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

Abstract

The application provides a torque control method, device, medium, equipment and vehicle for an automatic parking process, and the method comprises the following steps: acquiring the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in multiple monitoring periods including a current monitoring period; judging whether the vehicle enters a sloping road from a horizontal road according to the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the multiple monitoring periods; if yes, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring period and a parking target speed; and controlling the vehicle to park based on the target output torque of the vehicle. In this way, the actual speed, actual acceleration, actual jerk and requested torque of the vehicle are monitored periodically, so that slight changes in the actual speed, actual acceleration, actual jerk and requested torque can also be identified, and the identification accuracy can be ensured when it is judged according to the actual speed, actual acceleration, actual jerk and requested torque in the multiple monitoring periods whether the vehicle enters a sloping road from a horizontal road, so that the torque more suitable for parking can be output, and the stability of automatic parking of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic parking, in particular to a torque control method, device, medium, equipment and vehicle for automatic parking process. BACKGROUND

[0002] When a vehicle is parking automatically, there is a transition stage when the vehicle drives from a horizontal road to an uphill or the vehicle drives from a horizontal road to a downhill. In this transition stage, the automatic parking system needs to quickly adapt to the changes of the vehicle posture and driving state, and the power system and the braking system need to respond at the moment of the change of the vehicle posture, so as to cope with the uphill and downhill parking working 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 stall, slide backwards and the like, which affects the parking stability.

[0004] Therefore, how to accurately identify that the vehicle drives from a horizontal road to an uphill or a downhill in the automatic parking process and improve the stability of automatic parking is a technical problem to be solved at present. SUMMARY

[0005] In view of the problems in the prior art, the embodiments of the present application provide a torque control method, device, medium, equipment and vehicle for automatic parking process, so as to solve or partially solve the technical problem that the vehicle cannot be accurately identified from a horizontal road to a slope in the automatic parking process, and the parking stability is affected.

[0006] In a first aspect, the present application provides a torque control method for automatic parking process, the method comprising:

[0007] obtaining the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in a plurality of monitoring periods including a current monitoring period;

[0008] determining whether the vehicle drives from a horizontal road to a slope road according to the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in the plurality of monitoring periods, and if so, determining the target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring period and a parking target speed;

[0009] controlling the vehicle to park based on the target output torque of the vehicle.

[0010] In the above scheme, the determination of whether the vehicle drives from a horizontal road to a slope road according to the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in the plurality of monitoring periods comprises:

[0011] determining whether the vehicle actual speed, the vehicle actual acceleration, the vehicle actual jerk and the request torque of the plurality of monitoring periods satisfy a first condition simultaneously, and if yes, determining that the vehicle enters the sloping road surface from the horizontal road surface; the first condition comprises:

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

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

[0014] the number of monitoring periods in which the actual jerk continuously increases is greater than a preset number;

[0015] the number of monitoring periods in which the request torque continuously increases is greater than the preset number.

[0016] In the above scheme, the vehicle actual speed, the vehicle actual acceleration, the vehicle actual jerk and the request torque of the plurality of monitoring periods are determined whether the vehicle enters the sloping road surface from the horizontal road surface, comprising:

[0017] determining whether the vehicle actual speed, the vehicle actual acceleration, the vehicle actual jerk and the request torque of the plurality of monitoring periods satisfy a second condition simultaneously, and if yes, determining that the vehicle enters the sloping road surface from the horizontal road surface; the second condition comprises:

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

[0019] the number of monitoring periods in which the actual acceleration continuously increases is greater than a preset number, and the number of monitoring periods in which the actual acceleration continuously is greater than a target acceleration is greater than the preset number;

[0020] the number of monitoring periods in which the actual jerk continuously decreases is greater than a preset number;

[0021] the number of monitoring periods in which the request torque continuously decreases is greater than the preset number.

[0022] In the above scheme, after the vehicle actual speed, the vehicle actual acceleration, the vehicle actual jerk and the request torque of the plurality of monitoring periods are determined whether the vehicle enters the sloping road surface from the horizontal road surface, the method further comprises:

[0023] if it is determined that the vehicle completely enters the sloping road surface from the horizontal road surface, stopping judging the vehicle driving state within a preset delay time length.

[0024] In the scheme, 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, comprising:

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

[0026] finding 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 the corresponding relationship among speed difference, parking target speed and torque;

[0027] limiting the initial output torque by torque slope to obtain a corresponding target output torque.

[0028] In the scheme, the target output torque is obtained by limiting the initial output torque by torque slope, comprising:

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

[0030] determining the target output torque according to the torque change amount and the initial output torque; the target output torque is the difference between the initial output torque and the torque change amount.

[0031] The second aspect of the application also provides a torque control device for an automatic parking process, comprising:

[0032] an acquisition unit for acquiring the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in a plurality of monitoring periods including the current monitoring period;

[0033] a judgment unit for judging whether the vehicle enters a slope 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 periods, and if so, 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;

[0034] a control unit for controlling the vehicle to park based on the target output torque of the vehicle.

[0035] In the scheme, the judgment unit is specifically configured to:

[0036] judge whether the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in the plurality of monitoring periods satisfy a first condition at the same time, and if so, determine that the vehicle enters an uphill road from a horizontal road; the first condition comprises:

[0037] the actual speed is not in a preset parking target speed fluctuation range, and the actual speed is less than the parking target speed.

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

[0039] the number of monitoring periods in which the actual jerk continuously increases is greater than a preset number;

[0040] the number of monitoring periods in which the requested torque continuously increases is greater than the preset number.

[0041] In the foregoing solution, the judging unit is specifically configured to:

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

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

[0044] the number of monitoring periods in which the actual acceleration continuously increases is greater than a preset number, and the number of monitoring periods in which the actual acceleration continuously is greater than the target acceleration is greater than the preset number;

[0045] the number of monitoring periods in which the actual jerk continuously decreases is greater than a preset number;

[0046] the number of monitoring periods in which the requested torque continuously decreases is greater than the preset number.

[0047] In the foregoing solution, after determining whether the vehicle enters a slope road surface from a horizontal road surface according to the vehicle actual speed, the actual acceleration, the actual jerk, and the requested torque of the plurality of monitoring periods, the judging unit is further configured to:

[0048] if it is determined that the vehicle completely enters the slope road surface from the horizontal road surface, stop judging the vehicle driving state within a preset delay duration.

[0049] In the foregoing solution, the judging unit is specifically configured to:

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

[0051] find 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 among speed differences, parking target speeds, and torques;

[0052] perform torque slope limiting on the initial output torque to obtain a corresponding target output torque.

[0053] In the above solution, the judging unit is specifically configured to:

[0054] determine a torque change amount based on the preset torque slope and the initial output torque;

[0055] determine the target output torque according to the torque change amount and the initial output torque; the target output torque is a difference value obtained by subtracting the torque change amount from the initial output torque.

[0056] In a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method according to any one of the first aspect.

[0057] In a fourth aspect, the present application provides an electronic device comprising a processor and a computer program stored on a memory and executable on the processor, wherein the processor implements the steps of the method according to any one of the first aspect when executing the computer program.

[0058] In a fourth aspect, the present application provides a vehicle comprising a memory, an on-board processor and a computer program stored on the memory and executable on the on-board processor, wherein the on-board processor implements the steps of the method according to any one of the first aspect when executing the computer program.

[0059] The present application provides a torque control method, device, medium, equipment and vehicle for automatic parking process, the method comprising: acquiring vehicle actual speed, actual acceleration, actual jerk and requested torque of a plurality of monitoring periods including a current monitoring period; judging whether the vehicle enters a slope road from a horizontal road according to the vehicle actual speed, the actual acceleration, the actual jerk and the requested torque of the plurality of monitoring periods, and if yes, determining a target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring period and a parking target speed; and controlling the vehicle to park based on the target output torque of the vehicle. In this way, the actual speed, the actual acceleration, the actual jerk and the requested torque are periodically monitored, so that slight changes in the actual speed, the actual acceleration, the actual jerk and the requested torque can also be identified, and then when it is judged according to the actual speed, the actual acceleration, the actual jerk and the requested torque of the plurality of monitoring periods whether the vehicle enters the slope road from the horizontal road, the identification accuracy can be ensured, and then a torque more suitable for parking can be output, and the stability of automatic parking of the vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0060] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments with reference made to the accompanying drawings. The drawings are for purposes of illustration only and are not intended to be limiting in

[0061] Figure 1 Fig. 1 shows a schematic diagram of a torque control method for an automatic parking process according to an embodiment of the present application;

[0062] Figure 2 Fig. 2 shows a schematic diagram of a slope angle changing with time during a vehicle uphill process according to an embodiment of the present application;

[0063] Figure 3 Fig. 3 shows a schematic diagram of a torque control device structure for an automatic parking process according to an embodiment of the present application. DETAILED DESCRIPTION

[0064] Exemplary embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown, it should be understood that the present disclosure can be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

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

[0066] S110, obtaining the actual speed, actual acceleration, actual jerk and requested torque of the vehicle in a plurality of monitoring periods including the current monitoring period.

[0067] When the vehicle is normally tracking the path planned by the automatic parking system on a horizontal road surface, 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 automatic parking protection speed (such as 10 km / h), the target torque is within the normal range, and the slope angle change detected by the slope sensor is also within the normal range of the horizontal road surface ±3% fluctuation. However, once the vehicle enters a slope road surface from the horizontal road surface, if the slope change is small (such as through a deceleration strip), the slope change detected by the slope detection sensor at this time may still be within the normal range of fluctuation, and therefore the automatic parking system does not recognize that it has entered a slope road surface, and the automatic parking system may still provide the required torque for parking based on the horizontal road surface.

[0068] Based on this, the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in multiple monitoring periods including the current monitoring period are obtained, and then whether the vehicle enters the slope road from the horizontal road is accurately determined according to the slight changes of the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in the multiple monitoring periods.

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

[0070] S111, determining whether the vehicle enters the slope road from the horizontal road according to the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in 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.

[0071] After the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in multiple monitoring periods are obtained, whether the vehicle enters the slope road from the horizontal road is determined according to the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in the multiple monitoring periods, and if yes, 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.

[0072] In an embodiment, determining whether the vehicle enters the slope road from the horizontal road according to the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in the multiple monitoring periods comprises:

[0073] Determining whether the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in the multiple monitoring periods satisfy a first condition simultaneously, and if yes, determining that the vehicle enters the uphill road from the horizontal road; the first condition comprises:

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

[0075] The number of monitoring periods in which the actual acceleration continuously decreases is greater than a preset number, and the number of monitoring periods in which the actual acceleration continuously is less than a target acceleration is greater than a preset number;

[0076] The number of monitoring periods in which the actual jerk continuously increases is greater than a preset number;

[0077] The number of monitoring periods in which the requested torque continuously increases is greater than a preset number.

[0078] Specifically, when the vehicle is on the 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 formula (1) is expanded to obtain:

[0082] F t = m x g x f x cos θ + m x g x sin θ + δ x m x a (2)

[0083] In formula (2), m is the mass of the vehicle, g is the acceleration of 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 the vehicle travels from the horizontal road surface to the uphill road surface, the speed, acceleration, jerk, and requested torque all change:

[0085] (1) Speed change:

[0086] In the process of the vehicle traveling from the horizontal road surface to the uphill, since the gravity component in the slope direction needs to be overcome, this component will cause the vehicle to decelerate, and the vehicle speed may change due to slight bumps on the road surface, slight fluctuations in the vehicle's own power system, and other factors. 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 indicates that the vehicle may be in the transition stage from the horizontal road surface to the uphill.

[0087] (2) Acceleration change:

[0088] The above formula (2) is arranged to obtain:

[0089] F t / (δ x m) - (f x cos θ + sin θ) x g / δ = a (3)

[0090] In the process of the vehicle traveling from the horizontal road surface to the uphill, the vehicle driving force F t cannot be reacted in time, and the vehicle still maintains the state of the horizontal road surface, i.e., F tWith the increase of θ, cosθ decreases and sinθ increases. Since the rolling resistance coefficient f is relatively small (on a good asphalt or concrete pavement, f is generally between 0.010 and 0.018), f x cosθ + sinθ is overall increasing, so that (f x cosθ + sinθ) x g / δ is gradually increasing, and the actual acceleration a of the vehicle is decreasing.

[0091] Based on this, when it is detected that the actual acceleration of the vehicle is decreasing, and the number of monitoring periods during which the actual acceleration of the vehicle is continuously decreasing is greater than or equal to a preset number (such as 5 monitoring periods), and the number of monitoring periods during which the actual acceleration of the vehicle is less than the target acceleration is greater than a preset number (such as 5 monitoring periods), it can be further determined that the vehicle enters the uphill pavement from the horizontal pavement.

[0092] (3) Jerk (jerk) change

[0093] The derivative of the left and right sides of formula (3) with respect to time t is:

[0094]

[0095] In the process of the vehicle driving from the horizontal pavement to the uphill, with the increase of θ, cosθ decreases and sinθ increases, Since the rolling resistance coefficient f is relatively small (on a good asphalt or concrete pavement, f is generally between 0.010 and 0.018), f x sinθ - cosθ < 0, that is, At the same time, since the vehicle is driving from the horizontal pavement to the uphill, as shown in formula (2), Figure 2 is gradually decreasing.

[0096] And in the process of the vehicle driving from the horizontal pavement to the uphill, the driving force F of the vehicle t If the vehicle does not react in time and still maintains the state of the horizontal pavement, since the rolling resistance coefficient f is relatively small, with the increase of θ, (f x sinθ - cosθ) x g / δ is overall increasing, that is, the jerk of the vehicle is increasing.

[0097] Based on this, when it is detected that the actual jerk of the vehicle is decreasing, and the number of monitoring periods during which the actual jerk of the vehicle is continuously decreasing is greater than or equal to a preset number (such as 5 monitoring periods), it can be further determined that the transition stage of the vehicle from the horizontal pavement to the uphill is over, and the vehicle enters the uphill pavement.

[0098] (3) Requested torque change

[0099] ​The automatic parking system detects the actual speed and the actual acceleration of the vehicle to increase the requested torque to track the planned path. Therefore, when the detection of the increase of the requested torque and the number of detection cycles of the continuous increase is greater than or equal to a preset number (for example, 5 detection cycles), it is further confirmed that the vehicle enters the uphill stage from the horizontal road.

[0100] In practical applications, the vehicle can also enter the downhill from the horizontal road. In an embodiment, the determination of whether the vehicle enters the sloping road from the horizontal road according to the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in multiple detection cycles includes:

[0101] determining whether the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in multiple detection cycles satisfy a second condition simultaneously, and if yes, determining that the vehicle enters the downhill road from the horizontal road; the second condition includes:

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

[0103] the number of detection cycles of the continuous increase of the actual acceleration is greater than a preset number, and the number of detection cycles of the continuous increase of the actual acceleration greater than the target acceleration is greater than a preset number;

[0104] the number of detection cycles of the continuous decrease of the actual jerk is greater than a preset number;

[0105] the number of detection cycles of the continuous decrease of the requested torque is greater than a preset number.

[0106] Similarly, when the vehicle enters the downhill road from the horizontal road, the speed, the acceleration, the jerk and the requested torque all change:

[0107] (1) Speed change:

[0108] In the process of the vehicle driving from the horizontal road to the downhill road, the vehicle is accelerated by the component force of gravity along the slope. Therefore, when the actual speed of the vehicle is detected to be not within the parking target speed fluctuation range and greater than the parking target speed, it is indicated that the vehicle is in the transition stage of driving from the horizontal road to the downhill road.

[0109] (2) Acceleration change:

[0110] As the vehicle is driving from the horizontal road to the uphill, the component of gravity along the slope direction is increasing, and the actual acceleration of the vehicle is also increasing. Therefore, when the actual acceleration of the vehicle is detected to be increasing, and the number of monitoring periods during which the actual acceleration of the vehicle is increasing is greater than or equal to a preset number (e.g., 5 monitoring periods), and the number of monitoring periods during which the actual acceleration of the vehicle is greater than the target acceleration is greater than a preset number (e.g., 5 monitoring periods), it can be further determined that the vehicle is entering the downhill from the horizontal road.

[0111] (3) Jerk change:

[0112] As the vehicle is driving from the horizontal road to the downhill, the component of gravity along the slope direction is decreasing, and the jerk is decreasing.

[0113] Based on this, when the actual jerk of the vehicle is detected to be increasing, and the number of monitoring periods during which the actual jerk of the vehicle is increasing is greater than or equal to a preset number (e.g., 5 monitoring periods), it can be further determined that the vehicle is in the transition stage from the horizontal road to the uphill.

[0114] (4) Requested torque change:

[0115] The automatic parking system detects that the actual speed and the actual acceleration of the vehicle are increasing, and to achieve tracking of the planned path, the target torque is reduced. Therefore, when the requested torque is detected to be decreasing, and the number of monitoring periods during which the requested torque is decreasing is greater than or equal to a preset number (e.g., 5 monitoring periods), it can be further determined that the vehicle is in the downhill stage from the horizontal road.

[0116] In this way, by monitoring the vehicle speed, acceleration, jerk, and requested torque in each period, even slight changes can be determined in real time, so that it can be accurately determined whether the vehicle is entering the sloping road from the horizontal road.

[0117] When the vehicle completely enters the uphill or the downhill from the horizontal road, the motion state of the vehicle is relatively stable, and therefore, in an embodiment, after determining whether the vehicle is entering the sloping road from the horizontal road according to the actual speed, the actual acceleration, the actual jerk, and the requested torque of the vehicle in multiple monitoring periods, the method further includes:

[0118] If it is determined that the vehicle completely enters the sloping road from the horizontal road, the vehicle state is stopped from being judged within a preset delay time.

[0119] For example, if it is determined that the vehicle completely enters the sloping road, the actual speed, the actual acceleration, the actual jerk, and the requested torque of the vehicle are not acquired within 5s to determine whether the vehicle is entering the sloping road from the horizontal road.

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

[0121] In an embodiment, 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, comprising:

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

[0123] finding 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 among the speed difference, the parking target speed and the torque;

[0124] performing a torque slope limitation on the initial output torque to obtain a corresponding target output torque.

[0125] In an embodiment, 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, comprising:

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

[0127] determining the target output torque according to the torque change amount and the initial output torque; the target output torque is a difference value obtained by subtracting the torque change amount from the initial output torque.

[0128] Specifically, after obtaining the initial output torque, in order to avoid the situation of sudden increase or decrease of the torque, the initial output torque needs to be output after slope limitation, so as to realize the up / down slope torque compensation.

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

[0130] In this way, the parking process can be smoother.

[0131] S112, based on the target output torque of the vehicle, controlling the vehicle to park.

[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] In the automatic parking process, by detecting whether the vehicle is from a horizontal road surface to an up slope or a down slope, the driving torque and the braking torque can be controlled in time, the vehicle speed can be adjusted, the stability of the automatic parking can be improved, and the risk of collision can be avoided.

[0134] Based on the same inventive concept as in the foregoing embodiments, the present embodiment also provides a torque control device for an automatic parking process, as shown in the accompanying drawings, the device comprises: Figure 3

[0135] an acquisition unit 31, configured to acquire actual speed, actual acceleration, actual jerk and requested torque of a vehicle in a plurality of monitoring periods including a current monitoring period;

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

[0137] a control unit 33, configured to control the vehicle to park based on the target output torque of the vehicle.

[0138] Since the device introduced in the embodiments of the present application is the device used by the method for the automatic parking process of the embodiments of the present application, based on the method introduced in the embodiments of the present application, the person skilled in the art can understand the specific structure and deformation of the device, and thus it is not repeated here. Any device used by the method of the embodiments of the present application belongs to the scope of the present application.

[0139] Based on the same inventive concept, the present embodiment provides a computer readable storage medium having a computer program stored thereon, the computer program is executed by a processor to implement the steps of the method of any of the foregoing embodiments.

[0140] Based on the same inventive concept, the present embodiment provides an electronic device, the electronic device comprises a processor and a computer program stored in a memory and executable on the processor, the processor executes the program to implement the steps of the method of any of the first aspect.

[0141] Based on the same inventive concept as in the foregoing embodiments, the present application 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, the on-board processor executes the steps of the torque control method of the automatic parking process in the foregoing embodiments when the computer program is executed.

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

[0143] ​The application provides a torque control method, device, medium, equipment and vehicle of an automatic parking process, and the method comprises the following steps: acquiring actual speed, actual acceleration, actual jerk and requested torque of a vehicle in a plurality of monitoring periods including a current monitoring period; determining whether the vehicle enters a slope road from a horizontal road according to the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle in the plurality of monitoring periods; if yes, determining a target output torque of the vehicle based on the actual speed of the vehicle in the current monitoring period and a parking target speed; and controlling the vehicle to park based on the target output torque of the vehicle. In this way, the actual speed, the actual acceleration, the actual jerk and the requested torque of the vehicle are monitored periodically, so that slight changes of the actual speed, the actual acceleration, the actual jerk and the requested torque can also be identified, and then when it is determined whether the vehicle enters the slope road from the horizontal road according to the actual speed, the actual acceleration, the actual jerk and the requested torque in the plurality of monitoring periods, the identification accuracy can be ensured, and then a torque more suitable for parking can be output, and the stability of automatic parking of the vehicle is improved.

[0144] Although the preferred embodiments of the application have been described, those skilled in the art can make additional changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to cover all the changes and modifications falling within the scope of the application.

[0145] The above description is only the preferred embodiments of the application, and is not intended to limit the protection scope of the application, and any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A torque control method for an automatic parking process, characterized in that, The method includes: Obtain the vehicle's actual speed, actual acceleration, actual jerk, and requested torque for multiple monitoring periods, including the current monitoring period; Based on the vehicle's actual speed, actual acceleration, actual jerk and requested torque in the multiple monitoring cycles, it is determined whether the vehicle has entered a sloping road from a level road. If so, the target output torque of the vehicle is determined based on the vehicle's actual speed in the current monitoring cycle and the parking target speed. Based on the target output torque of the vehicle, the vehicle is controlled to park; wherein... The step of determining whether a vehicle has transitioned from a level road surface to a sloping road surface based on the vehicle's actual speed, actual acceleration, actual jerk, and requested torque from the multiple monitoring cycles includes: Determine whether the vehicle's actual speed, actual acceleration, actual jerk, and requested torque across the multiple monitoring cycles simultaneously meet a first condition. If they do, determine that the vehicle has entered an uphill road from a level surface. 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 is continuously less than the target acceleration is greater than the preset number; The number of monitoring cycles in which the actual swiftness continuously increases is greater than the preset number; The number of monitoring cycles in which the requested torque continuously increases is greater than the preset number.

2. The method as described in claim 1, characterized in that, The step of determining whether a vehicle has transitioned from a level road surface to a sloping road surface based on the vehicle's actual speed, actual acceleration, actual jerk, and requested torque from the multiple monitoring cycles includes: Determine whether the vehicle's actual speed, actual acceleration, actual jerk, and requested torque across the multiple monitoring cycles simultaneously meet a second condition. If they do, determine that the vehicle has entered a downhill section from a level road surface. 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 continuously increases is greater than a preset number, and the number of monitoring cycles in which the actual acceleration continuously exceeds the target acceleration is greater than the preset number; The number of monitoring cycles in which the actual jerk intensity continuously decreases is greater than the preset number; The number of monitoring cycles in which the requested torque continuously decreases is greater than the preset number.

3. The method as described in claim 1, characterized in that, After determining whether the vehicle has entered a sloping road surface from a level road surface based on the vehicle's actual speed, actual acceleration, actual jerk, and requested torque from the multiple monitoring cycles, the method further includes: If it is determined that the vehicle has completely entered the sloping road surface from the horizontal road surface, the judgment of the vehicle's driving status will be stopped within the preset delay period.

4. The method as described in claim 1, characterized in that, Determining the target output torque of the vehicle based on the vehicle's actual speed and parking target speed during the current monitoring period includes: Obtain the speed difference between the actual speed and the target parking speed; Based on the speed difference and the target parking speed, the corresponding initial output torque is found in a pre-created mapping file; the mapping file stores the correspondence between the speed difference, the target parking speed, and the torque. The initial output torque is limited by a torque slope to obtain the corresponding target output torque.

5. The method as described in claim 4, characterized in that, The step of limiting the torque slope of the initial output torque to obtain the corresponding target output torque includes: The torque change is determined based on the preset torque slope and the initial output torque; The target output torque is determined based on the torque change and the initial output torque; the target output torque is the difference between the initial output torque and the torque change.

6. A torque control device for an automatic parking process, characterized in that, The device includes: The acquisition unit acquires the vehicle's actual speed, actual acceleration, actual jerk, and requested torque for multiple monitoring periods, including the current monitoring period. The judgment unit is used to determine whether the vehicle has entered the sloping road from the horizontal road surface based on the vehicle's actual speed, actual acceleration, actual jerk and requested torque in the multiple monitoring cycles. If so, the target output torque of the vehicle is determined based on the vehicle's actual speed in the current monitoring cycle and the parking target speed. A control unit is used to control the vehicle to park based on the target output torque of the vehicle; The step of determining whether a vehicle has transitioned from a level road surface to a sloping road surface based on the vehicle's actual speed, actual acceleration, actual jerk, and requested torque from the multiple monitoring cycles includes: Determine whether the vehicle's actual speed, actual acceleration, actual jerk, and requested torque across the multiple monitoring cycles simultaneously meet a first condition. If they do, determine that the vehicle has entered an uphill road from a level surface. 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 is continuously less than the target acceleration is greater than the preset number; The number of monitoring cycles in which the actual swiftness continuously increases is greater than the preset number; The number of monitoring cycles in which the requested torque continuously increases is greater than the preset number.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-5.

8. An electronic device, characterized in that, The electronic device processor and the computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method according to any one of claims 1-5.

9. A vehicle, comprising a memory, an on-board processor, and a computer program stored in the memory and executable on the on-board processor, characterized in that, When the vehicle-mounted processor executes the computer program, it implements the steps of the method according to any one of claims 1-5.

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