automatic parking mode is activated, the road conditions around the vehicle in this mode are first identified to facilitate the automatic parking control of the vehicle in subsequent steps. The road conditions can refer to the road conditions around the specific location of the vehicle, including whether the road surface is flat or uneven. This application embodiment can identify the vehicle's road conditions through at least one method, such as through vehicle sensors or vehicle cameras, without specific limitations.

[0039] Specifically, in the vehicle CAN (Controller Area Network) protocol architecture of this application embodiment, a signal value can be added to the BCM (Body Control Module): to distinguish the power parameters of APA (Auto Parking Assist) mode and vehicle driving modes (Economy, Standard, and Sport), after the vehicle is activated or enters the APA function mode, the BCM detects the APA signal and feeds back to the power module to simultaneously exit the normal vehicle driving mode and enter the APA control mode. The assigned name of the newly added special mode signal can be: BCM_DriveMode.

[0040] In step S102, the torque output mode under the automatic parking mode is matched according to the current road conditions, and the pre-calibrated parameters corresponding to the torque output mode are obtained. The output torque is different for different torque output modes.

[0041] Among them, the pre-calibrated parameters can be set by the calibration personnel. The setting can be based on the experience of longitudinal control of the parked vehicle in the corresponding data mode (including smoothness, power, etc.), and it needs to be ensured that it will not affect the established parameters in the manual driving mode. There are no specific restrictions on this.

[0042] It is understood that the embodiments of this application can match different torque values ​​to the current road conditions and vehicle conditions to control the vehicle and obtain corresponding calibration parameters, completely distinguishing the parking mode from the driving mode, which facilitates subsequent control of the automatic parking vehicle and solves the power conflict problem between parking speed control and driving mode idling. Specifically, the embodiments of this application can handle both flat and uneven road surfaces; the embodiments of this application can calibrate parameters in a calibrable mode for the vehicle, as detailed below:

[0043] In this embodiment of the application, the road conditions include flat road conditions and uneven road conditions, and the torque output mode includes a first output mode and a second output mode. Matching the torque output mode under the automatic parking mode according to the current road conditions includes: if the current road conditions are flat road conditions, the torque output mode is the first output mode; if the current road conditions are uneven road conditions, the torque output mode is the second output mode, wherein the output torque of the second output mode is greater than the output torque of the first output mode.

[0044] It is understood that the embodiments of this application can distinguish the output torque under different torque output modes when the road conditions are flat and uneven, using this torque as a parameter. In APA mode, the vehicle crawling state is independent of the different driving modes of the vehicle and has a higher priority than the vehicle driving mode calibration. Figure 2 As shown, the specific control steps for the first output mode and the second output mode in this application embodiment are as follows:

[0045] (1) When the road condition is flat and no torque is increased: When the vehicle is driving on a flat road, APA does not request torque increase, EMS_AccPedal = 0 (where EMS is the abbreviation for Engine Management System; AccPedal is the accelerator pedal), and TCU controls the vehicle to be in a crawling state in APA mode. At this time, the vehicle can be considered to be in the first output mode. The maximum crawling torque and idle speed of the clutch in this mode are calibrable, and the maximum crawling torque in this APA mode is relatively independent of the maximum crawling torque in non-APA mode.

[0046] In this embodiment, the pre-calibration parameters for the first output mode include one or more of the following: maximum torque, minimum torque, torque limit, acceleration, open-loop control shaft speed threshold, and torque rise slope. Obtaining the pre-calibration parameters corresponding to the torque output mode includes: calibrating the maximum torque requested for idling in the first output mode using a one-dimensional table based on oil temperature; calibrating the minimum torque requested for idling in the first output mode using a two-dimensional table based on slope and target gear; calibrating the torque limit requested for idling during the speed rise phase in the first output mode; calibrating the acceleration in the first output mode using a two-dimensional table based on speed synchronization process and actual gear; calibrating the open-loop control shaft speed threshold in the first output mode; and calibrating the torque rise slope during the open-loop control phase in the first output mode using a two-dimensional table based on oil temperature and actual gear.

[0047] The one-dimensional table based on oil temperature and the two-dimensional table based on slope and target gear can be set according to the actual situation, and there are no specific limitations on them.

[0048] Specifically, the calibration process in the first output mode of this application embodiment can be as follows: A one-dimensional table based on oil temperature is set to limit the maximum value of the crawling idle speed request in APA mode, which can be distinguished from the vehicle driving mode and calibrated autonomously; a two-dimensional table based on slope and target gear is set to limit the minimum value of the crawling idle speed request in APA mode, which can be distinguished from the vehicle driving mode and calibrated autonomously; the idle speed request limit during the crawling speed increase phase in APA mode is differentiated, for example, it can be calibrated as the APA vehicle speed value being lower than 5 km / h; autonomous calibration of the idle speed value significantly improves parking smoothness without affecting manual driving; a two-dimensional table based on speed synchronization process and actual gear position is set to differentiate the crawling target acceleration in APA mode; the open-loop control shaft speed threshold in APA mode is differentiated; a two-dimensional table based on oil temperature and actual gear position is set to differentiate the torque increase slope during the crawling open-loop control phase in APA mode.

[0049] (2) When the road condition is a slope or an obstacle is encountered, and torque needs to be increased: When the vehicle is driving on an uneven road surface, the APA requests torque increase, EMS_AccPedal>0, and the TCU controls the vehicle to enter the starting state from the crawling state. At this time, the vehicle can be considered to be in the second output mode. The starting condition in the APA mode is treated differently from the starting condition in the whole vehicle driving mode.

[0050] In this embodiment, the pre-calibration parameters of the second output mode include the starting clutch torque request slope and / or the starting engine speed. Before obtaining the pre-calibrated torque output curve corresponding to the torque output mode, the method further includes: calibrating the starting clutch torque request slope in the second output mode, wherein the starting clutch torque request slope in the automatic parking mode is different from the starting clutch torque request slope in the non-automatic parking mode, and has a higher priority than the torque request slope in the non-automatic parking mode; and calibrating the starting engine speed in the second output mode, wherein the starting engine speed in the automatic parking mode is different from the starting engine speed in the non-automatic parking mode, and has a higher priority than the starting engine speed in the non-automatic parking mode.

[0051] Specifically, in this application embodiment, the clutch torque request slope limit in APA mode needs to be independent of the start clutch request torque limit in non-APA mode, and has a higher priority than the start request torque limit in non-APA mode; the start torque in APA mode needs to be independent of the start torque in non-APA mode, based on the progress of the throttle, oil temperature and engine speed to reach the start reference speed, and has a higher priority than the start torque in non-APA mode.

[0052] In step S103, the vehicle output torque is controlled based on pre-calibrated parameters to perform an automatic parking action.

[0053] It is understood that, in this embodiment of the application, after obtaining the corresponding pre-calibrated parameters in steps S101 and S102 above, the vehicle state is matched; after completing the matching of the vehicle TCU shift and power engagement curve, the TCU automatically jumps to this mode and outputs the corresponding torque value to control the vehicle to perform automatic parking; at this time, the vehicle in this embodiment of the application enters the APA control mode, which is completely different from the driving mode, effectively reducing the vehicle power to meet the low-speed performance of parking control, thus resolving the power conflict between parking control and idling in driving mode, and ensuring that power changes in driving mode do not affect parking performance, improving parking intelligence and safety, saving resources, meeting actual use needs, and improving user experience.

[0054] The automatic parking method proposed according to the embodiments of this application has at least the following advantages:

[0055] (1) This application embodiment can provide pre-calibrated parameters by matching road conditions, so that the vehicle can automatically switch to the corresponding control mode after entering parking control, and output the corresponding vehicle parameters to control the vehicle parking; thus, the vehicle of this application embodiment can enter the automatic parking control mode when parking, which is completely different from the driving mode, effectively reducing the vehicle power to meet the low-speed performance requirements of parking control speed, so that the conflict between parking control and idling power in driving mode is resolved, and in this automatic parking mode, the power change in driving mode no longer affects parking performance, improving parking intelligence and safety, making the vehicle parking process more comfortable, starting and braking more stable, meeting actual use needs, and improving user experience;

[0056] (2) The embodiments of this application can classify road conditions and distinguish matching modes when road conditions are different, so that the vehicle can automatically enter the corresponding mode, match the corresponding parameters and control the vehicle after entering the automatic parking state. Thus, the driving mode and automatic parking mode can be completely distinguished, the automatic parking matching speed can be improved, and the actual use needs can be met.

[0057] (3) The embodiments of this application can adapt to parameters such as engine idle speed and maximum and minimum idle crawl torque, and match the automatic parking parameter data under the condition of smooth road surface. Therefore, the embodiments of this application can automatically match the corresponding parking control data when the road surface is smooth when the vehicle enters the automatic parking state, and make parking control on the vehicle, reduce vehicle power, meet the low speed performance requirements of parking speed control, save resources and meet the actual use needs.

[0058] (4) The embodiments of this application can adapt to automatic parking parameter data under uneven road conditions. Therefore, when the vehicle enters the automatic parking state, the embodiments of this application can automatically match the corresponding parking control data when the road is uneven, perform parking control on the vehicle, reduce vehicle power, meet the low-speed performance requirements of parking speed control, save resources while meeting actual use needs, and improve user experience.

[0059] Next, the automatic parking device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0060] Figure 3 This is a block diagram of an automatic parking device according to an embodiment of this application.

[0061] like Figure 3 As shown, the automatic parking device 10 includes: an identification module 100, an acquisition module 200, and an execution module 300.

[0062] The identification module 100 is used to identify the road conditions in which the vehicle is located under the automatic parking mode; the acquisition module 200 is used to match the torque output mode under the automatic parking mode according to the current road conditions and acquire the pre-calibrated parameters corresponding to the torque output mode, wherein the output torque of different torque output modes is different; the execution module 300 is used to control the vehicle output torque based on the pre-calibrated parameters to execute the automatic parking action.

[0063] In this embodiment of the application, the road state includes a flat road surface state and an uneven road surface state, and the torque output mode includes a first output mode and a second output mode. The acquisition module 200 is further used to: determine if the current road state is a flat road surface state, then the torque output mode is the first output mode; if the current road state is an uneven road surface state, then the torque output mode is the second output mode, wherein the output torque of the second output mode is greater than the output torque of the first output mode.

[0064] In this embodiment, the pre-calibration parameters of the first output mode include one or more of the following: maximum torque, minimum torque, torque limit, acceleration, open-loop control shaft speed threshold, and torque rise slope. The acquisition module 200 is further used to: calibrate the maximum torque requested for idling in the first output mode using a one-dimensional table based on oil temperature; calibrate the minimum torque requested for idling in the first output mode using a two-dimensional table based on slope and target gear; calibrate the torque limit requested for idling during the speed rise phase in the first output mode; calibrate the acceleration in the first output mode using a two-dimensional table based on speed synchronization process and actual gear; calibrate the open-loop control shaft speed threshold in the first output mode; and calibrate the torque rise slope during the open-loop control phase in the first output mode using a two-dimensional table based on oil temperature and actual gear.

[0065] In this embodiment, the pre-calibrated parameters of the second output mode include the starting clutch torque request slope and / or the starting engine speed. The acquisition module 200 is further used to: calibrate the starting clutch torque request slope in the second output mode, wherein the starting clutch torque request slope in the automatic parking mode is different from the starting clutch torque request slope in the non-automatic parking mode, and has a higher priority than the torque request slope in the non-automatic parking mode; and calibrate the starting engine speed in the second output mode, wherein the starting engine speed in the automatic parking mode is different from the starting engine speed in the non-automatic parking mode, and has a higher priority than the starting engine speed in the non-automatic parking mode.

[0066] It should be noted that the foregoing explanation of the automatic parking method embodiment also applies to the automatic parking device of this embodiment, and will not be repeated here.

[0067] The automatic parking device proposed in this application embodiment can provide pre-calibrated parameters by matching road conditions, so that the vehicle automatically switches to the corresponding control mode after entering parking control, and outputs the corresponding vehicle parameters to control the vehicle's parking. Thus, the vehicle in this application embodiment can enter the automatic parking control mode during automatic parking, which is completely different from the driving mode. This effectively reduces the vehicle's power to meet the low-speed performance requirements of parking control, thus resolving the power conflict between parking control and idling in driving mode. In this automatic parking mode, power changes in driving mode no longer affect parking performance, improving parking intelligence and safety, making the parking process more comfortable, and starting and braking smoother, meeting actual use needs and improving the user experience.

[0068] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0069] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0070] When processor 402 executes the program, it implements the automatic parking method provided in the above embodiments.

[0071] Furthermore, the vehicle also includes:

[0072] Communication interface 403 is used for communication between memory 401 and processor 402.

[0073] The memory 401 is used to store computer programs that can run on the processor 402.

[0074] The memory 401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0075] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0076] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0077] Processor 402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0078] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described automatic parking method.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0081] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0082] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0083] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0084] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An automatic parking method, characterized in that, Includes the following steps: Identify the road conditions where the vehicle is located in automatic parking mode; The vehicle will automatically switch to the corresponding control mode after entering parking control; Match the torque output mode under the automatic parking mode according to the current road conditions, and obtain the pre-calibrated parameters corresponding to the torque output mode. The output torque is different for different torque output modes. The road conditions include smooth road surface conditions and uneven road surface conditions, the torque output mode includes a first output mode and a second output mode, and matching the torque output mode under the automatic parking mode according to the current road conditions includes: If the current road condition is a flat road surface, then the torque output mode is the first output mode; if the current road condition is an uneven road surface, then the torque output mode is the second output mode, wherein the output torque of the second output mode is greater than the output torque of the first output mode. The pre-calibrated parameters for the second output mode include the start-up clutch torque request slope and / or start-up engine speed. Before obtaining the pre-calibrated torque output curve corresponding to the torque output mode, the parameters also include: The starting clutch torque request slope in the second output mode is calibrated, wherein the starting clutch torque request slope in the automatic parking mode is different from the starting clutch torque request slope in the non-automatic parking mode, and has a higher priority than the torque request slope in the non-automatic parking mode; the starting engine speed in the second output mode is calibrated, wherein the starting engine speed in the automatic parking mode is different from the starting engine speed in the non-automatic parking mode, and has a higher priority than the starting engine speed in the non-automatic parking mode. The vehicle output torque is controlled based on the pre-calibrated parameters to perform automatic parking.

2. The automatic parking method according to claim 1, characterized in that, The pre-calibration parameters for the first output mode include one or more of the following: maximum torque, minimum torque, torque limit, acceleration, open-loop control shaft speed threshold, and torque rise slope. Obtaining the pre-calibration parameters corresponding to the torque output mode includes: The maximum torque value requested for idling in the first output mode is calibrated using a one-dimensional gauge based on oil temperature. The minimum torque required for idling in the first output mode is calibrated using a two-dimensional table based on the slope and target gear. Calibrate the torque limit for idle speed request during the speed increase phase in the first output mode; The acceleration in the first output mode is calibrated using a two-dimensional table based on the speed synchronization process and the actual gear position; Calibrate the open-loop control shaft speed threshold in the first output mode; The torque rise slope in the open-loop control phase of the first output mode is calibrated using a two-dimensional gauge based on oil temperature and actual gear position.

3. An automatic parking device, characterized in that, For implementing the method as described in any one of claims 1-2, comprising: The recognition module is used to identify the road conditions in which the vehicle is located during automatic parking mode; The acquisition module is used to match the torque output mode under the automatic parking mode according to the current road conditions, and to acquire the pre-calibrated parameters corresponding to the torque output mode, wherein the output torque is different for different torque output modes; An execution module is used to control the vehicle's output torque based on the pre-calibrated parameters in order to perform an automatic parking action.

4. The automatic parking device according to claim 3, characterized in that, The road conditions include flat road conditions and uneven road conditions, and the torque output modes include a first output mode and a second output mode. The acquisition module is further configured to: determine if the current road condition is the flat road condition, then the torque output mode is the first output mode; if the current road condition is the uneven road condition, then the torque output mode is the second output mode, wherein the output torque of the second output mode is greater than the output torque of the first output mode.

5. The automatic parking device according to claim 4, characterized in that, The pre-calibrated parameters of the first output mode include one or more of the following: maximum torque, minimum torque, torque limit, acceleration, open-loop control shaft speed threshold, and torque rise slope. The acquisition module is further used to: calibrate the maximum torque requested for idling in the first output mode using a one-dimensional table based on oil temperature; and calibrate the minimum torque requested for idling in the first output mode using a two-dimensional table based on slope and target gear. Calibrate the torque limit for idle speed request during the speed increase phase in the first output mode; The acceleration in the first output mode is calibrated using a two-dimensional table based on the speed synchronization process and the actual gear position; the open-loop control shaft speed threshold in the first output mode is calibrated; and the torque rise slope in the open-loop control phase of the first output mode is calibrated using a two-dimensional table based on oil temperature and the actual gear position.

6. The automatic parking device according to claim 4, characterized in that, The pre-calibrated parameters of the second output mode include the starting clutch torque request slope and / or the starting engine speed. The acquisition module is further used to: calibrate the starting clutch torque request slope in the second output mode, wherein the starting clutch torque request slope in the automatic parking mode is different from the starting clutch torque request slope in the non-automatic parking mode, and has a higher priority than the torque request slope in the non-automatic parking mode; and calibrate the starting engine speed in the second output mode, wherein the starting engine speed in the automatic parking mode is different from the starting engine speed in the non-automatic parking mode, and has a higher priority than the starting engine speed in the non-automatic parking mode.

7. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the automatic parking method as described in any one of claims 1-2.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the automatic parking method as described in any one of claims 1-2.

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