Torque control method and device in automatic parking process, medium, equipment and vehicle

Abstract

The invention provides a torque control method and device in the automatic parking process, a medium, equipment and a vehicle. The method comprises the steps that the actual speed, the actual acceleration, the actual jerk and the request torque of the vehicle in multiple monitoring periods including the current monitoring period are obtained; judging whether the vehicle enters a slope road surface from a horizontal road surface or not according to the vehicle actual speed, the actual acceleration, the actual jerk and the request torque of the multiple monitoring periods, and if yes, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring period and the parking target speed; controlling the vehicle to park based on the target output torque of the vehicle; therefore, the actual speed, the actual acceleration, the actual jerk and the request torque of the vehicle are periodically monitored, so that small changes of the actual speed, the actual acceleration, the actual jerk and the request torque can be identified; when whether the vehicle enters the slope road surface from the horizontal road surface is judged according to the actual speed, the actual acceleration, the actual jerk and the request torque of the multiple monitoring periods, the recognition precision can be ensured, the torque more suitable for parking is output, and the stability of automatic parking of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to a torque control method, device, medium, equipment and vehicle in an automatic parking process. Background Art

[0002] When a vehicle is parking automatically, there is a transition phase when the vehicle is driving from a horizontal road to an uphill road or from a horizontal road to a downhill road. During this transition phase, the automatic parking system needs to quickly adapt to changes in the vehicle's posture and driving state. The power system and braking system need to respond at the moment the vehicle's posture changes so that they can cope with uphill and downhill parking conditions.

[0003] However, this conversion is a dynamic and relatively short process. If the automatic parking system cannot identify and handle this transition process in time, the vehicle may easily stall or slide backward, affecting parking stability.

[0004] Based on this, how to accurately identify whether a vehicle is going uphill or downhill from a horizontal road during automatic parking and thereby improve the stability of automatic parking is a technical problem that urgently needs to be solved. Summary of the invention

[0005] In response to the problems existing in the prior art, the embodiments of the present invention provide a torque control method, device, medium, equipment and vehicle for an automatic parking process, so as to solve or partially solve the technical problem in the prior art that the vehicle cannot accurately identify that the vehicle enters a slope from a horizontal road during the automatic parking process, thereby affecting the parking stability.

[0006] According to a first aspect of the present invention, a torque control method for an automatic parking process is provided, the method comprising:

[0007] Obtaining the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle for multiple monitoring cycles including the current monitoring cycle;

[0008] Determining whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles, and if so, determining a target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring cycle and a parking target speed;

[0009] The vehicle is controlled to park based on a target output torque of the vehicle.

[0010] In the above solution, judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles includes:

[0011] Determine whether the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle in the plurality of monitoring cycles simultaneously satisfy a first condition, and if so, determine that the vehicle enters an uphill road from a horizontal road; the first condition includes:

[0012] The actual speed is not within the preset parking target speed fluctuation range, and the actual speed is less than the parking target speed;

[0013] The number of monitoring cycles in which the actual acceleration continuously decreases is greater than a preset number, and the number of monitoring cycles in which the actual acceleration continuously decreases is greater than the preset number;

[0014] The number of monitoring cycles during which the actual jerk continues to increase is greater than a preset number;

[0015] The number of monitoring cycles during which the requested torque continues to increase is greater than the preset number.

[0016] In the above solution, judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles includes:

[0017] Determine whether the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle in the plurality of monitoring cycles simultaneously satisfy a second condition, and if so, determine that the vehicle enters a downhill road from a horizontal road; the second condition includes:

[0018] The actual speed is not within the preset parking target speed fluctuation range, and the actual speed is greater than the parking target speed;

[0019] The number of monitoring cycles in which the actual acceleration continues to increase is greater than a preset number, and the number of monitoring cycles in which the actual acceleration continues to be greater than the target acceleration is greater than the preset number;

[0020] The number of monitoring cycles during which the actual jerk continues to decrease is greater than a preset number;

[0021] The number of monitoring cycles during which the requested torque continues to decrease is greater than the preset number.

[0022] In the above solution, after determining whether the vehicle enters a sloped road from a horizontal road based on the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles, the method further includes:

[0023] If it is determined that the vehicle has completely entered the sloped road from the horizontal road, the vehicle driving state is stopped from being judged within a preset delay time.

[0024] In the above solution, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring period and the parking target speed includes:

[0025] acquiring a speed difference between the actual speed and the parking target speed;

[0026] searching a corresponding initial output torque in a pre-created mapping file based on the speed difference and the parking target speed; the mapping file stores a corresponding relationship between the speed difference, the parking target speed and the torque;

[0027] The initial output torque is subjected to torque slope limitation to obtain a corresponding target output torque.

[0028] In the above solution, the torque slope limitation is performed on the initial output torque to obtain the corresponding target output torque, including:

[0029] determining a torque variation based on a preset torque slope and the initial output torque;

[0030] The target output torque is determined according to the torque variation and the initial output torque; the target output torque is a difference between the initial output torque and the torque variation.

[0031] In a second aspect of the present invention, there is also provided a torque control device for an automatic parking process, the device comprising:

[0032] An acquisition unit, which acquires the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring cycles including the current monitoring cycle;

[0033] a judgment unit, configured to judge whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles, and if so, determine a target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring cycle and a parking target speed;

[0034] A control unit is used to control the vehicle to park based on a target output torque of the vehicle.

[0035] In the above solution, the judging unit is specifically used for:

[0036] Determine whether the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle in the plurality of monitoring cycles simultaneously satisfy a first condition, and if so, determine that the vehicle enters an uphill road from a horizontal road; the first condition includes:

[0037] The actual speed is not within the preset parking target speed fluctuation range, and the actual speed is less than the parking target speed;

[0038] The number of monitoring cycles in which the actual acceleration continuously decreases is greater than a preset number, and the number of monitoring cycles in which the actual acceleration continuously decreases is greater than the preset number;

[0039] The number of monitoring cycles during which the actual jerk continues to increase is greater than a preset number;

[0040] The number of monitoring cycles during which the requested torque continues to increase is greater than the preset number.

[0041] In the above solution, the judging unit is specifically used for:

[0042] Determine whether the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle in the plurality of monitoring cycles simultaneously satisfy a second condition, and if so, determine that the vehicle enters a downhill road from a horizontal road; the second condition includes:

[0043] The actual speed is not within the preset parking target speed fluctuation range, and the actual speed is greater than the parking target speed;

[0044] The number of monitoring cycles in which the actual acceleration continues to increase is greater than a preset number, and the number of monitoring cycles in which the actual acceleration continues to be greater than the target acceleration is greater than the preset number;

[0045] The number of monitoring cycles during which the actual jerk continues to decrease is greater than a preset number;

[0046] The number of monitoring cycles during which the requested torque continues to decrease is greater than the preset number.

[0047] In the above solution, after judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles, the judging unit is further used to:

[0048] If it is determined that the vehicle has completely entered the sloped road from the horizontal road, the vehicle driving state is stopped from being judged within a preset delay time.

[0049] In the above solution, the judging unit is specifically used for:

[0050] acquiring a speed difference between the actual speed and the parking target speed;

[0051] searching a corresponding initial output torque in a pre-created mapping file based on the speed difference and the parking target speed; the mapping file stores a corresponding relationship between the speed difference, the parking target speed and the torque;

[0052] The initial output torque is subjected to torque slope limitation to obtain a corresponding target output torque.

[0053] In the above solution, the judgment unit is specifically used for:

[0054] determining a torque variation based on a preset torque slope and the initial output torque;

[0055] The target output torque is determined according to the torque variation and the initial output torque; the target output torque is a difference between the initial output torque and the torque variation.

[0056] According to a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0057] According to a fourth aspect of the present invention, an electronic device is provided, comprising a processor and a computer program stored in a memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods described in the first aspect are implemented.

[0058] According to a fourth aspect of the present invention, a vehicle is provided, comprising a memory, an on-board processor, and a computer program stored in the memory and executable on the on-board processor, wherein the on-board processor implements the steps of any one of the methods described in the first aspect when executing the computer program.

[0059] The present invention provides a torque control method, device, medium, equipment and vehicle for an automatic parking process, the method comprising: obtaining the actual speed, actual acceleration, actual jerk and requested torque of a vehicle in multiple monitoring cycles including a current monitoring cycle; judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the multiple monitoring cycles, and if so, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring cycle and the parking target speed; and controlling the vehicle to park based on the target output torque of the vehicle; in this way, by periodically monitoring the actual speed, actual acceleration, actual jerk and requested torque of the vehicle, slight changes in the actual speed, actual acceleration, actual jerk and requested torque can also be identified, and then when judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the multiple monitoring cycles, the recognition accuracy can be ensured, and then a torque more suitable for parking is output, thereby improving the stability of the automatic parking of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0061] Figure 1 A schematic diagram of a torque control method flow in an automatic parking process according to an embodiment of the present invention is shown;

[0062] Figure 2 A schematic diagram showing a change in the slope angle over time during an uphill process of a vehicle according to an embodiment of the present invention;

[0063] Figure 3 A schematic structural diagram of a torque control device for an automatic parking process according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0064] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0065] The present invention provides a torque control method for an automatic parking process, such as Figure 1 As shown, the method comprises the following steps:

[0066] S110, obtaining the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle in multiple monitoring cycles including the current monitoring cycle.

[0067] When the vehicle is tracking and parking normally on a horizontal road according to the path planned by the automatic parking system, the vehicle is in a stable state, the stability function is not activated, the actual speed of the vehicle is within the target speed fluctuation range and is not higher than the protection speed specified by the automatic parking system (such as 10km / h), the target torque is within the normal range, and the slope angle change detected by the slope sensor also fluctuates within the normal range of ±3% on a horizontal road. However, once the vehicle enters a sloped road from a horizontal road, if the slope change is small (such as passing a speed bump), the slope change detected by the slope detection sensor may still fluctuate within the normal range, so the automatic parking system does not recognize that it has entered a sloped road, so the automatic parking system may still provide the torque required for parking based on the horizontal road.

[0068] Based on this, the present invention obtains the vehicle's actual speed, actual acceleration, actual jerk and requested torque for multiple monitoring cycles including the current monitoring cycle, and then accurately determines whether the vehicle enters a sloping road from a horizontal road based on slight changes in the vehicle's actual speed, actual acceleration, actual jerk and requested torque for multiple monitoring cycles.

[0069] In practical applications, each monitoring cycle may be 10 ms, that is, the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle are obtained once every 10 ms.

[0070] S111, judging whether the vehicle enters a sloped road from a horizontal road based on the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the multiple monitoring cycles, and if so, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring cycle and the parking target speed.

[0071] After obtaining the vehicle's actual speed, actual acceleration, actual jerk and requested torque for multiple monitoring cycles, it can be determined whether the vehicle enters a sloping road from a horizontal road based on the vehicle's actual speed, actual acceleration, actual jerk and requested torque for multiple monitoring cycles. If so, the vehicle's target output torque is determined based on the vehicle's actual speed in the current monitoring cycle and the parking target speed.

[0072] In one embodiment, judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring cycles includes:

[0073] Determine whether the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring cycles simultaneously meet the first condition, and if so, determine that the vehicle enters an uphill road from a horizontal road; the first condition includes:

[0074] The actual speed is not within the preset parking target speed fluctuation range, and the actual speed is less than the parking target speed;

[0075] The number of monitoring cycles in which the actual acceleration continues to decrease is greater than the preset number, and the number of monitoring cycles in which the actual acceleration continues to be less than the target acceleration is greater than the preset number;

[0076] The number of monitoring cycles during which the actual jerk continues to increase is greater than the preset number;

[0077] The number of monitoring cycles during which the torque increase is requested is greater than a preset number.

[0078] Specifically, when the vehicle is on a horizontal road, the vehicle driving force equation is:

[0079] F t =Ff +F i +F j +F w (1)

[0080] In formula (1), F t is the vehicle driving force, F f is the rolling resistance, F i is the slope resistance, F j is the vehicle acceleration resistance, F w is the wind resistance; since the wind speed is low during automatic parking, the wind resistance is generally considered to be 0.

[0081] Then, by expanding formula (1), we can get:

[0082] F t =m×g×f×cosθ+m×g×sinθ+δ×m×a (2)

[0083] In formula (2), m is the mass of the vehicle, g is the acceleration due to gravity, f is the rolling resistance coefficient, θ is the slope angle, a is the acceleration of the vehicle, and δ is the acceleration rotation torque coefficient.

[0084] When a vehicle moves from a level surface to an uphill surface, speed, acceleration, jerk, and requested torque all change:

[0085] (1) Speed ​​change:

[0086] When a vehicle is driving from a horizontal road to an uphill road, it needs to overcome the force component of gravity along the slope, which will cause the vehicle to decelerate. The vehicle speed may change due to factors such as slight bumps on the road and slight fluctuations in the vehicle's own power system. Therefore, when it is detected that the actual speed of the vehicle is not within the parking target speed fluctuation range and is lower than the parking target speed, it means that the vehicle may be in the transition stage from driving on a horizontal road to driving uphill.

[0087] (2) Acceleration change:

[0088] By rearranging the above formula (2), we can get:

[0089] F t / (δ×m)-(f×cosθ+sinθ)×g / δ=a (3)

[0090] When the vehicle is driving from a horizontal road to an uphill slope, the vehicle driving force F t Before the reaction, the road surface remains level, i.e. F t / (δ×m) remains unchanged. As θ increases, cosθ decreases and sinθ increases. Since the rolling resistance coefficient f is relatively small (on a good asphalt or concrete road surface, f is generally between 0.010 and 0.018), f×c osθ+sinθ increases overall. Therefore, (f×c osθ+sinθ)×g / δ increases gradually, and the actual acceleration a of the vehicle decreases.

[0091] Based on this, when it is detected that the actual acceleration of the vehicle is decreasing, and the number of monitoring cycles of continuous decrease is greater than or equal to a preset number (for example, 5 monitoring cycles), and at the same time the number of monitoring cycles in which the actual acceleration of the vehicle is less than the target acceleration is greater than a preset number (for example, 5 monitoring cycles), it can be further determined that the vehicle has entered an uphill road from a horizontal road.

[0092] (3) Changes in jerk

[0093] By taking the derivative of both sides of formula (3) with respect to time t, we can obtain:

[0094]

[0095] When the vehicle is driving from a horizontal road to an uphill road, as θ increases, cosθ decreases and sinθ increases. Since the rolling resistance coefficient f is relatively small (on a good asphalt or concrete road surface, f is generally between 0.010 and 0.018), f×sinθ-cosθ<0, that is, At the same time, as the vehicle travels uphill from a horizontal road, Figure 2 As shown, Gradually decrease.

[0096] And when the vehicle is driving uphill from a horizontal road, the vehicle driving force F t There is no time to react and the road remains level. Since the rolling resistance coefficient f is small, as θ increases, (f×sinθ-cosθ)×g / δ increases as a whole, that is, the jerk of the vehicle increases.

[0097] Based on this, when it is detected that the actual jerk of the vehicle is decreasing, and the number of monitoring cycles that continue to decrease is greater than or equal to a preset number (for example, 5 monitoring cycles), it can be further determined that the vehicle's transition phase from the horizontal road to the uphill road has ended and it has entered the uphill road.

[0098] (3) Request torque change

[0099] The automatic parking system detects that the actual speed and acceleration of the vehicle are decreasing, and in order to track the planned path, the standard torque will be increased accordingly. Therefore, when the number of detection cycles in which the requested torque increases and continues to increase is greater than or equal to the preset number (for example, 5 monitoring cycles), it can be further confirmed that the vehicle has entered the uphill stage from the horizontal road.

[0100] In actual applications, a vehicle may also enter a downhill slope from a horizontal road. In one embodiment, judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring cycles includes:

[0101] Determine whether the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring cycles simultaneously meet the second condition. If so, determine that the vehicle enters a downhill road from a horizontal road; the second condition includes:

[0102] The actual speed is not within the preset parking target speed fluctuation range, and the actual speed is greater than the parking target speed;

[0103] The number of monitoring cycles in which the actual acceleration continues to increase is greater than the preset number, and the number of monitoring cycles in which the actual acceleration continues to be greater than the target acceleration is greater than the preset number;

[0104] The number of monitoring cycles during which the actual jerk continues to decrease is greater than the preset number;

[0105] The number of monitoring cycles during which the torque reduction is requested is greater than a preset number.

[0106] Likewise, when the vehicle goes from a level surface to a downhill surface, the speed, acceleration, jerk, and requested torque all change:

[0107] (1) Speed ​​change:

[0108] When the vehicle is driving from a horizontal road to a downhill road, the component force of gravity along the slope direction will cause the vehicle to accelerate. Therefore, when the actual speed of the vehicle is detected to be out of the parking target speed fluctuation range and greater than the parking target speed, it indicates that the vehicle may be in the transition stage from driving on a horizontal road to driving downhill.

[0109] (2) Acceleration change:

[0110] When the vehicle is traveling from a horizontal road to an uphill road, as θ increases, the component force of gravity on the vehicle along the slope direction becomes larger and larger, and the actual acceleration of the vehicle increases. Therefore, when it is detected that the actual acceleration of the vehicle is increasing, and the number of monitoring cycles that continue to increase is greater than or equal to a preset number (such as 5 monitoring cycles), and the number of monitoring cycles in which the actual acceleration of the vehicle is greater than the target acceleration is greater than a preset number (such as 5 monitoring cycles), it can be further determined that the vehicle has entered a downhill road from a horizontal road.

[0111] (3) Changes in jerk:

[0112] When a vehicle travels from a horizontal road to a downhill slope, the component of gravity along the slope surface decreases as the slope increases, and the jerk decreases.

[0113] Based on this, when it is detected that the actual jerk of the vehicle is increasing, and the number of continuously increasing monitoring cycles is greater than or equal to a preset number (for example, 5 monitoring cycles), it can be further determined that the vehicle's transition phase from the horizontal road to the downhill has ended and entered the uphill road.

[0114] (4) Request torque change:

[0115] The automatic parking system detects that the actual speed and actual acceleration of the vehicle increase, and in order to track the planned path, it will reduce the standard torque accordingly. Therefore, when it is detected that the requested torque decreases greatly and the number of detection cycles that continue to decrease is greater than or equal to the preset number (for example, 5 monitoring cycles), it can be further confirmed that the vehicle has entered the downhill stage from the horizontal road.

[0116] By monitoring vehicle speed, acceleration, jerk and requested torque at every cycle, even the slightest changes can be identified instantly, so it can be accurately determined whether the vehicle has entered a slope from a level surface.

[0117] When the vehicle completely enters an uphill slope or a downhill slope from a horizontal road, the vehicle's motion state is relatively stable. Therefore, in order to avoid interference and misjudgment, in one embodiment, after determining whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring cycles, the method further includes:

[0118] If it is determined that the vehicle has completely entered the sloped road from the horizontal road, the vehicle status is stopped within a preset delay time.

[0119] For example, if it is determined that the vehicle has completely entered a sloped road, the vehicle's actual speed, actual acceleration, actual jerk and requested torque will not be obtained within 5 seconds to judge the vehicle's driving state (whether it has entered a slope from a horizontal road).

[0120] When it is determined that the vehicle reaches a sloped road from a horizontal road, the target output torque of the vehicle is determined based on the actual speed of the vehicle in the current monitoring period and the parking target speed.

[0121] In one implementation, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring period and the parking target speed includes:

[0122] Obtaining the speed difference between the actual speed and the parking target speed;

[0123] searching a corresponding initial output torque in a pre-created mapping file based on the speed difference and the parking target speed; the mapping file stores a corresponding relationship between the speed difference, the parking target speed and the torque;

[0124] The initial output torque is subjected to torque slope limitation to obtain the corresponding target output torque.

[0125] In one implementation, the initial output torque is subjected to torque slope limitation to obtain the corresponding target output torque, including:

[0126] determining a torque change amount based on a preset torque slope and an initial output torque;

[0127] The target output torque is determined according to the torque variation and the initial output torque; the target output torque is the difference between the initial output torque and the torque variation.

[0128] Specifically, after the initial output torque is obtained, in order to avoid a sudden increase or decrease in torque, the initial output torque needs to be output after being slope-limited to achieve uphill / downhill torque compensation.

[0129] The torque slope can be set according to the actual situation of the vehicle, and the product value between the torque slope and the initial output torque is used as the torque change, and the difference between the initial output torque and the torque change is used as the target output torque.

[0130] This ensures a smoother parking process.

[0131] S112: Controlling the vehicle to park based on the target output torque of the vehicle.

[0132] After the target output torque is determined, the vehicle can be controlled to park based on the target output torque of the vehicle.

[0133] During the automatic parking process, the present invention can timely control the driving torque and braking torque, adjust the vehicle speed, improve the stability of automatic parking, and avoid collision risks by detecting whether the vehicle is moving from a horizontal road to an uphill or downhill road.

[0134] Based on the same inventive concept as in the above-mentioned embodiment, this embodiment also provides a torque control device for an automatic parking process, such as Figure 3 As shown, the device comprises:

[0135] An acquisition unit 31 acquires the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring cycles including the current monitoring cycle;

[0136] a judgment unit 32, configured to judge whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles, and if so, determine a target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring cycle and a parking target speed;

[0137] The control unit 33 is used to control the vehicle to park based on the target output torque of the vehicle.

[0138] Since the device introduced in the embodiment of the present invention is a device used to implement the method of the automatic parking process of the embodiment of the present invention, based on the method introduced in the embodiment of the present invention, the person skilled in the art can understand the specific structure and deformation of the device, so it is not repeated here. All devices used in the method of the embodiment of the present invention belong to the scope of protection of the present invention.

[0139] Based on the same inventive concept, this embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the methods described above are implemented.

[0140] Based on the same inventive concept, this embodiment provides an electronic device, a processor of the electronic device and a computer program stored in a memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods described in the first aspect are implemented.

[0141] Based on the same inventive concept as the aforementioned embodiment, the present invention also provides a vehicle, comprising a memory, an on-board processor, and a computer program stored in the memory and executable on the on-board processor, wherein the on-board processor executes the computer program and performs the steps of the torque control method for the automatic parking process described in the aforementioned embodiment.

[0142] Through one or more embodiments of the present invention, the present invention has the following beneficial effects or advantages:

[0143] The present invention provides a torque control method, device, medium, equipment and vehicle for an automatic parking process, the method comprising: obtaining the actual speed, actual acceleration, actual jerk and requested torque of a vehicle in multiple monitoring cycles including a current monitoring cycle; judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the multiple monitoring cycles, and if so, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring cycle and the parking target speed; and controlling the vehicle to park based on the target output torque of the vehicle; in this way, by periodically monitoring the actual speed, actual acceleration, actual jerk and requested torque of the vehicle, slight changes in the actual speed, actual acceleration, actual jerk and requested torque can also be identified, and then when judging whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the multiple monitoring cycles, the recognition accuracy can be ensured, and then a torque more suitable for parking is output, thereby improving the stability of the automatic parking of the vehicle.

[0144] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0145] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A torque control method for an automatic parking process, characterized in that: The method comprises: Obtaining the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle for multiple monitoring cycles including the current monitoring cycle; Determining whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles, and if so, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring cycle and the parking target speed; The vehicle is controlled to park based on a target output torque of the vehicle.

2. The method according to claim 1, characterized in that The determining whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles comprises: Determine whether the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle in the plurality of monitoring cycles simultaneously satisfy a first condition, and if so, determine that the vehicle enters an uphill road from a horizontal road; the first condition includes: The actual speed is not within the preset parking target speed fluctuation range, and the actual speed is less than the parking target speed; The number of monitoring cycles in which the actual acceleration continuously decreases is greater than a preset number, and the number of monitoring cycles in which the actual acceleration continuously decreases is greater than the preset number; The number of monitoring cycles during which the actual jerk continues to increase is greater than a preset number; The number of monitoring cycles during which the requested torque continues to increase is greater than the preset number.

3. The method according to claim 1, characterized in that The determining whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles comprises: Determine whether the actual speed, actual acceleration, actual jerk, and requested torque of the vehicle in the plurality of monitoring cycles simultaneously satisfy a second condition, and if so, determine that the vehicle enters a downhill road from a horizontal road; the second condition includes: The actual speed is not within the preset parking target speed fluctuation range, and the actual speed is greater than the parking target speed; The number of monitoring cycles in which the actual acceleration continues to increase is greater than a preset number, and the number of monitoring cycles in which the actual acceleration continues to be greater than the target acceleration is greater than the preset number; The number of monitoring cycles during which the actual jerk continues to decrease is greater than a preset number; The number of monitoring cycles during which the requested torque continues to decrease is greater than the preset number.

4. The method according to claim 1, characterized in that After determining whether the vehicle enters a sloped road from a horizontal road based on the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles, the method further includes: If it is determined that the vehicle has completely entered the sloped road from the horizontal road, the vehicle driving state is stopped from being judged within a preset delay time.

5. The method according to claim 1, characterized in that The determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring period and the parking target speed includes: acquiring a speed difference between the actual speed and the parking target speed; searching a corresponding initial output torque in a pre-created mapping file based on the speed difference and the parking target speed; the mapping file stores a corresponding relationship between the speed difference, the parking target speed and the torque; The initial output torque is subjected to torque slope limitation to obtain a corresponding target output torque.

6. The method according to claim 5, characterized in that The step of limiting the torque slope of the initial output torque to obtain a corresponding target output torque includes: determining a torque variation based on a preset torque slope and the initial output torque; The target output torque is determined according to the torque variation and the initial output torque; the target output torque is a difference between the initial output torque and the torque variation.

7. A torque control device for an automatic parking process, characterized in that: The device comprises: An acquisition unit, which acquires the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring cycles including the current monitoring cycle; a judging unit, configured to judge whether the vehicle enters a sloped road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring cycles, and if so, determine a target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring cycle and a parking target speed; A control unit is used to control the vehicle to park based on a target output torque of the vehicle.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. An electronic device, characterized in that: The electronic device processor and the computer program stored in the memory and executable on the processor, when the processor executes the program, implement the steps of the method according to any one of claims 1 to 6.

10. A vehicle comprising a memory, an onboard processor, and a computer program stored in the memory and executable on the onboard processor, characterized in that: When the on-board processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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