Vehicle speed control methods, devices, equipment, storage media and program products

Abstract

This application relates to a vehicle speed control method, device, equipment, storage medium, and program product, and pertains to the automotive field. The method is implemented in a vehicle equipped with an automatic parking system, comprising: when the automatic parking system is operating, the vehicle's automatic transmission control unit responds to the torque output of the vehicle's engine and enters an automatic parking state; in the automatic parking state, the automatic transmission control unit acquires a vehicle speed control signal, which includes a braking force signal or an accelerator signal; the braking force signal is issued by the automatic parking system controlling the vehicle's electronic stability system, and the accelerator signal is issued by the automatic parking system controlling the vehicle's engine management system; the automatic transmission control unit controls the clutch of the vehicle's automatic transmission according to the vehicle speed control signal, so that the vehicle speed is maintained at the target speed corresponding to the automatic parking state. The above solution ensures the accuracy of vehicle speed control and improves the control effect.

Description

Technical Field

[0001] This application relates to the automotive field, and in particular to a vehicle speed control method, device, equipment, storage medium, and program product. Background Technology

[0002] With the rapid development of the automotive industry, advanced driver assistance systems (ADAS) are being applied in modern cars. These systems can provide drivers with effective suggestions and assistance functions, especially vehicle speed control, through various built-in devices and algorithms.

[0003] In related technologies, automatic parking is a common function of advanced driver assistance systems. Specifically, when the automatic parking system is activated, the vehicle can park itself and cruise to find a parking space.

[0004] However, automatic parking systems are less effective at controlling vehicle speed when parking or navigating to find a parking space. Summary of the Invention

[0005] This application provides a vehicle speed control method, device, equipment, storage medium, and program product, which can improve the vehicle speed control effect of the automatic parking system. The technical solution is as follows:

[0006] On the one hand, a vehicle speed control method is provided, the method being implemented by a vehicle having an automatic parking system, the method comprising:

[0007] When the automatic parking system is in operation, the vehicle's automatic transmission control unit responds to the torque output of the vehicle's engine and enters the automatic parking mode.

[0008] In the automatic parking mode, the automatic transmission control unit acquires the vehicle speed control signal, which includes a braking force signal or an accelerator signal; the braking force signal is issued by the automatic parking system controlling the vehicle's electronic stability system, and the accelerator signal is issued by the automatic parking system controlling the vehicle's engine management system.

[0009] The automatic transmission control unit controls the clutch of the vehicle's automatic transmission according to the vehicle speed control signal, so that the vehicle speed is maintained at the target speed corresponding to the automatic parking condition.

[0010] On the other hand, a vehicle speed control device is provided, the device comprising:

[0011] An automatic parking mode entry module is used to enter the automatic parking mode in response to the torque output of the vehicle's engine when the automatic parking system is in operation.

[0012] The vehicle speed control signal acquisition module is used to acquire the vehicle speed control signal of the vehicle under the automatic parking condition. The vehicle speed control signal includes a braking force signal or an accelerator signal. The braking force signal is issued by the automatic parking system controlling the vehicle's electronic stability system, and the accelerator signal is issued by the automatic parking system controlling the vehicle's engine management system.

[0013] The clutch control module is used to control the clutch of the automatic transmission of the vehicle according to the vehicle speed control signal, so that the vehicle speed is maintained at the target speed corresponding to the automatic parking condition.

[0014] In some embodiments, the automatic parking mode includes a crawl mode and a start mode;

[0015] The clutch control module is configured to maintain the creeping condition when the vehicle speed control signal includes the braking force signal; in the creeping condition, control the clutch of the vehicle's automatic transmission according to the braking force signal to maintain the vehicle speed at a first target speed corresponding to the creeping condition; maintain the starting condition when the vehicle speed control signal includes the throttle signal; and in the starting condition, control the clutch of the vehicle's automatic transmission according to the throttle signal to maintain the vehicle speed at a second target speed corresponding to the starting condition; wherein the first target speed is less than the second target speed.

[0016] In some embodiments, during the creeping condition, the engagement depth of the clutch is controlled according to the braking force signal and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the first target speed.

[0017] In some embodiments, under the creeping condition, the braking force corresponding to the braking force signal is mapped to the master cylinder pressure of the master cylinder. Based on the master cylinder pressure and the slope of the road where the vehicle is located, the engagement depth of the clutch is controlled so that the vehicle speed is maintained at the first target speed.

[0018] In some embodiments, during the starting condition, the engagement depth of the clutch is controlled according to the throttle signal and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the second target speed.

[0019] In some embodiments, the first target vehicle speed is 1 to 3 kilometers per hour; the second target vehicle speed is 7 to 9 kilometers per hour.

[0020] In another aspect, a computer device is provided, the computer device comprising a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the vehicle speed control method as described above.

[0021] In another aspect, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the vehicle speed control method described above.

[0022] In another aspect, a computer program product is provided, comprising a computer program stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium and executes the computer program, causing the computer device to perform the vehicle speed control method provided in the various optional implementations described above.

[0023] The technical solution provided in this application may include the following beneficial effects:

[0024] When the automatic parking system is in operation, the vehicle's automatic transmission control unit is in automatic parking mode and travels at the speed corresponding to this mode. During this process, the vehicle's automatic transmission control unit can receive the vehicle speed control signal and control the clutch of the vehicle's automatic transmission based on the vehicle speed control signal to maintain the vehicle speed at the target speed corresponding to the automatic parking mode, thus ensuring the accuracy of vehicle speed control in the automatic parking scenario.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0027] Figure 1 This is a system diagram of a vehicle speed control method according to one embodiment of this application;

[0028] Figure 2 This is a flowchart of a vehicle speed control method provided in one embodiment of this application;

[0029] Figure 3 This is a flowchart of a vehicle speed control method provided in one embodiment of this application;

[0030] Figure 4 This is a schematic diagram of a clutch transmission torque coefficient comparison table provided in one embodiment of this application;

[0031] Figure 5 This is a schematic diagram of a comparison table of brake pressure and four-wheel braking force provided in one embodiment of this application;

[0032] Figure 6 This is a flowchart illustrating the overall signal communication of an automatic transmission control unit supporting an ADAS system, provided in one embodiment of this application.

[0033] Figure 7 This is a control framework diagram of an automatic transmission control unit under the APA function provided in one embodiment of this application;

[0034] Figure 8 This is a functional diagram of an automatic transmission control unit implementing vehicle speed control under the APA function according to an embodiment of this application;

[0035] Figure 9 This is a schematic diagram illustrating the automatic transmission control unit supporting ADAS system signal communication according to an embodiment of this application;

[0036] Figure 10 This is a block diagram of a vehicle speed control device provided in an exemplary embodiment of this application;

[0037] Figure 11 This is a schematic diagram of the structure of a computer device provided in an exemplary embodiment of this application. Detailed Implementation

[0038] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0039] This application proposes a vehicle speed control scheme that enables the vehicle speed to be maintained at the target speed corresponding to the automatic parking condition, ensuring the accuracy of vehicle speed control and improving the efficiency of vehicle speed control.

[0040] To facilitate understanding, some concepts involved in this application are explained below.

[0041] 1) Advanced Driver Assistance Systems (ADAS) are vehicle safety technologies designed to enhance driver safety and comfort during driving by using sensors, radar, cameras, and other devices. ADAS systems offer a variety of functions, such as automatic emergency braking, lane keeping assist, automatic parking, blind spot monitoring, traffic sign recognition, and adaptive cruise control. These functions monitor the vehicle's surroundings in real time, identify potential hazards, and take measures as needed to reduce the occurrence of accidents or mitigate their impact.

[0042] 2) The automatic transmission control unit (TCU) is part of the vehicle's electronic control system and is responsible for managing and controlling the operation of the automatic transmission. The TCU monitors parameters such as vehicle speed, RPM, acceleration, and engine load to determine when to shift gears, ensuring smooth driving and high fuel efficiency.

[0043] 3) Auto Parking Assist (APA) is an advanced driver assistance technology designed to help drivers easily complete parking operations. The APA system uses sensors installed on the vehicle (such as ultrasonic sensors or cameras) to detect and measure the surrounding space. Once the driver selects to use the automatic parking function, the APA system takes over the vehicle's steering and controls acceleration and braking to achieve safe and precise parking.

[0044] 4) The Engine Management System (EMS) is a vehicle electronic control system responsible for managing and optimizing engine operation. EMS monitors and adjusts parameters such as fuel supply, airflow, ignition timing, and emission control to ensure the engine achieves optimal efficiency, power output, and low emissions under various operating conditions.

[0045] 5) Electronic Stability Program (ESP) is a vehicle dynamic control system designed to help drivers maintain vehicle stability and control in emergency situations. ESP monitors parameters such as steering angle, lateral acceleration, and wheel speed through sensors. Once a potential skidding or loss of control is detected, it adjusts the vehicle's braking force distribution through the automatic braking system and reduces engine power when necessary to stabilize the vehicle's direction of travel.

[0046] 6) Electronic Power Steering (EPS) is a system that uses an electric power assist mechanism to help the driver steer. The EPS system replaces the hydraulic pump in the traditional hydraulic system with electronic equipment such as an electric motor or electric pump, and uses sensors to detect the driver's steering force and direction.

[0047] 7) Crawl mode refers to a specific driving condition where the vehicle travels at a low speed. Specifically, it means that the vehicle moves at an extremely low speed, such as in traffic jams or when precise stopping is required. The driver only needs to lightly press the brake or accelerator, and the vehicle can move slowly. Under this condition, the vehicle can maintain automatic forward movement or automatic stopping without the driver needing to frequently apply the brakes or accelerate.

[0048] 8) Starting conditions refer to the driving conditions when a vehicle starts moving or begins to move from a stationary state. This typically refers to the process of accelerating and moving the vehicle from a stopped state. This phase includes starting the engine, engaging the appropriate gear (such as automatic or manual), releasing the brake, and applying sufficient throttle to make the vehicle begin to move.

[0049] 9) Torque output refers to the amount of torque transmitted from the engine or powertrain to the vehicle's drive wheels. It is typically the power generated by the engine or electric motor, which is then transmitted to the vehicle's drive wheels after passing through the transmission system (such as a gearbox, driveshaft, etc.).

[0050] Figure 1 This is a system diagram of a vehicle speed control method according to one embodiment of this application. Figure 1 As shown, the system includes a vehicle 100 that supports an automatic parking system and an electronic stability system. The vehicle 100 contains an automatic transmission control unit 100a and an engine management system 100b. The vehicle's transmission also includes a clutch 100a1.

[0051] When vehicle 100 is in automatic parking mode, and the automatic parking system is working, the automatic transmission control unit 100a of vehicle 100 responds to the torque output of the engine of vehicle 100 and enters automatic parking mode. In automatic parking mode, the automatic transmission control unit 100a can control the braking force signal issued by the electronic stability system of vehicle 100 or the throttle signal issued by the engine management system 100b of vehicle 100 through the automatic parking system. Both the throttle signal and the braking force signal are vehicle speed control signals. The automatic transmission control unit 100a controls the clutch 100a1 of vehicle 100 according to the vehicle speed control signal so that the vehicle speed of vehicle 100 is maintained at the target speed corresponding to automatic parking mode.

[0052] Please refer to Figure 2 , Figure 2This is a flowchart of a vehicle speed control method provided in one embodiment of this application. The vehicle speed control method can be implemented by a vehicle equipped with an automatic parking system; for example, the vehicle can be the one described above. Figure 1 For the vehicle 100 shown, the speed control method described above may include the following steps:

[0053] Step 210: When the automatic parking system is in operation, the vehicle's automatic transmission control unit responds to the torque output of the vehicle's engine and enters the automatic parking mode.

[0054] The aforementioned automatic parking system is a driver assistance system with automatic parking assistance function.

[0055] In this embodiment, the automatic parking system can be activated by the driver while driving the vehicle, or it can be activated automatically after the vehicle is started. The automatic parking system is connected to sensors (such as cameras and radar), electronic stability system, electric power steering system, and braking system on the vehicle. When the driver gives an instruction to the automatic parking system, the automatic parking system responds to the driver's instruction and, in conjunction with data uploaded from other hardware and software on the vehicle, controls the vehicle to enter the working state, i.e., the automatic parking state.

[0056] In this embodiment of the application, after the automatic parking system starts working, the automatic parking system will obtain the current vehicle status data (such as vehicle speed data) and parking target data (such as target parking space distance data) through the vehicle's sensors, and calculate a torque request based on the above data. The torque request is sent to the vehicle's engine, and the engine outputs torque according to the torque request. The vehicle's automatic transmission control unit responds to the above torque output and enters the automatic parking mode.

[0057] The aforementioned automatic parking condition refers to the operating condition of the automatic transmission control unit when the vehicle is in automatic parking mode at a specified speed.

[0058] Step 220: In automatic parking mode, the automatic transmission control unit acquires the vehicle speed control signal, which includes a braking force signal or an accelerator signal; the braking force signal is issued by the electronic stability system of the vehicle controlled by the automatic parking system, and the accelerator signal is issued by the engine management system of the vehicle controlled by the automatic parking system.

[0059] In this embodiment, when the vehicle is in automatic parking mode, the electronic stability system in the vehicle sends a braking force signal to the automatic transmission control unit when deceleration is required, based on the target parking information and the current driving status of the vehicle.

[0060] In this embodiment of the application, when the vehicle is in automatic parking mode, the engine management system can receive a torque request from the electronic stability system, and after the engine management system executes the torque output, it will issue a throttle signal.

[0061] The aforementioned braking force signal can be an electronic signal indicating the amount of braking force applied by the vehicle's braking system. This signal can be a numerical value representing the magnitude of the braking force or the percentage of braking force.

[0062] For example, when the vehicle's current speed is about to exceed the specified speed for automatic parking, the vehicle needs to decelerate. The automatic parking system can control the electronic stability system to send a braking force signal until the vehicle's speed stabilizes within the safe speed range specified for automatic parking.

[0063] The aforementioned throttle signal is used to control the engine speed of the vehicle, and can be used to adjust the vehicle's forward or reverse speed. The throttle signal can be an electronic signal that instructs the engine management system to increase or decrease the throttle opening, thereby adjusting the vehicle's speed.

[0064] For example, if a vehicle needs to move forward to enter a parking space and its speed is low, the automatic parking system can control the vehicle's engine management system to send an appropriate throttle signal to make the vehicle move forward at a faster speed.

[0065] Step 230: The automatic transmission control unit controls the clutch of the vehicle's automatic transmission according to the vehicle speed control signal so that the vehicle speed is maintained at the target speed corresponding to the automatic parking condition.

[0066] In this embodiment, when the automatic transmission control unit receives the vehicle speed control signal, it can control the engagement depth of the clutch according to the content indicated by the vehicle speed control signal. The engagement depth of the clutch can control the vehicle speed. With the engine torque remaining constant, the deeper the clutch engagement, the faster the engagement rate, the higher the clutch transmission efficiency, and the higher the vehicle speed. Conversely, the shallower the clutch engagement, the faster the disengagement rate, the lower the clutch transmission efficiency, and the lower the vehicle speed.

[0067] Optionally, when the throttle signal indicates a high engine speed, the automatic transmission control unit determines that the vehicle speed needs to be increased to the target speed. It can control the clutch engagement of the automatic transmission to deepen based on the throttle signal, so that the engine's output torque can be transmitted to the wheels more efficiently, thereby increasing the vehicle speed to maintain the target speed corresponding to the automatic parking condition. Conversely, when the throttle signal indicates a low engine speed, the automatic transmission control unit determines that the vehicle speed needs to be decreased to the target speed. It can control the clutch engagement of the automatic transmission to lighten based on the throttle signal, so that the engine's output torque can be transmitted to the wheels less efficiently or not at all, thereby decreasing the vehicle speed to maintain the target speed corresponding to the automatic parking condition.

[0068] Optionally, when the brake force signal indicates that the braking force applied by the vehicle's braking system is greater than the specified braking force, the automatic transmission control unit determines that the vehicle speed needs to be reduced to the target speed. Based on the brake signal, it can control the clutch engagement of the automatic transmission to become shallower, allowing the engine's output torque to be transmitted to the wheels less efficiently or not at all, thereby reducing the vehicle speed to maintain the target speed corresponding to the automatic parking condition. Conversely, when the brake force signal indicates that the braking force applied by the vehicle's braking system is less than the specified braking force, the automatic transmission control unit determines that the vehicle speed needs to be increased to the target speed. Based on the brake signal, it can control the clutch engagement of the automatic transmission to become deeper, allowing the engine's output torque to be transmitted to the wheels more efficiently, thereby reducing the vehicle speed to maintain the target speed corresponding to the automatic parking condition.

[0069] In this embodiment of the application, when the automatic parking system is working, the vehicle's automatic transmission control unit is in automatic parking mode and travels at the speed corresponding to this mode. During this process, the vehicle's automatic transmission control unit can receive a vehicle speed control signal and control the clutch of the vehicle's automatic transmission based on the vehicle speed control signal, so that the vehicle speed is maintained at the target vehicle speed corresponding to the automatic parking mode, thus ensuring the accuracy of vehicle speed control in the automatic parking scenario.

[0070] In conjunction with the solutions shown in any one or more embodiments of the various embodiments of this application, in some embodiments, the automatic parking mode includes a creep mode and a start mode.

[0071] In this embodiment, under automatic parking conditions, there is a corresponding driving speed for different types of automatic parking situations. For example, when the vehicle is cruising to find a parking space in automatic parking conditions, the automatic transmission control unit can be in a starting mode. At this time, the vehicle needs a higher driving speed to find a suitable parking space as quickly as possible; that is, a higher target speed is required in the starting mode. Conversely, when the vehicle is parking in an automatic parking situation, the automatic transmission control unit can be in a creeping mode. At this time, the vehicle needs a lower driving speed to ensure safe and controllable parking; that is, a lower target speed is required in the creeping mode. Whether in the starting mode or the creeping mode, if the vehicle cannot maintain the target speed for the corresponding situation, a poor user experience will occur, such as large speed fluctuations and vehicle vibration.

[0072] based on Figure 2 Please refer to Figure 3 , Figure 3 This is a flowchart of a vehicle speed control method provided in one embodiment of this application. Figure 2 Step 230 can be implemented as steps 230a and 230b, as follows:

[0073] Step 230a: When the vehicle speed control signal includes the braking force signal, the automatic transmission control unit maintains the creep mode; in the creep mode, the automatic transmission control unit controls the clutch of the vehicle's automatic transmission according to the braking force signal so that the vehicle speed is maintained at the first target speed corresponding to the creep mode.

[0074] In this embodiment, after receiving the braking force signal, the automatic transmission control unit can control the engagement depth of the clutch according to the magnitude of the braking force indicated by the braking force signal, so as to ensure that the vehicle speed is maintained at a first target speed. The first target speed can refer to a specified speed or a specified speed range.

[0075] Optionally, when the vehicle speed control signal includes a braking force signal, it indicates that the automatic parking system needs to maintain the vehicle at a low speed, for example, when it may be in the process of parking. In this case, the automatic transmission control unit maintains a creeping mode. In the creeping mode, the automatic transmission control unit controls the engagement degree of the automatic transmission clutch based on the braking signal to maintain the vehicle speed at the first target speed corresponding to the creeping mode. For example, when the vehicle speed is lower than the first target speed of the creeping mode, the vehicle speed needs to be increased. At this time, the engagement degree of the automatic transmission clutch can be increased to improve transmission efficiency. Or, when the vehicle speed is higher than the first target speed of the creeping mode, the vehicle speed needs to be decreased. At this time, the engagement degree of the automatic transmission clutch can be decreased to reduce transmission efficiency.

[0076] Step 230b: When the vehicle speed control signal includes the throttle signal, the automatic transmission control unit remains in the starting condition; in the starting condition, the automatic transmission control unit controls the clutch of the vehicle's automatic transmission according to the throttle signal so that the vehicle speed is maintained at the second target speed corresponding to the starting condition.

[0077] In this embodiment, after receiving the throttle signal, the automatic transmission control unit can control the engagement depth of the clutch according to the throttle opening indicated by the throttle signal to ensure that the vehicle speed is maintained at a second target speed. The second target speed can refer to a specified speed or a specified speed range.

[0078] Optionally, when the vehicle speed control signal includes the throttle signal, it indicates that the automatic parking system needs to maintain the vehicle at a higher speed, for example, during the cruise control phase searching for a parking space. In this case, the automatic transmission control unit remains in the starting condition. In the starting condition, the automatic transmission control unit controls the engagement degree of the automatic transmission clutch based on the throttle signal to maintain the vehicle speed at the second target speed corresponding to the starting condition. For example, when the vehicle speed is lower than the second target speed of the starting condition, the vehicle speed needs to be increased. In this case, the engagement degree of the automatic transmission clutch can be increased to improve transmission efficiency. Conversely, when the vehicle speed is higher than the second target speed of the starting condition, the vehicle speed needs to be decreased. In this case, the engagement degree of the automatic transmission clutch can be decreased to reduce transmission efficiency.

[0079] In this embodiment, the automatic transmission control unit of the vehicle can receive braking force signals and throttle signals during creeping / starting conditions. The automatic transmission control unit controls the vehicle speed by combining the vehicle speed control signal and the clutch of the automatic transmission, so that the vehicle speed is maintained at the first target vehicle speed / second target vehicle speed corresponding to the creeping / starting conditions, thus ensuring the accuracy of vehicle speed control and improving the efficiency of vehicle speed control.

[0080] In conjunction with the solutions shown in any one or more embodiments of the various embodiments of this application, in some embodiments, the first target vehicle speed is 1 to 3 kilometers per hour; the second target vehicle speed is 7 to 9 kilometers per hour.

[0081] Optionally, the first target speed is a specified speed between 1 km / h and 3 km / h.

[0082] Optionally, the second target speed is a specified speed of 7 km / h to 9 km / h.

[0083] It should be noted that, in the embodiments of this application, the first target vehicle speed and the second target vehicle speed are not limited to the specified vehicle speed values. Provided that the first target vehicle speed is less than the second target vehicle speed, the first target vehicle speed and the second target vehicle speed can be any other vehicle speed.

[0084] In the above embodiments, the first target vehicle speed is lower than the second target vehicle speed, and the vehicle speed in the creeping condition is lower than the vehicle speed in the starting condition. Driving at a lower speed in the creeping condition can ensure safe driving when parking in a parking space. Driving at a second target speed higher than the first target vehicle speed in the creeping condition in the starting condition can improve the efficiency of cruising to find a parking space.

[0085] In conjunction with the solutions shown in any one or more embodiments of this application, in some embodiments, step 230a above can be implemented as follows: under creeping conditions, the automatic transmission control unit controls the engagement depth of the clutch according to the braking force signal and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the first target speed.

[0086] Optionally, during crawling, the automatic transmission control unit controls the clutch engagement depth by looking up a lookup table based on the braking force signal and the slope of the road where the vehicle is located, so as to maintain the vehicle speed at the first target speed.

[0087] Optionally, under crawling conditions, the automatic transmission control unit calculates the clutch torque attenuation coefficient based on the braking force signal and the slope of the road where the vehicle is located, obtains the target engagement depth of the clutch through the clutch torque attenuation coefficient, and controls the clutch engagement depth based on the obtained target engagement depth so that the vehicle speed is maintained at the first target speed.

[0088] In this embodiment, the automatic transmission control unit determines the clutch torque attenuation coefficient based on the braking force signal and road slope under creeping conditions, and then controls the clutch engagement depth. This takes into account multiple factors during vehicle operation, thus making the clutch control operation more precise, effectively maintaining vehicle speed, and improving the speed control effect.

[0089] In conjunction with the solutions shown in any one or more embodiments of this application, in some embodiments, under creeping conditions, the automatic transmission control unit maps the braking force corresponding to the braking force signal to the master cylinder pressure of the master cylinder, and controls the engagement depth of the clutch according to the master cylinder pressure and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the first target speed.

[0090] In this embodiment of the application, after receiving the braking force corresponding to the braking force signal, the automatic transmission control unit can map the braking force to the master cylinder pressure of the master cylinder.

[0091] In one possible implementation, the mapped master cylinder pressure corresponding to the braking force can be obtained by querying a lookup table of master cylinder pressure and braking force.

[0092] For specific examples, please refer to Figure 5 , Figure 5 This is a schematic diagram of a comparison table of brake pressure and four-wheel braking force provided in one embodiment of this application. The comparison table 500 includes braking force Z and master cylinder pressure W; the master cylinder pressure can be obtained by looking up the table.

[0093] For example, in crawling mode, the automatic transmission control unit controls the clutch engagement depth by looking up a reference table based on the master cylinder pressure and the slope of the road where the vehicle is located, so that the vehicle speed can be maintained at the first target speed.

[0094] For specific examples, please refer to Figure 5 , Figure 4 This is a schematic diagram of a clutch transmission torque coefficient comparison table provided in one embodiment of this application.

[0095] exist Figure 4 The reference table 400 shows the master cylinder pressure X, the slope Y of the road where the vehicle is located, and the corresponding clutch torque attenuation coefficient. Based on the master cylinder pressure, the clutch torque attenuation coefficient can be found in the table. The target engagement depth of the clutch can be obtained through the clutch torque attenuation coefficient. Based on the obtained target engagement depth, the engagement depth of the clutch is controlled so that the vehicle speed is maintained at the first target speed.

[0096] For example, in crawling mode, the automatic transmission control unit calculates the clutch torque attenuation coefficient based on the master cylinder pressure and the slope of the road where the vehicle is located. It then obtains the target engagement depth of the clutch through the clutch torque attenuation coefficient and controls the clutch engagement depth based on the obtained target engagement depth so that the vehicle speed is maintained at the first target speed.

[0097] In this embodiment, by mapping the braking force to the master cylinder pressure, the automatic transmission control unit can more accurately control the vehicle speed based on the master cylinder pressure. The magnitude of the master cylinder pressure affects the clutch engagement depth, which in turn affects the transmission of engine output torque to the drive wheels, thereby controlling the vehicle's creep speed and effectively ensuring the control effect on vehicle speed.

[0098] In conjunction with the solutions shown in any one or more embodiments of this application, in some embodiments, step 230b above can be implemented as follows: in the starting condition, the automatic transmission control unit controls the engagement depth of the clutch according to the throttle signal and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at the second target speed.

[0099] Optionally, during start-up, the automatic transmission control unit controls the clutch engagement depth by consulting a lookup table based on the throttle signal and the gradient of the road where the vehicle is located, so as to maintain the vehicle speed at the second target speed.

[0100] For example, in crawling mode, the automatic transmission control unit determines the clutch torque attenuation coefficient by looking up a table based on the throttle signal and the slope of the road where the vehicle is located. It then obtains the target engagement depth of the clutch through the clutch torque attenuation coefficient and controls the engagement depth of the clutch based on the obtained target engagement depth so that the vehicle speed is maintained at the second target speed.

[0101] Optionally, during start-up, the automatic transmission control unit calculates and controls the clutch engagement depth based on the throttle signal and the gradient of the road where the vehicle is located, so as to maintain the vehicle speed at the second target speed.

[0102] For example, in crawling mode, the automatic transmission control unit calculates the clutch torque attenuation coefficient based on the throttle signal and the slope of the road where the vehicle is located. It then obtains the target engagement depth of the clutch through the clutch torque attenuation coefficient and controls the clutch engagement depth based on the obtained target engagement depth so that the vehicle speed is maintained at the second target speed.

[0103] In this embodiment, the automatic transmission control unit controls the clutch engagement depth based on the throttle signal and road slope during start-up, taking into account multiple factors during vehicle operation. Therefore, the clutch control operation is more precise, which can effectively maintain vehicle speed and improve the speed control effect.

[0104] For example, based on one or more of the above embodiments, this application proposes a method for controlling vehicle speed in an automatic transmission to support an ADAS system. This embodiment belongs to the automotive field, and more specifically relates to the development of software for automatic transmissions to support advanced driver assistance systems (hereinafter referred to as ADAS) functions and performance. This solution can solve the problems that, when the vehicle is in the ADAS module activation state, the function cannot complete the set scenario for cruise control and parking, and the optimized performance exhibits unacceptable subjective issues such as fluctuating vehicle speed, frequent braking, and jerking / vibration.

[0105] In this solution, the automatic transmission controls the clutch by requesting vehicle speed during information exchange with the APA system, thereby achieving stable vehicle driving to find a parking space.

[0106] The automatic transmission control unit communicates with the electronic stability system; the automatic transmission control unit communicates with the engine control system; the electronic stability system communicates with the engine control system; the electronic stability system communicates with the ADAS controller; and the ADAS controller communicates with the external information input system.

[0107] This solution consists of five main control systems: 1-Automatic transmission control unit, 2-Engine control system, 3-Electronic stability system, 4-ADAS controller, and 5-External information input system.

[0108] For example, please refer to Figure 6 , Figure 6 This is a flowchart illustrating the overall signal communication of an automatic transmission control unit supporting an ADAS system, provided in one embodiment of this application.

[0109] like Figure 6 As shown, the external information acquisition device 61 is connected to the ADAS controller 62 via a CAN signal, and the external information acquired by the external information acquisition device 61 (e.g., by radar or camera) is input into the ADAS controller 62. The ADAS controller 62 stores, analyzes, and calculates the received external information, and then outputs it. The ADAS controller 62 is connected to the electronic stability system 63 and also to the automatic transmission 64. The electronic stability system 63 is connected to the automatic transmission 64 and the engine control system 65, respectively. The automatic transmission control system 64 is connected to the engine control system 65.

[0110] This solution provides a method for implementing the communication interface, strategy requirements, and performance requirements of an automatic transmission control unit to meet the cruise parking space finding control function under fully automatic parking.

[0111] For example, please refer to Figure 7 , Figure 7 This is a control framework diagram of an automatic transmission control unit under the APA function provided in one embodiment of this application.

[0112] like Figure 7As shown, the APA system is a driver assistance system that enables a vehicle to automatically park or exit a parking space in the correct manner. The system generally includes three main parts: a sensor system (used to detect environmental information, locate parking spaces, and provide real-time feedback on vehicle position information), a central control system (used to process environmental perception information, calculate target parking space parameters and vehicle relative position online in real time, determine feasibility, and determine automatic parking strategies), and an execution system (which, based on the decision information from the central control system, controls the electronic power steering system (EPS), electronic stability system (ESP), engine control system (EMS), and transmission control system (TCU), and controls the vehicle to move to the parking space according to the decision path).

[0113] After APA locates and identifies a parking space, it performs the following two steps when starting fully automatic parking:

[0114] Step 1: The APA will request a gear (D or R). The vehicle will control the clutch to disengage according to the requested gear, the transmission will shift into the corresponding gear, the clutch will engage, and the vehicle will start moving.

[0115] Step 2: After reaching the target location, APA will request P gear, the clutch will disengage, and the transmission will shift into P gear.

[0116] During parking, the APA system plans a parking path using radar, cameras, and the identified parking space. Lateral driving within the path is controlled by the Electronic Power Steering (EPS) system, while longitudinal driving is controlled by the Electronic Stability Program (ESP) system, which manages acceleration, deceleration, and gear shifting.

[0117] Throughout the process, the aforementioned vehicle driving information is displayed via the instrument panel DVD to enable human-machine interaction.

[0118] like Figure 7 As shown, during the APA process, the TCU receives the shift request from the ESP. After the shift is completed, the transmission responds to the engine torque and enters the starting condition. To ensure a smooth start, the TCU receives the ESP braking force signal through the CAN bus. The TCU maps the braking force into master cylinder pressure and then combines it with the brake switch signal and throttle signal to control the engagement and disengagement of the clutch.

[0119] For example, please refer to Figure 8 , Figure 8 This is a functional diagram of an automatic transmission control unit implementing vehicle speed control under the APA function, according to one embodiment of this application.

[0120] like Figure 8As shown, in this solution, during the APA's parking space search process, the automatic transmission can receive the CAN signal from the APA system regarding the vehicle speed request. At the same time, the automatic transmission needs to control the vehicle speed to remain stable at the speed requested by the APA system, so as to achieve stable driving, deceleration, and stopping of the vehicle.

[0121] For example, please refer to Figure 9 , Figure 9 This is a schematic diagram illustrating the automatic transmission control unit supporting ADAS system signal communication according to an embodiment of this application.

[0122] like Figure 9 As shown, the automatic transmission control unit communicates with the APA system; the automatic transmission control unit communicates with the electronic stability system; the automatic transmission control unit communicates with the engine control system; the electronic stability system communicates with the engine control system; and the electronic stability system communicates with the ADAS controller.

[0123] The above is merely one embodiment of this application and should not be considered as a limitation thereof. Those skilled in the art will understand that various modifications and variations can be made to the embodiments to adapt to different application requirements. Therefore, the scope of this application should be defined by the claims appended to the claims.

[0124] Please refer to Figure 10 The diagram illustrates a block diagram of a vehicle speed control device provided in an exemplary embodiment of this application. This vehicle speed control device can be implemented as all or part of a computer device through hardware or a combination of hardware and software, to achieve the above-described... Figure 2 as well as Figure 3 All or part of the steps in the illustrated embodiments. For example... Figure 10 As shown, the vehicle speed control device includes:

[0125] The automatic parking mode entry module 1010 is used to enter the automatic parking mode in response to the torque output of the vehicle's engine when the automatic parking system is in operation.

[0126] The vehicle speed control signal acquisition module 1020 is used to acquire the vehicle speed control signal during automatic parking. The vehicle speed control signal includes a braking force signal or an accelerator signal. The braking force signal is issued by the electronic stability system of the vehicle controlled by the automatic parking system, and the accelerator signal is issued by the engine management system of the vehicle controlled by the automatic parking system.

[0127] The clutch control module 1030 is used to control the clutch of the vehicle's automatic transmission according to the vehicle speed control signal, so that the vehicle speed is maintained at the target speed corresponding to the automatic parking condition.

[0128] In some embodiments, the automatic parking mode includes a crawl mode and a start mode.

[0129] The clutch control module 1030 is used to maintain a creeping state when the vehicle speed control signal includes a braking force signal; in the creeping state, it controls the clutch of the vehicle's automatic transmission according to the braking force signal so that the vehicle speed is maintained at a first target speed corresponding to the creeping state; when the vehicle speed control signal includes an accelerator signal, it maintains a starting state; in the starting state, it controls the clutch of the vehicle's automatic transmission according to the accelerator signal so that the vehicle speed is maintained at a second target speed corresponding to the starting state; the first target speed is less than the second target speed.

[0130] In some embodiments, during creeping conditions, the engagement depth of the clutch is controlled based on the braking force signal and the slope of the road where the vehicle is located, so that the vehicle speed is maintained at a first target speed.

[0131] In some embodiments, under creeping conditions, the braking force corresponding to the braking force signal is mapped to the master cylinder pressure of the master cylinder. Based on the master cylinder pressure and the slope of the road where the vehicle is located, the engagement depth of the clutch is controlled so that the vehicle speed is maintained at the first target speed.

[0132] In some embodiments, during the starting condition, the engagement depth of the clutch is controlled according to the throttle signal and the gradient of the road where the vehicle is located, so that the vehicle speed is maintained at the second target speed.

[0133] In some embodiments, the first target vehicle speed is 1 to 3 kilometers per hour; the second target vehicle speed is 7 to 9 kilometers per hour.

[0134] Please refer to Figure 11 , Figure 11 This is a schematic diagram of the structure of a computer device provided in an exemplary embodiment of this application. The computer device 1100 includes a Central Processing Unit (CPU) 1101, a system memory 1104 including Random Access Memory (RAM) 1102 and Read-Only Memory (ROM) 1103, and a system bus 1105 connecting the system memory 1104 and the CPU 1101. The computer device 1100 also includes a basic input system and an output system (I / O system) 1106 to facilitate the transmission of information between various devices within the computer, and a mass storage device 1107 for storing the operating system 1113, application programs 1114, and other program modules 1115.

[0135] The basic input / output system 1106 includes a display 1108 for displaying information and an input device 1109 for user input, such as a mouse or keyboard. Both the display 1108 and the input device 1109 are connected to the central processing unit 1101 via an input / output controller 1110 connected to the system bus 1105. The basic input / output system 1106 may also include the input / output controller 1110 for receiving and processing input from multiple other devices such as a keyboard, mouse, or electronic stylus. Similarly, the input / output controller 1110 also provides output to a display screen, printer, or other types of output devices.

[0136] The mass storage device 1107 is connected to the central processing unit 1101 via a mass storage controller (not shown) connected to the system bus 1105. The mass storage device 1107 and its associated computer-readable media provide non-volatile storage for the computer device 1100. That is, the mass storage device 1107 may include computer-readable media (not shown) such as a hard disk or a CD-ROM (Compact Disc Read-Only Memory) drive.

[0137] Without loss of generality, the computer-readable medium may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include RAM (Random Access Memory), ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technologies, CD-ROM, DVD (Digital Video Disc), or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer storage media are not limited to the above-mentioned types. The system memory 1104 and the mass storage device 1107 described above can be collectively referred to as memory.

[0138] Computer device 1100 can be connected to the Internet or other network devices via network interface unit 1111 connected to the system bus 1105.

[0139] The memory also includes one or more programs, which are stored in the memory, and the central processing unit 1101 implements these programs. Figure 2 as well as Figure 3 All or some of the steps in the method shown.

[0140] In an exemplary embodiment, a chip is also provided, the chip including programmable logic circuitry and / or program instructions, which, when the chip is run on a computer device, are used to implement all or part of the steps of the methods shown in the above embodiments of this application.

[0141] In an exemplary embodiment, a computer program product is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions to implement all or part of the steps of the methods shown in the above embodiments of this application.

[0142] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores a computer program that is loaded and executed by a processor to implement all or part of the steps of the methods shown in the above embodiments of this application.

[0143] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0144] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0145] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle speed control method characterized by comprising: The method is implemented by a vehicle with an automatic parking system, comprising: In the case that the automatic parking system works, an automatic transmission control unit of the vehicle enters an automatic parking working condition in response to a torque output of an engine of the vehicle, the automatic parking working condition comprising a crawling working condition and a starting working condition; In the automatic parking working condition, the automatic transmission control unit acquires a vehicle speed control signal of the vehicle, the vehicle speed control signal comprising a brake braking force signal or a throttle signal; the brake braking force signal is sent by an electronic stability system of the vehicle controlled by the automatic parking system, and the throttle signal is sent by an engine management system of the vehicle controlled by the automatic parking system; In the case that the vehicle speed control signal comprises the brake braking force signal, the automatic transmission control unit remains in the crawling working condition; in the crawling working condition, the automatic transmission control unit controls a clutch of an automatic transmission of the vehicle according to the brake braking force signal, so that a vehicle speed of the vehicle is maintained at a first target vehicle speed corresponding to the crawling working condition; In the case that the vehicle speed control signal comprises the throttle signal, the automatic transmission control unit remains in the starting working condition; in the starting working condition, the automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the throttle signal, so that the vehicle speed of the vehicle is maintained at a second target vehicle speed corresponding to the starting working condition; The first target vehicle speed is smaller than the second target vehicle speed.

2. The method of claim 1, wherein, The automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the brake braking force signal, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed corresponding to the crawling working condition, in the crawling working condition, comprises: In the crawling working condition, the automatic transmission control unit controls a coupling depth of the clutch according to the brake braking force signal and a slope of a road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed.

3. The method of claim 2, wherein, The automatic transmission control unit controls the coupling depth of the clutch according to the brake braking force signal and the slope of the road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed, in the crawling working condition, comprises: In the crawling working condition, the automatic transmission control unit maps a braking force corresponding to the brake braking force signal into a master cylinder pressure of a brake master cylinder, and controls the coupling depth of the clutch according to the master cylinder pressure and the slope of the road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the first target vehicle speed.

4. The method of claim 1, wherein, The automatic transmission control unit controls the clutch of the automatic transmission of the vehicle according to the throttle signal, so that the vehicle speed of the vehicle is maintained at the second target vehicle speed corresponding to the starting working condition, in the starting working condition, comprises: In the starting working condition, the automatic transmission control unit controls a coupling depth of the clutch according to the throttle signal and a slope of a road where the vehicle is located, so that the vehicle speed of the vehicle is maintained at the second target vehicle speed.

5. The method of any one of claims 1-4, wherein: the first target vehicle speed is 1-3 km / h; the second target vehicle speed is 7-9 km / h.

6. A vehicle speed control device characterized by comprising: The device comprises: an automatic parking working condition entering module configured to enter an automatic parking working condition in response to a torque output of an engine of the vehicle when the automatic parking system is working, the automatic parking working condition comprising a crawling working condition and a starting working condition; a vehicle speed control signal obtaining module configured to obtain a vehicle speed control signal of the vehicle in the automatic parking working condition, the vehicle speed control signal comprising a brake braking force signal or a throttle signal, the brake braking force signal being sent by an electronic stability system of the vehicle controlled by the automatic parking system, and the throttle signal being sent by an engine management system of the vehicle controlled by the automatic parking system; a clutch control module configured to keep an automatic transmission control unit in the crawling working condition when the vehicle speed control signal comprises the brake braking force signal, and configured to keep the automatic transmission control unit in the starting working condition when the vehicle speed control signal comprises the throttle signal, the automatic transmission control unit being configured to control a clutch of an automatic transmission of the vehicle according to the brake braking force signal in the crawling working condition to maintain a vehicle speed of the vehicle at a first target vehicle speed corresponding to the crawling working condition, and the automatic transmission control unit being configured to control the clutch of the automatic transmission of the vehicle according to the throttle signal in the starting working condition to maintain the vehicle speed of the vehicle at a second target vehicle speed corresponding to the starting working condition, the first target vehicle speed being less than the second target vehicle speed.

7. A computer device, comprising: The computer device comprises a processor and a memory, the memory storing at least one computer instruction, the at least one computer instruction being loaded and executed by the processor to implement the vehicle speed control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one computer instruction, the computer instruction being loaded and executed by the processor to implement the vehicle speed control method according to any one of claims 1-5.

9. A computer program product, characterised in that, The computer program product comprises computer instructions stored in a computer readable storage medium, the computer instructions being read and executed by a processor of a computer device to implement the vehicle speed control method according to any one of claims 1-5.

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